Magnetic navigation system for cerebrovascular intervention

Abstract

The present application relates to the technical field of interventional surgical medical devices, and discloses a magnetic navigation system for cerebrovascular intervention, which not only can control a catheter guidewire to deflect in an expected direction when a blood vessel bifurcates or exhibits a sharp bend, so as to achieve the function of turning at a large angle or entering a target blood vessel, but also can generate a rotating magnetic field to drive the catheter guidewire to rotate when punch biopsy or thrombus removal is required. The system comprises a linear guide rail, and a catheter guidewire tail end turning navigation device and a catheter guidewire tail end rotation driving device which are slidably connected to the linear guide rail; the catheter guidewire tail end turning navigation device comprises an annular guide rail and a first magnetic member mounting sliding block slidably connected to the annular guide rail; the first magnetic member mounting sliding block can slide in the circumferential direction of the annular guide rail; a first magnetic member is provided on the first magnetic member mounting sliding block; and the catheter guidewire tail end rotation driving device can generate a rotating magnetic field and drive the tail end of a catheter guidewire to rotate.

Description

Magnetic navigation system for cerebrovascular intervention Technical Field

[0001] The present application relates to the technical field of interventional surgical medical equipment, and in particular to a magnetic navigation system for cerebral vascular intervention. Background Art

[0002] Magnetic fields have been widely used in surgical instrument design in recent years due to their advantages such as freedom from restraint, rapid response, low cost, and relative biosafety. Due to the strong penetrating power of magnetic fields, magnetic surgical instruments can be manipulated within confined spaces within the body.

[0003] For vascular interventional surgery, mechanical vascular interventional instrument control and propulsion devices are currently widely used for guidewire deflection, advancement, and withdrawal. The guidewire's deflection relies on its own structure to transmit torque from the distal end to achieve directional control of the head within the blood vessel. This is easy to achieve in arteries and veins with larger diameters, but for cerebrovascular interventional treatment, the lesion is far away from the puncture point. The diameter of cerebral blood vessels is thinner, requiring smaller guidewires, which makes it more difficult to use mechanical torsion for directional control. In addition, due to the more complex structure of cerebral blood vessels and thinner blood vessel walls, mechanical torsion can easily damage the blood vessel walls and cause bleeding.

[0004] In summary, for cerebrovascular interventional surgery, the use of a magnetic control system for navigation of the interventional guidewire can improve the control accuracy and surgical efficiency of the instrument end during cerebrovascular interventional surgery, and reduce the damage caused by surgical instruments to brain blood vessels. The present invention is a magnetic navigation system proposed with this goal in mind. Technical issues

[0005] An embodiment of the present application provides a magnetic navigation system for cerebral vascular intervention, which can not only control the catheter guide wire to deflect in the desired direction when encountering a vascular branch or a large bend in the blood vessel, thereby achieving the function of large-angle turning or entering the target blood vessel, but also can generate a rotating magnetic field to drive the catheter guide wire to rotate when it is necessary to drill tissue or remove thrombus. Technical Solutions

[0006] To achieve the above-mentioned objectives, an embodiment of the present application provides a magnetic navigation system for cerebrovascular intervention, comprising a linear guide rail and a catheter guidewire end steering navigation device and a catheter guidewire end rotation drive device slidably connected to the linear guide rail; the catheter guidewire end steering navigation device comprises an annular guide rail and a first magnetic part mounting slider slidably connected to the annular guide rail; the first magnetic part mounting slider can slide along the circumference of the annular guide rail; a first magnetic part is provided on the first magnetic part mounting slider; the catheter guidewire end rotation drive device can generate a rotating magnetic field and drive the catheter guidewire end to rotate.

[0007] Furthermore, a circular groove is provided on the inner side of the annular guide rail, and the first magnetic component mounting slider is slidably connected in the circular groove and extends out of the annular guide rail.

[0008] Furthermore, a stepper motor is provided in the first magnetic component mounting slider; a first rotating base is provided on the output shaft of the stepper motor; the first rotating base is located at the front end of the first magnetic component mounting slider; a pan-tilt platform is provided on the front end surface of the first rotating base, and the first magnetic component is connected to the pan-tilt platform.

[0009] Furthermore, the catheter guidewire end rotation drive device includes a robotic arm and a second magnetic component; the robotic arm is slidably connected to the linear guide rail through a robotic arm mounting slider; a motor is provided in the robotic arm, and a second rotating base is provided on the output shaft of the motor; the second rotating base is located at the end of the robotic arm; and the second magnetic component is connected to the front end surface of the second rotating base.

[0010] Furthermore, the robotic arm is a six-degree-of-freedom robotic arm.

[0011] Furthermore, the first magnetic component and the second magnetic component are both permanent magnets or electromagnets.

[0012] Furthermore, the first magnetic member and the second magnetic member are both cylindrical or rectangular.

[0013] Furthermore, the lower end of the annular guide rail and the lower end of the robot arm mounting slider are both provided with a linear slide groove adapted to the linear guide rail.

[0014] Furthermore, the first magnetic component mounting slider, the annular guide rail and the robotic arm mounting slider are all driven by a motor.

[0015] Furthermore, the catheter guidewire end rotation driving device is located at the rear side of the catheter guidewire end steering navigation device. Beneficial effects

[0016] 1. The magnetic navigation system for cerebrovascular intervention in the embodiment of the present application is provided with a linear guide rail, an annular guide rail slidably connected to the linear guide rail, and a first magnetic member slidably connected to the annular guide rail. When encountering a blood vessel branch or a large bend in the blood vessel, the first magnetic member is controlled to slide on the annular guide rail and the annular guide rail is controlled to slide on the linear guide rail, thereby controlling the catheter guide wire to deflect in the desired direction, thereby achieving the function of large-angle turning or entering the target blood vessel; and through a robotic arm provided on the linear guide rail and a second magnetic member rotatably connected to the end of the robotic arm, when it is necessary to drill tissue or remove thrombus, the second magnetic member is driven to rotate and generate a rotating magnetic field to drive the catheter guide wire to rotate.

[0017] 2. The magnetic navigation system for cerebrovascular intervention in the embodiment of the present application rotates the first magnetic part and connects it to the first magnetic part slider through a pan-tilt head and a stepper motor, so that the position of the first magnetic part can be fine-tuned by controlling the deflection angle of the pan-tilt head. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a front view of a magnetic navigation system for cerebrovascular intervention according to an embodiment of the present application;

[0020] FIG2 is a side view of a magnetic navigation system for cerebrovascular intervention according to an embodiment of the present application;

[0021] FIG3 is a top view of the magnetic navigation system for cerebral vascular intervention according to an embodiment of the present application. Modes for Carrying Out the Invention

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0024] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0026] 1 to 3 , an embodiment of the present application provides a magnetic navigation system for cerebrovascular intervention, comprising a linear guide rail 1, a catheter guidewire end steering navigation device 2, and a catheter guidewire end rotation drive device 3. The linear guide rail 1 is mounted on an external platform, and the catheter guidewire end steering navigation device 2 and the catheter guidewire end rotation drive device 3 are both slidably connected to the linear guide rail 1, and the catheter guidewire end rotation drive device 3 is located behind the catheter guidewire end steering navigation device 2. The catheter guidewire end rotation drive device 3 can drive the catheter guidewire end to deflect in a preset direction to achieve a large-angle turn or enter the target blood vessel. The catheter guidewire end rotation drive device 3 can generate a rotating magnetic field and drive the catheter guidewire end to rotate to cooperate with the micro-drill structure at the guidewire end to drill out thrombus or complete sampling.

[0027] Specifically, the catheter guidewire terminal steering navigation device 2 comprises an annular guide rail 21, a first magnetic mounting slider 22, a first rotating base 23, and a first magnetic member 24. The annular guide rail 21 has a rectangular mounting portion 211 at its bottom. A linear guide slot 212, compatible with the linear guide rail, is located on the lower end of the rectangular mounting portion 211. A motor is housed within the rectangular mounting portion 211. Thus, the annular guide rail 21 can be driven to slide on the linear guide rail 1 by controlling the start and stop of the motor.

[0028] The inner surface of the annular guide rail 21 is provided with an annular groove (not shown), into which the first magnetic member mounting slider 22 is slidably connected. Multiple motors are also housed within the first magnetic member mounting slider 22. Thus, by controlling the start and stop of the motors, the first magnetic member mounting slider 22 can be driven to move along the inner surface of the annular guide rail 21.

[0029] The front end surface of the first magnetic component mounting slider 22 is fixedly connected to a first rotating base 23. The first rotating base 23 is connected to the first magnetic component 24 via a pan-tilt platform (not shown), and the first magnetic component 24 extends out of the annular guide rail 21. Specifically, the first magnetic component 24 is a permanent magnet or an electromagnet, and is cylindrical or rectangular. A stepper motor (not shown) is installed within the first magnetic component mounting slider 22, and a pan-tilt platform (not shown) is installed on the first rotating base 23, which is connected to the stepper motor. The pan-tilt platform is connected to the first magnetic component 24 via a hinge (not shown). Thus, by controlling the start and stop of the motor within the first magnetic component mounting slider 22, the first magnetic component 24 can be controlled to rotate 360 ​​degrees around the patient's head to change the direction of the magnetic flux lines. By controlling the start and stop of the stepper motor, the deflection of the first magnetic component 24 can be controlled, thereby fine-tuning the position of the first magnetic component 24.

[0030] The catheter guidewire distal end rotation drive device 3 comprises a robotic arm mounting slider 31, a robotic arm 32, a second rotating base 33, and a second magnetic member 34. The lower end surface of the robotic arm mounting slider 31 is also provided with a linear groove that mates with the linear guide rail 1. A motor is housed within the robotic arm mounting slider 31. Thus, the robotic arm mounting slider 31 can be driven to slide on the linear guide rail 1 by controlling the start and stop of the motor.

[0031] The robotic arm 32 is a six-degree-of-freedom robotic arm, the lower end of which is fixedly connected to the robotic arm mounting slider 31, and motors are provided inside the lower end and inside the end of the robotic arm. The second rotating base 33 is connected to the output shaft of the motor located inside the end of the robotic arm and is located at the end of the robotic arm 32. The front end surface of the second rotating base 33 is connected to the second magnetic member 34 via a hinge (not shown in the figure). Specifically, the second magnetic member 34 is a permanent magnet or an electromagnet, and is a cylinder or a rectangular parallelepiped. Therefore, by controlling the start and stop of the motor in the robotic arm 32, the second magnetic member 34 can be rotated and a rotating magnetic field can be generated.

[0032] The working principle of the magnetic navigation system for cerebrovascular intervention in the embodiment of the present application is as follows:

[0033] The advancement and retraction of interventional surgical instruments within the blood vessels is still accomplished by a traditional propulsion mechanism, while the position of the surgical instruments within the body is tracked using medical imaging equipment. During operation, the patient lies on the operating table, and the surgeon performs a vascular puncture to insert a magnetic guidewire into the vessel. The propulsion mechanism then, with the assistance of medical imaging equipment, propels the guidewire to the neck vessels. When encountering a branching vessel or a large bend in the vessel, the annular guide rail 21 is controlled to reach the end (magnetic end) of the catheter guidewire, and the position of the first magnetic element 24 on the annular guide rail 21 is adjusted to align the catheter guidewire end. As the catheter guidewire is advanced, the annular guide rail 21 moves synchronously along the linear guide rail 1. Simultaneously, with the assistance of medical imaging equipment, the first magnetic element mounting slider 22 and the first rotating base 23 are controlled to fine-tune the position of the first magnetic element 24, ensuring that the catheter guidewire end reaches the designated position and aligns with the lesion.

[0034] To treat intravascular embolism, a microdrill structure capable of rotating relative to the catheter guidewire tip is required. First, a robotic arm mounted slider 31 and a robotic arm 32 control the position of a second magnetic element 34, aligning it with the catheter guidewire tip. Then, a second rotating base 33 at the end of the robotic arm 32 rotates the second magnetic element 34, generating a rotating magnetic field that drives the microdrill structure to drill and remove the thrombus. Ultimately, the propulsion mechanism and the steering navigation device 2 at the catheter guidewire tip clear the blood vessel.

[0035] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A magnetic navigation system for cerebrovascular intervention, characterized in that: It comprises a linear guide rail, a catheter guide wire end steering navigation device slidably connected to the linear guide rail, and a catheter guide wire end rotation driving device; the catheter guide wire end steering navigation device comprises an annular guide rail and a first magnetic component mounting slider slidably connected to the annular guide rail; the first magnetic component mounting slider can slide along the circumference of the annular guide rail; the first magnetic component mounting slider is provided with a first magnetic component; the catheter guide wire end rotation driving device can generate a rotating magnetic field and drive the catheter guide wire end to rotate.

2. The magnetic navigation system for cerebrovascular intervention according to claim 1, characterized in that: A circular ring-shaped slide groove is arranged on the inner side of the annular guide rail, and the first magnetic component mounting sliding block is slidably connected in the circular ring-shaped slide groove and extends out of the annular guide rail.

3. The magnetic navigation system for cerebrovascular intervention according to claim 2, characterized in that: A stepper motor is arranged inside the first magnetic component mounting slider; a first rotating base is arranged on the output shaft of the stepper motor; the first rotating base is located at the front end of the first magnetic component mounting slider; a pan-tilt platform is arranged on the front end surface of the first rotating base, and the first magnetic component is connected to the pan-tilt platform.

4. The magnetic navigation system for cerebrovascular intervention according to claim 3, characterized in that: The catheter guidewire end rotation drive device includes a mechanical arm and a second magnetic component; the mechanical arm is slidably connected to the linear guide rail through a mechanical arm mounting slider; a motor is provided in the mechanical arm, and a second rotating base is provided on the output shaft of the motor; the second rotating base is located at the end of the mechanical arm; and the second magnetic component is connected to the front end surface of the second rotating base.

5. The magnetic navigation system for cerebrovascular intervention according to claim 4, characterized in that: The robotic arm is a six-degree-of-freedom robotic arm.

6. The magnetic navigation system for cerebrovascular intervention according to claim 5, characterized in that: The first magnetic member and the second magnetic member are both permanent magnets or electromagnets.

7. The magnetic navigation system for cerebrovascular intervention according to claim 6, characterized in that: The first magnetic member and the second magnetic member are both cylindrical or rectangular.

8. The magnetic navigation system for cerebrovascular intervention according to claim 7, characterized in that: The lower end of the annular guide rail and the lower end of the robot arm mounting slide block are both provided with a linear slide groove adapted to the linear guide rail.

9. The magnetic navigation system for cerebrovascular intervention according to claim 8, characterized in that: The first magnetic component mounting slide block, the annular guide rail and the mechanical arm mounting slide block are all driven by a motor.

10. The magnetic navigation system for cerebrovascular intervention according to claim 9, characterized in that: The catheter guidewire end rotation driving device is located at the rear side of the catheter guidewire end steering navigation device.

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