Surgical magnetic control device and surgical equipment

Abstract

This application discloses a surgical magnetic control device and surgical equipment, including a trolley, a drive mechanism, and an electromagnetic generator. The drive mechanism includes a first drive module, a second drive module, a third drive module, and a mounting base. The first, second, and third drive modules are arranged sequentially, providing driving forces in the X, Y, and Z axes, respectively. The electromagnetic generator includes a ferrule and multiple coil modules. The ferrule is fixedly connected to the mounting base, and the multiple coil modules are arranged side-by-side on one side of the ferrule to provide an electromagnetic field for magnets on guidewires or catheters. The first, second, and third drive modules drive the electromagnetic generator to move along the X, Y, and Z axes, thereby adjusting the electromagnetic generator to a suitable position for the patient, such as the patient's head. During the surgery, the electromagnetic field generated by the electromagnetic generator changes spatially to precisely and flexibly control the bending of the guidewire or catheter.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more specifically, to a surgical magnetic control device and surgical equipment. Background Technology

[0002] In the field of vascular interventional surgery, automated equipment such as surgical robots has seen numerous clinical applications in recent years. Currently, most surgical robots are primarily used to replace surgeons in pushing and propelling interventional consumables such as guidewires and catheters. While freeing up surgeons' hands, this does not solve the problem of guidewires and catheters being difficult to insert into tortuous blood vessels. Current research on this issue mainly focuses on magnetic methods, that is, by installing a small magnet at the tip of the guidewire / catheter and using an external magnetic control device to guide the direction of the guidewire / catheter's movement.

[0003] In existing technologies, external magnetic control devices typically control the position of an electromagnetic generator via a robotic arm, thereby controlling the direction of the guidewire / catheter's movement. However, robotic arm operation is complex, making it difficult to easily control the position of the electromagnetic generator. Consequently, the electromagnetic field generated by the generator cannot accurately track the magnet on the guidewire / catheter, thus failing to accurately guide the guidewire / catheter's movement. Utility Model Content

[0004] This application provides a surgical magnetic control device and surgical equipment that can precisely control the bending of guidewires or catheters.

[0005] Firstly, the surgical magnetic control device provided in this application adopts the following technical solution:

[0006] A surgical magnetic control device, comprising:

[0007] trolley;

[0008] The drive mechanism includes a first drive module, a second drive module, a third drive module, and a mounting base. The first drive module, the second drive module, and the third drive module are arranged sequentially to provide driving forces in the X-axis, Y-axis, and Z-axis directions, respectively. The mounting base houses the third drive module.

[0009] An electromagnetic generator includes a magnetic shunt and multiple coil modules. The magnetic shunt is fixedly connected to the mounting base, and the multiple coil modules are arranged side by side on one side of the magnetic shunt to provide an electromagnetic field for a magnet on a guide wire or conduit.

[0010] The coil module includes:

[0011] A sealing cap is disposed on the magnet; wherein the sealing cap has a relief opening, and the sealing cap has liquid inlet heads around the relief opening;

[0012] The iron core unit includes an iron core and multiple coils. The iron core has a liquid outlet channel along its axial direction. The liquid outlet channel forms a liquid outlet at the first end of the iron core. The side of the second end of the iron core has a liquid return port connected to the liquid outlet channel. The multiple coils are sequentially sleeved on the outside of the iron core. The first end of the iron core and the end of each coil are connected to the sealing cap. The liquid outlet is located at the relief port. The coils have a liquid cooling channel around their periphery. One end of the liquid cooling channel is connected to the liquid inlet head, and the other end is connected to the liquid return port.

[0013] A sealing cover is fitted over the outside of the coil, one end of which is connected to the sealing cap, and an exhaust valve is provided on the side of the sealing cover;

[0014] The sealing end plate is connected to the end of the iron core, the coil, and the sealing cover away from the sealing cap.

[0015] According to some embodiments of the present invention, the first drive module is disposed on the trolley along the front-rear direction of the trolley, and is used to adjust the position of the electromagnetic generator along the X-axis direction;

[0016] The second drive module is disposed on the first drive module along the left-right direction of the trolley, and is used to adjust the position of the electromagnetic generator along the Y-axis direction;

[0017] The third drive module is disposed above the second drive module along the vertical direction of the trolley, and is used to adjust the position of the electromagnetic generator along the Z-axis.

[0018] According to some embodiments of the present invention, the first driving module includes:

[0019] The first guide rail is set on the trolley along the X-axis direction;

[0020] A first drive assembly, mounted on the trolley, is used to provide driving force along the X-axis direction;

[0021] The first carrier plate is slidably disposed on the first guide rail and connected to the first drive assembly, and the second drive module is disposed on the first carrier plate.

[0022] According to some embodiments of the present invention, the second drive module includes:

[0023] The second guide rail is disposed on the first carrier plate along the Y-axis direction;

[0024] The second drive component, disposed on the first carrier plate, is used to provide driving force along the Y-axis direction;

[0025] The second carrier plate is slidably disposed on the second guide rail and connected to the second drive assembly, and the third drive module is disposed on the second carrier plate.

[0026] According to some embodiments of the present invention, the liquid cooling channel is disposed between the coil and the iron core, and / or, the liquid cooling channel is disposed between adjacent coils, and / or, the liquid cooling channel is disposed between the coil and the sealing cover.

[0027] According to some embodiments of the present invention, the coil module further includes at least two partitions, which are respectively disposed on the inner side of the sealing cover and the sealing end plate. The partitions are provided with a plurality of protruding spacers in parallel. The spacers are respectively embedded between the innermost coil and the iron core, between adjacent coils, and between the outermost coil and the inner wall of the sealing cover.

[0028] According to some embodiments of the present invention, the magnetic control device further includes a liquid cooling delivery mechanism, which includes a distributor and a return valve disposed on the mounting base. The distributor is connected between the external liquid supply system and the liquid inlet head, and is used to input liquid cooling water from the external liquid supply system into the liquid cooling channel. The return valve is connected between the external liquid supply system and the liquid outlet, and is used to allow liquid cooling water to flow from the liquid outlet into the external liquid supply system.

[0029] According to some embodiments of the present invention, along the front-rear direction of the trolley, the installation space inside the trolley is divided into a first installation space and a second installation space;

[0030] The magnetic control device also includes an electrical control unit. The drive mechanism is located in the first installation space. The electrical control unit includes a high-voltage module, a power supply module, and a low-voltage module. The high-voltage module, the power supply module, and the low-voltage module are arranged sequentially from bottom to top in the second installation space. The trolley is equipped with a handrail, a display screen, and an operation panel at the top of the second installation space.

[0031] According to some embodiments of the present invention, a counterweight is provided on the rear side of the trolley.

[0032] Secondly, this application discloses a surgical device, including the aforementioned surgical magnetic control device.

[0033] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: Before the interventional surgery, the first driving module, the second driving module, and the third driving module drive the electromagnetic generator to move along the X-axis, Y-axis, and Z-axis directions, thereby adjusting the magnetic field generated by the electromagnetic generator in three dimensions along the X-axis, Y-axis, and Z-axis directions, thus adjusting the electromagnetic generator to a suitable position for the patient, such as the patient's head, so that the patient's head is in the optimal position for the electromagnetic generator's magnetic field strength; during the surgery, the electromagnetic field generated by the electromagnetic generator changes in space, precisely controlling the movement of the magnet on the guidewire or catheter, thereby allowing the guidewire or catheter to bend adaptively in space. Thus, the guidewire or catheter can move smoothly in the vascular environment under the control of the magnetic control device. Furthermore, the electromagnetic generator can be flexibly adjusted before application, and the generated electromagnetic field can be precisely aligned in space with the magnet on the guidewire or catheter, allowing the electromagnetic generator to stably control the movement of the guidewire. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0035] Figure 1 This is a schematic diagram of the overall structure of the magnetic control device disclosed in the embodiments of this application;

[0036] Figure 2 This is a schematic diagram of the structure of the trolley disclosed in the embodiments of this application;

[0037] Figure 3 This is a schematic diagram of the structure of the first drive module and the second drive module disclosed in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the overall structure of the electromagnetic generator disclosed in the embodiments of this application;

[0039] Figure 5 This is an exploded view of the coil module disclosed in an embodiment of this application;

[0040] Figure 6 This is a schematic diagram of the overall structure of the surgical device disclosed in the embodiments of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10. Magnetic control device; 100. Trolley; 110. Chassis; 120. Roller; 130. Frame; 140. Installation space; 141. First installation space; 142. Second installation space; 150. Handrail frame; 160. Operation screen; 170. Operation panel; 180. Counterweight; 200. Drive mechanism; 210. First drive module; 211. First guide rail; 212. First drive assembly; 213. First carrier plate; 220. Second drive module; 221. Second guide rail; 222. Second drive assembly; 223. Second carrier plate; 230. Third drive module; 240. Mounting base; 300. Electromagnetic generator Generator; 310, Magnet; 320, Coil module; 321, Sealing cover; 3211, Displacement port; 3212, Liquid inlet head; 322, Iron core unit; 3221, Iron core; 32211, Coolant outlet; 32212, Return port; 3222, Coil; 323, Sealing cover; 3231, Exhaust valve; 324, Sealing end plate; 330, Laser displacement sensor; 340, Grid component; 350, Temperature sensor; 400, Electronic control unit; 410, High-voltage module; 420, Low-voltage module; 430, Power supply module; 500, Liquid supply module; 510, Diverter; 520, Return device; 600, Guide wire. Detailed Implementation

[0043] The present application will be further described in detail below with reference to the accompanying drawings.

[0044] This application provides a surgical magnetic control device and surgical equipment.

[0045] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0046] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] This application discloses a surgical magnetic control device 10. Please refer to [link / reference]. Figure 1 and Figure 2 The system includes a trolley 100, a drive mechanism 200, and an electromagnetic generator 300. The drive mechanism 200 includes a first drive module 210, a second drive module 220, a third drive module 230, and a mounting base 240. The first drive module 210, the second drive module 220, and the third drive module 230 are arranged sequentially to provide driving forces in the X, Y, and Z axes, respectively. The mounting base 240 houses the third drive module 230. The electromagnetic generator 300 is mounted on the mounting base 240 and provides an electromagnetic field to the magnets on the guide wire 600 or the guide tube.

[0048] In practical applications, before interventional surgery, the first driving module 210, the second driving module 220, and the third driving module 230 drive the electromagnetic generator 300 to move along the X, Y, and Z axes. This allows the magnetic field generated by the electromagnetic generator 300 to be adjusted in three dimensions along these axes, positioning it appropriately for the patient, such as the patient's head, ensuring the optimal magnetic field strength. During surgery, the electromagnetic field generated by the electromagnetic generator 300 changes spatially, precisely controlling the movement of the magnets on the guidewire or catheter. This allows for adaptive bending of the guidewire or catheter in space, enabling smooth movement of the guidewire 600 or catheter within the vascular environment under the control of the magnetic control device 10. Furthermore, the electromagnetic generator 300 can be flexibly adjusted before surgery, ensuring precise spatial alignment of the generated electromagnetic field with the magnets on the guidewire 600 or catheter, allowing for stable control of the guidewire 600's movement.

[0049] In some embodiments, please refer to Figure 2 and Figure 3The trolley 100 has its front-to-back direction as the X-axis, its left-to-right direction as the Y-axis, and its height direction as the Z-axis. Specifically, a first drive module 210 is positioned on the trolley 100 along its front-to-back direction and is used to adjust the position of the electromagnetic generator 300 along the X-axis; a second drive module 220 is positioned on the first drive module 210 along the left-to-right direction and is used to adjust the position of the electromagnetic generator 300 along the Y-axis; and a third drive module 230 is positioned on the second drive module 220 along the vertical direction and is used to adjust the position of the electromagnetic generator 300 along the Z-axis.

[0050] It should be noted that the first drive module 210, the second drive module 220 and the third drive module 230 are arranged in the above manner. The first drive module 210, the second drive module 220 and the third drive module 230 can be compactly arranged in the trolley 100. In particular, the first drive module 210 is arranged along the front and rear direction of the trolley 100. The first drive module 210 can fully occupy the space of the trolley 100 and can stably support the first drive module 210, the second drive module 220 and the electromagnetic generator 300, thereby ensuring that the drive mechanism 200 can work stably in application.

[0051] Of course, the electromagnetic generator 300 can also be adjusted along the X-axis by adjusting the driving direction of the second driving module 220 or the third driving module 230; or, the electromagnetic generator 300 can also be adjusted along the Y-axis by adjusting the driving direction of the first driving module 210 or the third driving module 230; or, the electromagnetic generator 300 can also be adjusted along the Z-axis by adjusting the driving direction of the first driving module 210 or the second driving module 220.

[0052] In some embodiments, please refer to Figure 2 and Figure 3The first drive module 210 includes a first guide rail 211, a first drive assembly 212, and a first carrier plate 213. Specifically, the trolley 100 includes a chassis 110, rollers 120, and a frame 130. The rollers 120 may be Mecanum wheels and are disposed at the bottom of the chassis 110. The frame 130 is disposed around the chassis 110, forming an installation space 140 between the chassis 110 and the frame 130. There are two first guide rails 211, which are arranged side by side along the X-axis on the chassis 110 of the trolley 100. The first drive assembly 212 is disposed on the chassis 110 of the trolley 100 and located between the two first guide rails 211. The first drive assembly 212 is used to provide driving force along the X-axis. The first carrier plate 213 is slidably disposed on the two first guide rails 211 and connected to the first drive assembly 212. The second drive module 220 is disposed on the first carrier plate 213. For example, the first drive assembly 212 includes a motor and a lead screw connected together. The bottom of the first carrier plate 213 is provided with a nut, which is threadedly connected to the lead screw. Thus, the motor drives the lead screw to rotate, thereby driving the first carrier plate 213 to move along the X-axis, and then adjusting the positions of the second drive module 220, the third drive module 230 and the electromagnetic generator 300 along the X-axis.

[0053] Understandably, the first carrier plate 213 is slidably mounted on the chassis 110 of the trolley 100 via two first guide rails 211. The first drive assembly 212 can stably drive the first carrier plate 213 to move along the X-axis. At the same time, the two first guide rails 211 can stably support the first carrier plate 213. The first carrier plate 213 can stably carry the second drive module 220, the third drive module 230, and the electromagnetic generator 300. Thus, the first drive module 210 can stably drive the second drive module 220, the third drive module 230, and the electromagnetic generator 300 to move along the X-axis.

[0054] Furthermore, the second drive module 220 includes a second guide rail 221, a second drive assembly 222, and a second carrier plate 223. Two second guide rails 221 are arranged side-by-side along the Y-axis on the first carrier plate 213 of the trolley 100. The second drive assembly 222 is disposed on the first carrier plate 213 of the trolley 100 and located between the two second guide rails 221. The second drive assembly 222 provides driving force along the Y-axis. The second carrier plate 223 is slidably disposed on the two second guide rails 221 and connected to the second drive assembly 222. The second drive module 220 is disposed on the second carrier plate 223. For example, the second drive assembly 222 includes a motor and a lead screw connected together. The bottom of the second carrier plate 223 is provided with a nut, which is threadedly connected to the lead screw. Thus, the motor drives the lead screw to rotate, thereby driving the second carrier plate 223 to move along the Y-axis direction. This, in turn, adjusts the positions of the second drive module 220, the third drive module 230, and the electromagnetic generator 300 along the Y-axis direction, thereby accurately controlling the bending direction of the guide wire 600.

[0055] Understandably, the second carrier plate 223 is slidably mounted on the first carrier plate 213 of the trolley 100 via two second guide rails 221. The second drive assembly 222 can stably drive the second carrier plate 223 to move along the Y-axis. At the same time, the second carrier plate 223 can stably support the third drive module 230 and the electromagnetic generator 300. Thus, the second drive module 220 can stably drive the third drive module 230 and the electromagnetic generator 300 to move along the Y-axis, thereby accurately controlling the bending direction of the guide wire 600.

[0056] In some embodiments, please refer to Figure 1 and Figure 2 The electromagnetic generator 300 includes a magnetic shunt 310 and multiple coil modules 320. The magnetic shunt 310 is fixedly connected to the mounting base 240, and the multiple coil modules 320 are arranged side-by-side on one side of the magnetic shunt 310 to provide an outward magnetic field. The number of coil modules 320 can be increased or decreased according to actual needs; this embodiment uses three coil modules 320 as an example. The three coil modules 320 are fixed to the magnetic shunt 310 in an equilateral triangle. The magnetic shunt 310 is made of a high-permeability material to enhance the magnetic field. The coil modules 320 generate a magnetic field in the space in front of them by being energized, and the magnetic field is strongest in the central region of the three coil modules 320. Meanwhile, laser displacement sensors are arranged in the central area and the lower left and right sides of the three coil modules 320. The laser displacement sensors are used to detect the distance of the electromagnetic generator 300 from the obstacle in front, to the left and right and below, and provide real-time feedback to the operator. If the safe distance is triggered when the operator controls the movement of the electromagnetic generator 300, an alarm will be triggered and the movement will stop to avoid the electromagnetic generator 300 from colliding with the obstacle.

[0057] In some embodiments, please refer to Figure 4 and Figure 5 When energized, the coil module 320 generates a magnetic field in the space in front of it, with the strongest magnetic field at the center of the three coil modules 320. A laser displacement sensor 330 is positioned at the center of each of the three coil modules 320, as well as at their lower left and right sides. These sensors detect the distances from obstacles in front of, to the left and right of, and below the electromagnetic generator 300, respectively, and provide real-time feedback to the operator. If a safe distance is triggered during the operator's control of the coil module 320's movement, an alarm is triggered and the movement stops to prevent collisions between the coil module 320 and obstacles.

[0058] Furthermore, the coil module 320 includes a sealing cover 321, an iron core unit 322, a sealing cover 323, and a sealing end plate 324. The sealing cover 321 is disposed on the magnet 310. The sealing cover 321 has a relief opening 3211 at its center, and liquid inlet heads 3212 are provided around the relief opening 3211. The iron core unit 322 includes an iron core 3221 and multiple coils 3222. The iron core 3221 has a liquid outlet channel along its axial direction. The two ends of the iron core 3221 are a first end and a second end, respectively. The liquid outlet channel forms a liquid outlet at the first end of the iron core 3221, and a liquid return port 32212 communicating with the liquid outlet channel is provided on the side of the second end of the iron core 3221. Multiple coils 3222 are sequentially sleeved on the outside of the iron core 3221. For example, three coils 3222 are provided, and the inner diameter of the three coils 3222 is increased, so that the three coils 3222 are sequentially sleeved on the outside of the iron core 3221. The first end of the iron core 3221 and the ends of each coil 3222 are connected to the sealing cover 321. The liquid outlet is provided at the relief port 3211 to facilitate connection with the external liquid supply system. The sealing cover 323 is sleeved on the outside of the outermost coil 3222. One end of the sealing cover 323 is connected to the sealing cover 321, and the side of the sealing cover 323 is provided with an exhaust valve 3231. The sealing end plate 324 is connected to the iron core 3221, the coils 3222, and the end of the sealing cover 323 away from the sealing cover 321. The sealing cover 321 has two rings of screws, an inner ring and an outer ring, which are respectively fixed to the iron core 3221 and the sealing cover 323. The sealing end plate 324 also has two rows of screws, an inner ring and an outer ring, which are respectively fixed to the iron core 3221 and the sealing cover 323. The joints of the two are sealed with sealing rings to form a sealing cavity inside the sealing cover 323, thereby sealing the iron core unit 322 inside the sealing cover 323.

[0059] Among them, a liquid cooling channel is provided between the coil 3222 near the iron core 3221 and the iron core 3221, and / or, a liquid cooling channel is provided between adjacent coils 3222, and / or, a liquid cooling channel is provided between the coil 3222 near the sealing cover 323 and the sealing cover 323. One end of the liquid cooling channel is connected to the liquid inlet head 3212, and the other end is connected to the liquid return port 32212. For example, the inner side of the sealing cover 321 and the sealing end plate 324 is provided with a grid member 340. The grid member 340 is provided with a plurality of protruding spacers in parallel. Each spacer is respectively embedded between the innermost coil 3222 and the iron core 3221, between adjacent coils 3222, and between the outermost coil 3222 and the inner wall of the sealing cover 323. Thus, a liquid cooling channel is provided between the coil 3222 near the iron core 3221 and the iron core 3221, between adjacent coils 3222, and between the coil 3222 near the sealing cover 323 and the sealing cover 323.

[0060] In practical applications, liquid cooling water flows into the liquid cooling channel from the inlet 3212, cooling the coil 3222 as it passes through. After passing through the liquid cooling channel, the liquid cooling water flows into the outlet channel from the return channel and exits from the outlet. Having been cooled externally, the liquid cooling water can flow back into the liquid cooling channel from the inlet 3212, thus providing optimal cooling for the coil 3222 and preventing it from overheating. The sealing cap 321, sealing cover 323, and sealing end plate 324 can be made of low thermal conductivity materials to reduce the accumulation of condensate on their surfaces due to the coolant. Furthermore, the spacing between the grid member 340 and the coil 3222 is very small, and the area covering the coil 3222 is also small, allowing almost all surfaces of the coil 3222 to be in direct contact with the coolant, greatly improving heat dissipation efficiency.

[0061] In addition, flanges extend from the outer edges of the sealing cap 321 and sealing cover 323, which can be tightened with screws, nuts, and washers to increase the locking force of the sealed cavity and improve the sealing performance. The sealing end plate 324 has no central slot, allowing the iron core 3221 to be exposed. No sealing connection is needed between the iron core 3221 and the sealing end plate 324; the iron core 3221 is sealed within the cavity. Therefore, the return flow channel on the iron core 3221 can be directly carved into the end face of the iron core 3221, and then converges into the liquid outlet channel of the iron core 3221. Liquid cooling water flows through the interior of the iron core 3221 to the coolant outlet 32211.

[0062] In some embodiments, please refer to Figure 4 and Figure 5An exhaust valve 3231 is provided on the side of the sealing cover 323 to discharge the gas brought in during the coolant circulation process, ensuring that the coil 3222 is completely submerged in coolant and reducing the pressure inside the sealed cavity. Additionally, a temperature sensor 350 can be installed inside the sealing cover 323, fixed at the point of highest temperature of the coil 3222, to monitor the temperature of the coil 3222 during operation. This sensor can trigger a high-temperature alarm and stop the operation of the coil 3222, improving the safety of the module.

[0063] In some embodiments, please refer to Figures 3 to 5 The magnetic control device 10 also includes a liquid cooling delivery mechanism, which includes a distributor 510 and a return valve 520 disposed on the mounting base 240. Both the distributor 510 and the return valve 520 are disposed on the mounting base 240 and are connected between the external liquid supply system and the cooler of the electromagnetic generator 300. Specifically, the distributor 510 is connected between the external liquid supply system and the inlet head 3212, and is used to input liquid cooling water from the external liquid supply system into the liquid cooling channel, thereby cooling the coil 3222 unit of the coil module 320. The return valve 520 is connected between the external liquid supply system and the outlet, and is used to allow liquid cooling water to flow from the outlet into the external liquid supply system.

[0064] In some embodiments, please refer to Figure 1 and Figure 2 Along the front-rear direction of the trolley 100, the installation space 140 inside the trolley 100 is divided into a first installation space 141 and a second installation space 142. The drive mechanism 200 is located in the first installation space 141. The magnetic control device 10 also includes an electrical control unit 400, which includes a high-voltage module 410, a power supply module 430, and a low-voltage module 420. The high-voltage module 410, the power supply module 430, and the low-voltage module 420 are arranged sequentially from bottom to top in the second installation space 142. For example, the high-voltage module 410 is a high-voltage component, such as a toroidal isolation transformer; the high-voltage module 410 is a low-voltage component, such as a motor driver responsible for driving the motor; a switching power supply that outputs 24V power to power the driver; and a power management board that processes signals from the operation panel 160, switch buttons, etc.

[0065] Understandably, the high-voltage module 410, power supply module 430, and low-voltage module 420 are arranged from bottom to top in the second mounting space 142. This allows them to be compactly positioned inside the trolley 100, freeing up a sufficiently large second mounting space 142 for installing the drive mechanism 200. Furthermore, the high-voltage module 410 is located at the bottom of the second mounting space 142 and is isolated from the low-voltage module 420, effectively preventing electric shock, leakage current, and cross-current, eliminating the possibility of live low-voltage circuits, and ensuring personal safety.

[0066] Furthermore, the trolley 100 is equipped with a handrail, a display screen, and an operation panel 170 at the top of the second installation space 142. The display screen is located directly above the second installation space 142 for easy electrical connection with the electrical control unit 400. Meanwhile, the operation panel 170 is located on the left and right sides of the display panel, and the handrail is located behind the display screen. The display panel can be used to display the movement information of the guide wire 600. Based on the information displayed on the display panel, the operator can control the movement of the drive mechanism 200, thereby controlling the position change of the electromagnetic generator 300, and consequently controlling the bending of the guide wire 600 or the conduit.

[0067] In some embodiments, a counterweight 180 is provided on the rear side of the trolley 100. The counterweight 180 increases the weight of the rear side of the trolley 100, thereby balancing the weight of the drive mechanism 200 and the electromagnetic generator 300, so that the trolley 100 can move stably on the ground.

[0068] This application also discloses a surgical device; please refer to [link / reference needed]. Figure 1 and Figure 6 This includes the aforementioned surgical magnetic control device 10.

[0069] Understandably, when the surgical equipment uses the aforementioned surgical magnetic control device 10, during the interventional procedure, the guidewire 600 or catheter tracks the magnet at the end of the guidewire 600 or catheter. The first drive module 210, the second drive module 220, and the third drive module 230 drive the electromagnetic generator 300 to move along the X-axis, Y-axis, and Z-axis, thereby adjusting the electromagnetic generator 300 to a suitable position for the patient, such as the patient's head, so that the patient's head is at the optimal position for the magnetic field strength of the electromagnetic generator 300. With this setup, the electromagnetic field generated by the electromagnetic generator 300 changes spatially during the procedure, precisely controlling the movement of the magnet on the guidewire or catheter. This allows for adaptive bending of the guidewire or catheter in space, enabling the guidewire 600 or catheter to move smoothly in the vascular environment under the control of the magnetic control device 10. Furthermore, the electromagnetic generator 300 can be flexibly adjusted before surgery, and the generated electromagnetic field can be precisely aligned spatially with the magnet on the guidewire 600 or catheter. The electromagnetic generator 300 can stably control the movement of the guidewire 600, allowing the guidewire 600 or catheter to move smoothly in the vascular environment under the control of the magnetic control device 10. Additionally, the electromagnetic generator 300 can be flexibly adjusted before application, and the generated electromagnetic field can be precisely aligned spatially with the magnet on the guidewire 600 or catheter. The electromagnetic generator 300 can stably control the movement of the guidewire 600.

[0070] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or some of the technical features can be replaced with the same ones. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A surgical magnetic control device, characterized in that, include: trolley; The drive mechanism includes a first drive module, a second drive module, a third drive module, and a mounting base. The first drive module, the second drive module, and the third drive module are arranged sequentially to provide driving forces in the X-axis, Y-axis, and Z-axis directions, respectively. The mounting base houses the third drive module. An electromagnetic generator includes a magnetic shunt and multiple coil modules. The magnetic shunt is fixedly connected to the mounting base, and the multiple coil modules are arranged side by side on one side of the magnetic shunt to provide an electromagnetic field for a magnet on a guide wire or conduit. The coil module includes: A sealing cap is disposed on the magnet; wherein the sealing cap has a relief opening, and the sealing cap has liquid inlet heads around the relief opening; The iron core unit includes an iron core and multiple coils. The iron core has a liquid outlet channel along its axial direction. The liquid outlet channel forms a liquid outlet at the first end of the iron core. The side of the second end of the iron core has a liquid return port connected to the liquid outlet channel. The multiple coils are sequentially sleeved on the outside of the iron core. The first end of the iron core and the end of each coil are connected to the sealing cap. The liquid outlet is located at the relief port. The coils have a liquid cooling channel around their periphery. One end of the liquid cooling channel is connected to the liquid inlet head, and the other end is connected to the liquid return port. A sealing cover is fitted over the outside of the coil, one end of which is connected to the sealing cap, and an exhaust valve is provided on the side of the sealing cover; The sealing end plate is connected to the end of the iron core, the coil, and the sealing cover away from the sealing cap.

2. The surgical magnetic control device according to claim 1, characterized in that, The first drive module is disposed on the trolley along the front-rear direction of the trolley and is used to adjust the position of the electromagnetic generator along the X-axis direction; The second drive module is disposed on the first drive module along the left-right direction of the trolley, and is used to adjust the position of the electromagnetic generator along the Y-axis direction; The third drive module is disposed above the second drive module along the vertical direction of the trolley, and is used to adjust the position of the electromagnetic generator along the Z-axis.

3. The surgical magnetic control device according to claim 2, characterized in that, The first drive module includes: The first guide rail is set on the trolley along the X-axis direction; A first drive assembly, mounted on the trolley, is used to provide driving force along the X-axis direction; The first carrier plate is slidably disposed on the first guide rail and connected to the first drive assembly, and the second drive module is disposed on the first carrier plate.

4. The surgical magnetic control device according to claim 3, characterized in that, The second drive module includes: The second guide rail is disposed on the first carrier plate along the Y-axis direction; The second drive component, disposed on the first carrier plate, is used to provide driving force along the Y-axis direction; The second carrier plate is slidably disposed on the second guide rail and connected to the second drive assembly, and the third drive module is disposed on the second carrier plate.

5. A surgical magnetic control device according to claim 1, characterized in that, The liquid cooling channel is disposed between the coil and the iron core, and / or, the liquid cooling channel is disposed between adjacent coils, and / or, the liquid cooling channel is disposed between the coil and the sealing cover.

6. A surgical magnetic control device according to claim 1, characterized in that, The coil module also includes at least two partitions, which are respectively disposed on the inner side of the sealing cover and the sealing end plate. The partitions are provided with a plurality of raised intervals in parallel. The intervals are respectively embedded between the innermost coil and the iron core, between adjacent coils, and between the outermost coil and the inner wall of the sealing cover.

7. A surgical magnetic control device according to claim 6, characterized in that, The magnetic control device further includes a liquid cooling delivery mechanism, which includes a distributor and a return valve disposed on the mounting base. The distributor is connected between the external liquid supply system and the liquid inlet head and is used to input liquid cooling water from the external liquid supply system into the liquid cooling channel. The return valve is connected between the external liquid supply system and the liquid outlet and is used to allow liquid cooling water to flow from the liquid outlet into the external liquid supply system.

8. A surgical magnetic control device according to claim 1, characterized in that, Along the front-rear direction of the trolley, the installation space inside the trolley is divided into a first installation space and a second installation space; The magnetic control device further includes an electrical control unit. The drive mechanism is disposed in the first installation space. The electrical control unit includes a high-voltage module, a power supply module, and a low-voltage module. The high-voltage module, the power supply module, and the low-voltage module are disposed sequentially from bottom to top in the second installation space.

9. A surgical magnetic control device according to claim 8, characterized in that, The trolley is equipped with a handrail, a display screen and an operation panel at the top of the second installation space, and a counterweight is provided at the rear of the trolley.

10. A surgical device, characterized in that, Includes the surgical magnetic control device as described in any one of claims 1 to 9.

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