CN108938013A - The electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation - Google Patents
The electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation Download PDFInfo
- Publication number
- CN108938013A CN108938013A CN201710379362.XA CN201710379362A CN108938013A CN 108938013 A CN108938013 A CN 108938013A CN 201710379362 A CN201710379362 A CN 201710379362A CN 108938013 A CN108938013 A CN 108938013A
- Authority
- CN
- China
- Prior art keywords
- conduit
- seal wire
- blood vessel
- peripheral blood
- magnetic field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00778—Operations on blood vessels
Abstract
The present invention provides the electromagnetic systems that conduit in a kind of operation of peripheral blood vessel/seal wire auxiliary is placed, it include: stator apparatus, it includes at least two stator coil, an area-of-interest is limited between the stator coil, the area-of-interest is located in the magnetic field of stator coil generation, and the magnetic field strength in the magnetic field is controllable；And magnetic control guiding piece, it is used to be connected to conduit/seal wire traveling tip and is placed in the area-of-interest, to guide the traveling tip of the conduit/seal wire to be moved under the action of the magnetic field in the blood vessels, wherein the electromagnetic system is portable.It the invention enables system compact, reduces cost and improves portability, and by adjusting motion control in the magnetic control guiding piece that peripheral blood vessel working region moves about electromagnetic field control coil and existing seal wire/conduit is used in combination.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to conduit/seal wire auxiliary is put in a kind of operation of peripheral blood vessel
The electromagnetic system set.
Background technique
Peripheral blood vessel operation subsidiary conduit/seal wire purposes can have many medicine examples to illustrate.Due to such as cerebral artery
Disease or fistula are narrow, need to consider the patient of stenter to implant in the distal portions of arm, it usually needs pass through artery using seal wire
Network, it is therefore desirable to which conduit is by meeting the blood vessel of selected curvature without damaging surrounding tissue；Conduit is usually connected with seal wire connection
It closes using to improve internal remote control and as the channel of surgical instruments.
If the specific curvature of blood vessel and the curvature of seal wire are significantly different, surgeon may must replace seal wire to obtain
The seal wire curvature and hardness that must be more suitable for, in addition, seal wire may be needed across the region being blocked, this may be challenging
, because the tip of seal wire is easily detected by long-range control, this challenge is similar to the threading of needle, but due to lacking vision,
Touch feedback and remote control and it is much more difficult.
Most of seal wires have flexible and controllable tip/prebuckling tip, allow the tip of seal wire and the song in path
Rate matching, other regions of seal wire more swells the buckling to prevent seal wire and allow power transmitting over its length, using leading
Silk is likely difficult to control distal end and is easy to happen the risk that plant failure (such as becoming to tangle) increases operative failure, doctor
It treats mechanism and usually prepares the different seal wire of curvature in advance, the cost that prebuckling is spent also limits the benefit of the device.
In order to improve conduit/seal wire in vascular surgery remote control performance, existing research, which proposes, several utilizes electromagnetic field
Method, these methods using at least driving of 100mT external magnetic field；When the distance between stator and interesting target region
When big, then high field is needed, makes their sizes usually very big the requirement that this field strength of stator generates intensity, and this
A little stator costs of implementation are high.
Summary of the invention
Based on this, the main purpose of the present invention is to provide conduit in a kind of operation of peripheral blood vessel/seal wire auxiliary to place
Electromagnetic system.
The electromagnetic system that conduit/seal wire auxiliary is placed in a kind of operation of peripheral blood vessel, comprising:
Stator apparatus comprising at least two stator coil limits an area-of-interest between stator coil, this is interested
Region is located in the magnetic field of stator coil generation, and the magnetic field strength in the magnetic field is controllable；
Magnetic control guiding piece is used to be connected to conduit/seal wire traveling tip and is placed in area-of-interest, in magnetic
Guiding catheter/seal wire traveling tip is moved in the blood vessels under the action of,
Wherein, which is portable.
According to a kind of embodiment, the magnetic field strength in magnetic field is lower than 200mT.
According to a kind of embodiment, each stator coil includes shell and electromagnetic coil, and electromagnetic coil is built in shell,
Shell includes the shell and cover board being cooperatively connected, and each stator coil is slideably sheathed at least one sliding rail at its underpart
On, sliding rail is attached to the platform for shelving physical feeling, and the connector for fixed stator device is provided with below platform.
According to a kind of embodiment, magnetic control guiding piece includes lumen open at one end, is had and conduit/seal wire substantially phase
With outer diameter, and it is internal be axially provided with the hollow channel for leading to open end, the tip of conduit or seal wire passes through hollow channel
Insertion lumen is simultaneously fastened to the magnetic control guiding piece, and magnetic control guiding piece is at least partly made of magnetic material.
According to a kind of embodiment, magnetic control guiding piece includes driving stage.
According to a kind of embodiment, stator apparatus includes 2 pairs or more of stator coil, these stator coils are suitable for pairs of
Control, to control magnetic control guiding piece to the effect of driving stage by magnetic field.
According to a kind of embodiment, electromagnetic system includes opened loop control unit or Closed Loop Control Unit.
The electromagnetic system that conduit/seal wire auxiliary is placed in above-mentioned peripheral blood vessel operation, so that system compact, reduces cost
With improvement portability, it is easy to improve and launch this system integration to the poor entirety with isolated area region of medical condition
Property；Also by moving about electromagnetic field control coil in peripheral blood vessel working region and existing seal wire/conduit being used in combination
Magnetic control guiding piece adjusts motion control.
Detailed description of the invention
Fig. 1 is the electromagnetic system placed according to conduit in the operation of the peripheral blood vessel of one embodiment of the invention/seal wire auxiliary
In stator apparatus structural schematic diagram；
Fig. 2 is the structural schematic diagram of the magnetic control guiding piece in the electromagnetic system of Fig. 1；
Fig. 3 is the use schematic diagram of the electromagnetic system of Fig. 1；
Fig. 4 is the driving principle schematic diagram of the electromagnetic system of Fig. 1；
Fig. 5 is the electromagnetic system placed according to conduit in the operation of the peripheral blood vessel of another embodiment of the present invention/seal wire auxiliary
Stator apparatus structural schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 illustrates the electromagnetism that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to an embodiment of the invention
Stator apparatus in system, as shown in Figure 1, the stator apparatus includes at least a pair of of stator coil 1, at least a pair of of stator coil
1 central area is area-of-interest 2, is carried out to stator coil 1 to the vector electromagnetic field intensity in area-of-interest 2 by this
Control.Each stator coil 1 includes shell 102, the electromagnetic coil 101 being built in the shell and is cooperatively connected with shell
Cover board 103.
In the present embodiment, electromagnetic coil 101 is made of the lead loop of winding soft iron core.It should be appreciated that the electromagnetic wire
Circle can also have other designs, such as superconductivity wire；Compared with the latter, the lead loop of the present embodiment has low be produced into
This.
As shown in Figure 1, each stator coil 1 is slideably sheathed at least one sliding rail 104 at its underpart, Yi Duiding
The distance between subcoil 1 can be changed and sliding on the slide rail.Sliding rail 104 is attached to for shelving user body parts
Platform 105.Various sizes of platform 105 can be taken according to target body site to be applied.The lower section of platform 105 is arranged
There is connector 106, for stator apparatus to be attached to stable surface, or is attached to registration arm, arrives patient's to change device
Relative position.
Fig. 2 is the structural schematic diagram of the magnetic control guiding piece in the electromagnetic system of Fig. 1.As shown in Fig. 2, the magnetic control of the present embodiment
The lumen 402 substantially open at one end of guiding piece 4, outer diameter is suitable with conduit/seal wire outer diameter to be connect, and internal axial
Ground is provided with the hollow channel 401 for leading to open end.The tip of conduit or seal wire is inserted into lumen 402 by hollow channel 401,
And it is fastened to the magnetic control guiding piece 4.In the present embodiment, it is fastened using adhesive, therefore filled with bonding in lumen 402
The tip of conduit or seal wire is fastened to magnetic control guiding piece 4 by agent.It should be appreciated that other fastening methods can also be used, such as
Magnetic connection, frictional connection, mechanical caging etc..Magnetic control guiding piece can be made of magnetic response material, or can be magnetoelasticity
Body；Certainly, it is also possible to non-magnetic material, realizes magnetic response by the way that permanent magnet 403 is arranged in one end of lumen 402.It can
The direction of magnetization, the shape and size of permanent magnet 403 are preset according to occasion to be applied.
Fig. 3 is the use schematic diagram of the electromagnetic system of Fig. 1.As shown in figure 3, a pair of of stator coil 1 of electromagnetic system limits
Area-of-interest 2, wherein magnetic field is controllable；The magnetic control guiding piece (Fig. 3 is not shown) of electromagnetic system together with controlled conduit/
Seal wire is placed into the physical feeling (being the wrist portion of patient in Fig. 3) of patient.Physical feeling is placed in area-of-interest 2,
So that the external magnetic field that the charging driving of stator electronic coil 1 generates can control the generation of the magnetic control guiding piece in body area
Motion control.Wrist/forearm is the possible position for needing seal wire to control during the surgical operation of peripheral arterial disease, emerging feeling
The magnetic field strength for needing to generate in interesting region 2 is much smaller, is less than 100mT, and this allows to reduce the size of stator coil 1 and answers
Polygamy.
Fig. 4 is the driving principle schematic diagram of the electromagnetic system of Fig. 1.As shown in figure 4, a pair of of stator coil 401 generates magnetic field,
The magnetic control guiding piece 402 of seal wire in the magnetic field and area-of-interest 403 interacts.It is this between magnetic field and the direction of magnetization
Interaction is converted into power and torque for controllably deflection wire.The defeated of them can be passed through by the field that stator generates
Enter electric current to control, changes field strength and gradient.
Fig. 5 is the control for the electromagnetic system placed according to conduit in the operation of the peripheral blood vessel of another embodiment/seal wire auxiliary
Schematic diagram.In the embodiment shown in fig. 5, at least two (being illustrated as 6) stator coil is with different directions around operation
Driving stage 607 is placed.It should be noted that the particular number of coil depends on the design requirement of freedom of motion, for example, it is also possible to
It is 4 coils.Each stator coil has different-effect to the generation of each magnetic vector, therefore generates different stator movement control
Contribution.6 stator coils can control in pairs, such as take stator coil to 601 and 602,603 and 604,605 and 606
Form, to control vector electromagnetic field intensity.It is worth noting that, in the present embodiment, due to consideration that bigger working space,
Stator coil is arranged such that each pair of stator coil controls more than one axis and freedom of motion.Need same time control
All 6 stator coils are made to control each individual magnetic intensity vector component.It, can be with when the quantity of stator coil is more
It is positioned using the method for external aid mechanical arm, details are not described herein.
In the present embodiment, magnetic control guiding piece active, for example including operation driving stage 607.Operation driving stage
607 can be realized by small coil or antiferromagnetic substance, be can be used alone or are used with magnetic control guides fitting above-mentioned.
The electromagnetic system further includes opened loop control unit or Closed Loop Control Unit.Its control circuit can be common electricity
Machine controller drive amplification circuit.For example, control circuit is a signal processor (can be FPGA/DLC), and I/O is straight
It is connected to stator coil or additional amplifier circuit in succession.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. the electromagnetic system that conduit/seal wire auxiliary is placed in a kind of peripheral blood vessel operation, comprising:
Stator apparatus comprising at least two stator coil limits an area-of-interest between the stator coil, this is interested
Region is located in the magnetic field of stator coil generation, and the magnetic field strength in the magnetic field is controllable；
Magnetic control guiding piece is used to be connected to conduit/seal wire traveling tip and is placed in the area-of-interest, in institute
Stating guides the traveling tip of the conduit/seal wire to be moved in the blood vessels under the action of magnetic field,
Wherein, the electromagnetic system is portable.
2. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 1, feature exist
In the magnetic field strength in the magnetic field is lower than 200mT.
3. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 1 or 2, feature
It is, each stator coil includes shell and electromagnetic coil, and the electromagnetic coil is built in shell, and the shell includes cooperation
The shell and cover board of connection, each stator coil are slideably sheathed at least one sliding rail at its underpart, and sliding rail is attached to
For shelving the platform of physical feeling, the connector for fixed stator device is provided with below platform.
4. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 1 or 2, feature
It is, the magnetic control guiding piece includes lumen open at one end, has the outer diameter roughly the same with conduit/seal wire, and internal
Axially it is provided with the hollow channel for leading to open end, the tip of conduit or seal wire is inserted into lumen by hollow channel and is fastened to
The magnetic control guiding piece, the magnetic control guiding piece are at least partly made of magnetic material.
5. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 1 or 2, feature
It is, the magnetic control guiding piece includes driving stage.
6. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 5, feature exist
In the stator apparatus includes 2 pairs or more of stator coil, these stator coils are suitable for being controlled in pairs, to pass through the magnetic
Field controls the magnetic control guiding piece to the effect of driving stage.
7. the electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation according to claim 1 or 2, feature
It is, the electromagnetic system includes opened loop control unit or Closed Loop Control Unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710379362.XA CN108938013A (en) | 2017-05-25 | 2017-05-25 | The electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710379362.XA CN108938013A (en) | 2017-05-25 | 2017-05-25 | The electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation |
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| Publication Number | Publication Date |
|---|---|
| CN108938013A true CN108938013A (en) | 2018-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710379362.XA Pending CN108938013A (en) | 2017-05-25 | 2017-05-25 | The electromagnetic system that conduit/seal wire auxiliary is placed in peripheral blood vessel operation |
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| CN (1) | CN108938013A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111420225A (en) * | 2020-03-30 | 2020-07-17 | 河北医科大学第四医院（河北省肿瘤医院） | PICC (peripherally inserted Central catheter) tube placing method based on controllable magnetic field guidance |
| CN111494010A (en) * | 2020-04-28 | 2020-08-07 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
| CN115253023A (en) * | 2022-07-19 | 2022-11-01 | 清华大学 | Magnetic soft navigation robot and preparation method and control method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111420225A (en) * | 2020-03-30 | 2020-07-17 | 河北医科大学第四医院（河北省肿瘤医院） | PICC (peripherally inserted Central catheter) tube placing method based on controllable magnetic field guidance |
| CN111494010A (en) * | 2020-04-28 | 2020-08-07 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
| CN111494010B (en) * | 2020-04-28 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
| CN115253023A (en) * | 2022-07-19 | 2022-11-01 | 清华大学 | Magnetic soft navigation robot and preparation method and control method thereof |
| CN115253023B (en) * | 2022-07-19 | 2024-04-09 | 清华大学 | Magnetic soft navigation robot and preparation method and control method thereof |
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Application publication date: 20181207 |
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