Medical device and method for performing surgical operation in body

Abstract

To provide a medical device, preferably a micro robot for application inside a body, preferably for application inside a human body.SOLUTION: A medical device 10 includes a body part and a tail part. A recapture line 13 is attached to the tail part. The recapture line 13 has a tensile strength sufficient to pull back the device and column strength not sufficient to push the medical device 10.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to medical devices and methods for performing surgery within the body. In some non-limiting examples, the medical devices relate to microrobots for operating within the human body. [Background technology]

[0002] Minimally invasive procedures, also known as minimally invasive surgery, are surgical techniques that require only minimal incision sizes, thus reducing wound healing time and risk of trauma to the patient. Specific tools such as catheters, fiber optic cables, grippers, and scissors on a long stick or small video cameras have been designed for minimally invasive surgery.

[0003] A limitation of minimally invasive surgery is that surgeons may be forced to use tools that require less motion techniques that can become extremely tiring during prolonged procedures.

[0004] A further development in the field of minimally invasive surgery is robot-assisted or robotic surgery, whereby a robotic system is used to assist a surgeon in a surgical procedure. Multiple robotic arms may perform minimally invasive surgery while the surgeon manipulates the robotic arms, for example, with a joystick. However, surgery is still invasive to some extent and creates internal and external wounds that require time to heal.

[0005] A further development is microrobots that are injected into the human body to perform diagnostics, surgery or therapy. These microrobots can be used to measure blood glucose levels in diabetic patients in real time to diagnose or monitor diseases, or to deliver drugs to target locations, such as tumors (Ornes, PNAS, 2017). These microrobots are small devices, ranging in size from a few millimeters to a few microns.

[0006] Edd et al. disclose a surgical microrobot that is intended to provide a novel method of swimming through the human ureter to break kidney stones (IEEE Proceedings, 2003). Peyer et al. disclose a swimming microrobot with an artificial flagellar structure to navigate through fluids of different viscosities (IEEE, 2012). Due to their size, microrobots cannot be equipped with batteries and motors. A common method to guide microrobots to a target location is to control a microrobot containing magnetic material using an external magnetic field. The Multiscale Robotics Laboratory at the Swiss Federal Institute of Technology Zurich has disclosed a tetherless microrobot with a diameter of 285 μm for performing ophthalmic surgery. Summary of the Invention [Problem to be solved by the invention]

[0007] The small size of these microrobots limits their ability to move against fluid flows, such as blood flow. Magnetic fields can guide or stop the robots, but their strength may not be strong enough to move them against blood flowing in the opposite direction.

[0008] It is an object of the present invention to alleviate one or more of the above mentioned problems, in particular to provide a medical device, preferably a microrobot, that is easy to manufacture and use. In some embodiments, it has the additional advantage of being reliable, thus enabling a recovery save. Some have the following. [Means for solving the problem]

[0009] According to the invention, this problem is solved by the features recited in the characterizing portion of the independent claims.

[0010] The present invention relates to a medical device. The medical device may be a microrobot for use in a body vessel. In particular, the medical device or microrobot may be suitable for working inside the human body. The medical device includes a body portion and a tail portion. A retrieval string may be attached to the device, preferably to the tail portion, which may be adapted to retract the medical device from a first position. In an embodiment, the retrieval string may have insufficient stiffness to move the medical device to a target location.

[0011] The first location may specifically be a target site of a medical device. The retrieval string may have sufficient tensile strength to retract the medical device, but not so much column strength as to push the medical device against static or dynamic bodily fluid generated forces, and thus the string can be made thin enough to be easily inserted into the body duct.

[0012] The term "leash" as used herein is intended to cover any structure that performs the task of pulling a device, while possibly performing other non-limiting tasks as well.

[0013] The medical device may be adapted to be injected into the body, in particular into the human body. The tail and possibly the body may have a larger cross section than the retrieval string. The medical device may be mechanically or manually retracted. Such a retrieval string allows pulling the medical device through an opposing fluid flow, e.g. the blood flow. This pulling motion may be a fine adjustment of the position or a retrieval of the medical device. In particular, the device may comprise a handle for the retrieval string.

[0014] The retrieval string may have a length configured to extend from the medical device to an insertion site of the medical device.One embodiment of the present invention relates to a system comprising a port and a medical device, with a retrieval string extending from the tail to the port.

[0015] The retrieval string may be a thread, particularly a soft thread. Advantageously, the thread is bendable. One advantage is that such a medical device may be of compact size compared to known catheter devices, thus requiring a smaller incision.

[0016] The medical device can be released into a body vessel, carried by fluid flow within the body vessel to a target site within the vessel, and retrieved in a simple manner, The device may be repositioned by loosening or pulling the retrieval string.

[0017] The medical device preferably has at least one driver for actively moving the device in a direction and a control member for controlling and preferably modifying the movement of the medical device within the body. The medical device can move through the flow of bodily fluids and / or move over tissue.

[0018] The drive can be any kind of function that moves the medical device. Possible embodiments include propellers, wheels, caterpillars, flagella, legs, hooks or magnetic drives for external steering. The control member controls the device in response to an external effect, e.g. a signal. The actuator may be moved, steered or stopped by a control signal, such as a signal to move the actuator. The control member may adjust the speed or direction of rotation of the actuator, thereby controlling the position. The actuator may enable the medical device to be navigated through sharply curved blood vessels.

[0019] The medical device preferably comprises a positioning means for determining the position of the medical device in the body. The positioning means emits a signal, which is received by a receiver. The receiver then calculates the position of the medical device. This signal could be an electric wave, a radioactive tracer, a sound wave, Bluetooth, or any other wireless signal. In an alternative embodiment, the positioning means could include sensors for measuring different environmental parameters such as temperature, pH, redox potential, salt concentration, viscosity, pressure, electric potential, gas concentration, radioactivity, and / or metabolic levels. The positioning means transmits the measured parameters to a receiver, which calculates the position of the medical device. The measured parameters could be used for the analysis of the environment.

[0020] The retrieval string of the medical device preferably comprises a transmission cable for transmitting energy and / or data, in particular optical or electrical signals, to and from the medical device. The transmission cable may include two separate cables, i.e. a cable for delivering energy and data and a cable for receiving data. The transmission cable may also be a single cable for transmitting energy, data and images as the retrieval string.

[0021] The retrieval string may comprise or consist of a biocompatible material, and preferably comprises or consists essentially of one of the following group of materials: metals, particularly copper, polymers, carbon fibers, nylon, polymers, silk, and carbon nanotubes, particularly graphene.

[0022] These materials are biocompatible and have sufficient longitudinal strength to pull the medical device. Furthermore, the above-mentioned materials preferably resist degradation over at least several hours or days, and may degrade in time if the device is lost. This ensures that the medical device can be retrieved at any time if necessary. Furthermore, these materials resist environmental influences within the body, such as varying pH or oxidative stress.

[0023] The medical device preferably comprises a material that is detectable by imaging techniques, for example, by MRI, CT scanner, ultrasonography, X-ray or fluoroscopy.

[0024] This allows the position of the device to be determined at any time during the procedure. If required, the position can also be tracked, particularly in real time. A continuous localization process is beneficial, since guidance of a medical device can be complicated depending on parameters such as fluid viscosity or external pressure due to bodily fluid flow.

[0025] The medical device may be particularly suitable for application to blood vessels, particularly arteries or veins. Another application site may be the urethra or ureter. The retrieval string of the medical device preferably has an outer diameter of 10 to 1000 μm, more preferably 50 to 200 μm.

[0026] The body portion may include a magnetic portion operable to guide the medical device by interaction with an external magnetic field, which may be an inner core made of magnetic material or containing magnetic material, magnetic microparticles or nanoparticles within a matrix or coating.

[0027] The medical device is preferably a clamp, a scalpel, a drill, a hook, a stent, a leg, It comprises at least one functional unit such as caterpillars, propellers, a detonator, a camera or a sensor, or a drug release component.

[0028] The functional unit may be attachable to a medical device. The functional unit may be used to move the medical device over tissue or through a fluid. It may also be used to attach the medical device to a tissue site, or to open a passageway in a blocked opening, or to create a new opening. Alternatively, the functional unit may be used to collect data from the body environment.

[0029] The proposed device is particularly suitable for removing thrombus formations in arteries, sealing aneurysms or delivering drugs to tumors. The detonator could also open up the thrombus.

[0030] The functional unit may be activatable. In some embodiments, the functional unit is activated by a magnetic field, or in certain embodiments, by electromagnetic waves, allowing, for example, the controlled release of a drug. The functional unit may be activatable by energy, for example an electrical signal.

[0031] The medical device preferably comprises a reservoir for storing and releasing the drug. The reservoir can be used to administer the drug to a specific application site. For example, tumor cells can be treated locally with a toxic drug. The medical device is then used to transport the toxic drug to the application site and release it there. The controlled release of the drug also allows the possibility of timed drug administration. The medical device can be inserted, guided to the application site and wait until the scheduled release time of the drug. It is also possible to control the delayed release of two different drugs, for example an active drug and an enzyme that inactivates the drug.

[0032] The medical device preferably comprises a transmitter for transmitting data from the medical device to a receiver, in particular via the retrieval string.

[0033] The retrieval string may be adapted to transmit energy, which may transmit data acquired by sensors within the medical device.

[0034] The device may also be adapted to receive energy via the retrieval leash and / or transmit data via the retrieval leash obtained by sensors in the medical device, particularly in the body. In further or alternative embodiments, the medical device or retrieval leash may include a wireless transmitter and / or receiver for transmitting and / or receiving energy or data.

[0035] The medical device preferably has a size of 8 to 2000 μm, preferably 50 to 1000 μm, more preferably 200 to 500 μm. This size may be the length, diameter or longest dimension of the medical device.

[0036] The body and / or tail of the medical device preferably comprise a material such as metal, plastic, glass, mineral, ceramic, carbohydrate, nitinol, carbon, a biomaterial, or a biodegradable material.

[0037] The present invention further provides a method for performing a surgical procedure within a body, preferably within a human body. In a first step, a medical device is inserted into the body. The medical device is then navigated to the interaction site without pushing a retrieval string. In particular, the medical device is inserted upstream of the target site. A fluid flow carries the medical device to the target site. The medical device may be aligned by loosening or pulling the retrieval string.

[0038] The medical device may perform one or more functions at one or more locations. The medical device is removed from the body by pulling on the retrieval string.

[0039] The present invention further provides a system for controlling a medical device, the system comprising a medical device, preferably as described above, and a magnetic field generator, the medical device then being guided by a magnetic field generated by the magnetic field generator.

[0040] The external magnetic field generator generates a magnetic field with a gradient of 0.1-20 T / m, preferably 0.2-1 T / m. Once the medical device is inserted into the body, the magnetic field can be used to guide the medical device to the application site. Thus, the medical device is moved, suspended or steered by the magnetic field, especially while suspended in the flow of bodily fluids. The medical device remains attached to the retrieval string the whole time.

[0041] In further embodiments, the medical device may have magnetic anisotropy, which allows it to be oriented by a magnetic field.

[0042] The present invention further relates to a medical device, preferably a microrobot, for operating within the body, preferably within the human body.

[0043] Non-limiting embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0044] [Figure 1] 1 is a schematic diagram of a medical device. [Diagram 2] 1 is a schematic diagram of a body insertion site for a medical device. [Diagram 3] 1 is a schematic representation of a medical device comprising a drive and a control member. [Figure 4] 1 is a schematic representation of a medical device comprising an alignment means. [Diagram 5] 1 is a schematic diagram of pulling a medical device with a magnetic field. [Figure 6] 1 is a schematic diagram of transmitting data and energy through a retrieval tether of a medical device. [Figure 7a]1 is a schematic diagram of a functional unit attached to a medical device. [Figure 7b] 1 is a schematic diagram of a functional unit attached to a medical device. [Figure 7c] 1 is a schematic diagram of a functional unit attached to a medical device. [Figure 7d] 1 is a schematic diagram of a functional unit attached to a medical device. [Figure 8] 1 is a schematic diagram of a tumor and an antibody delivered to the tumor by a medical device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] 1 is a schematic diagram showing a medical device 10 comprising a body portion 11 and a tail portion 12. Attached to the body portion 12 is a retrieval string 13. The retrieval string 13 is used to pull the medical device 10.

[0046] Figure 2 is a schematic diagram showing an insertion site 20 of a medical device 10 in a human body 2. The heart 1 is connected to a blood stream. The blood stream includes different types of blood vessels 6, such as an aorta 3, veins 4 and capillaries 5. The medical device 10 is inserted into the insertion site 20 of the blood vessel 6. Thus, the blood vessel 6 is perforated by a catheter 22 at the insertion site 20. The medical device 10 is inserted into the blood stream B. The blood stream B carries the medical device 10 through the blood vessel until it reaches an interaction site 25 (Figure 5). The medical device 10 can be optionally tethered to a retrieval string 13 and pulled back to the insertion site 20.

[0047] 3 shows a medical device 10 with a retrieval string 13 in a blood vessel 6. The medical device 10 has a drive 15 and a control member 16 for controlling the drive. The drive 15 actively moves the medical device 10 in a certain direction. The control member 16 modifies the action of the drive 15. The control member 16 can reverse the direction of rotation of the drive 15 or adjust its speed.

[0048] 4 shows the medical device 10 with the retrieval string 13 within the blood vessel 6. The medical device 10 comprises an alignment means 17. The alignment means 17 emits a signal 19, which is received by a receiver 18. Based on the signal 19, the receiver 18 calculates the position of the medical device 10.

[0049] 5 is a schematic diagram showing a blood vessel 6 with a medical device 10. The medical device 10 is transported by the blood flow B and attached to a retrieval string 13. A magnetic field generator 23 generates a magnetic field 21 at an application site 25. The body portion 11 of the medical device 10 has a magnetic portion 14, which is attracted by the magnetic field 21. At the application site 25, the medical device 10 remains in place, held against the force of the blood flow B by the magnetic field 21. After performing some action, the magnetic field generator 23 is turned off and the magnetic field 21 collapses. The medical device is removed against the force of the blood flow B by pulling the retrieval string 13.

[0050] Figure 6 shows a schematic diagram of the medical device 10. The retrieval string 13 comprises an energy transmission cable 30 and a data transmission cable 31. The energy transmission cable 30 transmits energy to the sensor 40 and to the compartment 41. The sensor transmits data via the data transmission cable 31. As an alternative, the energy transmission cable 30 and the data transmission cable 31 can be integrated into the same cable, with which energy is transported to the medical device and data is transported to and from the medical device via the retrieval string 13.

[0051] 7a-7d are schematic diagrams showing a medical device 10 with an attachable functional unit 51. In FIG. 7a, the functional unit 51 is a propeller for moving the medical device 10 forward or backward along the longitudinal axis of the device. FIG. 7b shows a medical device 10 in which the functional unit 51 is a caterpillar. The caterpillar is used to move the medical device 10 onto a tissue site. In FIG. 7c, the functional unit 51 of the medical device 10 is a drill. The drill can be used to pierce tissue and create an opening for moving across a physical barrier. In FIG. 7d, the functional unit 51 of the medical device 10 is a hook. The hook can be used to hold the medical device 10 in place or to drag an object or substance during retrieval of the medical device 10.

[0052] FIG. 8 is a schematic diagram showing a tumor site 63. Tumor cells 61 are larger in size and have a faster replication cycle than normal cells 60. The medical device 10 is guided to the tumor site and carries a tumor-specific antibody 62 in the compartment 41. The medical device 10 releases the tumor-specific antibody 62 at the tumor site 63. The antibody binds to the tumor cells and triggers an immunotherapy process. After releasing the antibody 62, the medical device 10 is removed from the tumor site 63 by pulling the retrieval string 13.

Claims

1. A medical device (10) which is a microrobot for working inside the human body (2), wherein the medical device (10) is Main body (11) and Including the tail section (12), The retrieval string (13) is attached to the device. The medical device (10) is characterized in that the retrieval string (13) has sufficient tensile strength to pull the medical device (10) back, but not sufficient column strength to push the medical device (10) to the target position.

2. The aforementioned medical device (10) is i) A drive device (15) for actively moving the device in a certain direction, ii) Control member (16) for changing the direction of movement within the body due to external effects, A medical device (10) according to claim 1, characterized by having at least one of the following.

3. The medical device (10) according to claim 1 or claim 2, characterized in that it has alignment means (17) for determining the position of the medical device (10) within the body.

4. The medical device (10) according to any one of claims 1 to 3, characterized in that the retrieval string (13) comprises a transmission cable (30, 31) for transmitting energy and / or data to the medical device (10).

5. The medical device (10) according to any one of claims 1 to 4, characterized in that the recovery string (13) comprises one material from the group of materials consisting of metal, polymer, carbon fiber, graphene, cloth, silk, protein fiber, and carbon nanotube.

6. The medical device (10) according to any one of claims 1 to 5, characterized in that the retrieval string has a smaller cross-section than the medical device.

7. The medical device (10) according to any one of claims 1 to 6, characterized in that it includes a material that enables detection by at least one of the imaging techniques, including MRI, scanner, ultrasound, X-ray, and fluoroscopy.

8. The medical device (10) according to any one of claims 1 to 7, characterized in that the retrieval string (13) has an outer diameter of 10 to 1000 μm.

9. The medical device (10) according to any one of claims 1 to 8, characterized in that the main body (11) includes a magnetic part (14).

10. The medical device (10) according to any one of claims 1 to 9, wherein the main body (11) includes at least one functional unit (51), the functional unit (51) is selected from the group consisting of a clamp, a scalpel, a drill, a hook, a stent, a leg, a caterpillar, a propeller, a detonator, a camera, and a sensor.

11. The medical device (10) according to any one of claims 1 to 10, characterized in that the main body (11) comprises a compartment (41) configured to store and release a drug (62).

12. The medical device (10) according to any one of claims 1 to 11, characterized in that the main body (11) includes a transmitter (17) configured to transmit data from the medical device to a receiver (18), particularly via the retrieval string (13).

13. The medical device (10) according to any one of claims 1 to 12, characterized in that it has a size of 8 to 2000 μm.

14. The medical device (10) according to any one of claims 1 to 13, characterized in that the main body (11) and tail (12) of the medical device (10) include a material selected from the group consisting of metal, plastic, glass, mineral, ceramic, carbohydrate, nitinol, carbon, biomaterial, or biodegradable material.

15. A system for controlling a medical device (10) as described in claim 9 and a magnetic field generator (23), wherein the medical device (10) is induced by a magnetic field (21) generated by the magnetic field generator (23).

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