CN112006778A - A rotary cutting robot for clearing thrombus - Google Patents

Abstract

The invention discloses a rotary cutting robot for cleaning thrombus, which comprises a micro robot and an external magnetic driver, wherein the micro robot is connected with the external magnetic driver; the micro-robot comprises a shell, a broken thrombus collector, a rotary-cut blood inlet part and a tail blood discharging assembly, wherein a permanent magnet is embedded in the shell; the rotary-cutting blood inlet piece is fixedly connected to the front end of the shell, a plurality of rotary-cutting knives are arranged on the front end face of the rotary-cutting blood inlet piece, a blood inlet groove is formed in the rotary-cutting blood inlet piece, and a miniature camera head facing the front is further arranged on the rotary-cutting blood inlet piece; the tail blood discharging assembly comprises an impeller, a guide vane and a blood discharging driving mechanism for driving the impeller to rotate, and the guide vane is fixedly arranged in the shell; the impeller is arranged in front of the guide vane and behind the thrombus collector along the flowing direction of blood, and the impeller and the outlet of the thrombus collector are correspondingly arranged; the tail part of the shell is provided with a blood discharging port. The invention can effectively destroy and clean thrombus, can stably move forward, and is beneficial to improving the thrombus cleaning effect.

Description

Translated fromChinese

一种用于清理血栓的旋切机器人A rotary cutting robot for clearing thrombus

技术领域technical field

本发明涉及一种血管机器人，具体涉及一种用于清理血栓的旋切机器人。The invention relates to a vascular robot, in particular to a rotary cutting robot for cleaning thrombus.

背景技术Background technique

血管机器人是一种可以进入血管并能够在血管内自由移动的微型机器人，它可以在血管里完成清除血栓、肿瘤切除、投放药物等工作，对防治心血管疾病具有重要的意义。A vascular robot is a micro-robot that can enter the blood vessel and move freely in the blood vessel. It can complete the removal of thrombus, tumor resection, and drug delivery in the blood vessel, which is of great significance for the prevention and treatment of cardiovascular diseases.

授权公告号为CN102151162B的发明专利公开了“一种清理血栓的磁控血管机器人”，其通过吸嘴和喷嘴的方式实现血栓的吸取和血液的喷出，存在以下问题：The invention patent with the authorization announcement number CN102151162B discloses "a magnetically controlled vascular robot for cleaning thrombus", which realizes the suction of thrombus and the ejection of blood by means of suction nozzles and nozzles, and has the following problems:

1、采用吸嘴对血栓进行吸取，对血栓的破坏清除效果不佳，容易导致血栓堵塞机器人中的管道或在血栓收集器中堵塞过滤网。1. The suction nozzle is used to absorb the thrombus, and the destruction and removal of the thrombus is not effective, which may easily cause the thrombus to block the pipeline in the robot or block the filter in the thrombus collector.

2、过滤后的血液从喷嘴喷出，难以形成对微型机器人产生前进辅助动力，导致需要增加外部驱动力才能让微型机器人在粘度较大的血液血管中顺利前行。2. The filtered blood is ejected from the nozzle, and it is difficult to form a forward auxiliary power for the micro-robot, which leads to the need to increase the external driving force to make the micro-robot move smoothly in the blood vessels with high viscosity.

发明内容SUMMARY OF THE INVENTION

本发明目的在于克服现有技术的不足，提供一种用于清理血栓的旋切机器人，该机器人能有效破坏清理血栓，并且能够稳定地前行移动，有利于提高血栓清除效果。The purpose of the present invention is to overcome the deficiencies of the prior art and provide a rotary cutting robot for cleaning thrombus, which can effectively destroy and clean the thrombus, and can move forward stably, which is beneficial to improve the thrombus removal effect.

本发明的目的通过以下技术方案实现：The object of the present invention is achieved through the following technical solutions:

一种用于清理血栓的旋切机器人，包括微型机器人和外部磁驱动器；其特征在于，所述微型机器人包括呈胶囊状的外壳、设置在外壳内的碎栓收集器、旋切进血件以及尾部排血组件，所述外壳内部嵌有永磁铁；其中，所述旋切进血件固定连接在外壳的前端，所述旋切进血件的前端面上设有多个旋切刀，且旋切进血件上设有连通碎栓收集器进口的进血槽，所述旋切进血件上还设有朝向前方的微型摄像头；所述尾部排血组件包括叶轮、导叶以及驱动叶轮旋转的排血驱动机构，所述导叶固定设置在外壳内；沿着血液的流动方向，所述叶轮设置在导叶的前方，且位于所述碎栓收集器的后方，叶轮与碎栓收集器的出口对应设置；所述外壳的尾部设有排血口。A rotary cutting robot for clearing thrombus, comprising a micro-robot and an external magnetic drive; characterized in that, the micro-robot comprises a capsule-shaped casing, a thrombus collector arranged in the casing, a rotary cutting blood feeding piece, and a In the tail blood drainage assembly, a permanent magnet is embedded in the outer casing; wherein, the rotary cutting blood feeding piece is fixedly connected to the front end of the casing, and a plurality of rotary cutting knives are arranged on the front end surface of the rotary cutting blood feeding piece, and The rotary cutting blood feeding piece is provided with a blood feeding groove that communicates with the inlet of the thrombus collector, and the rotary cutting blood feeding piece is also provided with a miniature camera facing forward; the tail blood drainage assembly includes an impeller, a guide vane and a driving impeller Rotating blood ejection drive mechanism, the guide vane is fixedly arranged in the housing; along the flow direction of blood, the impeller is arranged in front of the guide vane and behind the broken thrombus collector, and the impeller and broken thrombus collect The outlet of the device is correspondingly arranged; the tail of the casing is provided with a blood outlet.

上述用于清理血栓的旋切机器人的工作原理是：The working principle of the above-mentioned atherectomy robot for removing thrombus is:

首先，在外部磁驱动器的作用下，控制微型机器人旋转并按设定方向前进；同时，所述排血驱动机构驱动叶轮旋转，且叶轮的旋转方向与外微型机器人外壳的旋转方向相反；当微型机器人移动至血栓位置处时，位于外壳前端的旋切进血件上的旋切刀对血栓进行旋切，从而将血栓切碎破坏；旋切下来的碎栓通过旋切进血件上的进血槽进入到碎栓收集器中，经过碎栓收集器的过滤后的血液流动至叶轮上，并在叶轮的带动下向叶轮外围呈放射状往后射出，流经导叶，导叶使流入的血液转向至中心流出，血液同时获得动能和压力能，最终经过外壳尾部的排血口排出。在旋切清除血栓过程中，通过旋切刀先对血栓进行切碎破坏，以便进入碎栓收集器中进行过滤，避免堵塞，同时在排血过程中，在叶轮和导叶的作用下，增加了对整个微型机器人的推动力，便于微型机器人在血液中前进以及吸收碎栓。First, under the action of the external magnetic driver, the micro-robot is controlled to rotate and advance in the set direction; at the same time, the blood-discharging drive mechanism drives the impeller to rotate, and the rotation direction of the impeller is opposite to that of the outer micro-robot shell; when the micro-robot rotates in the opposite direction; When the robot moves to the position of the thrombus, the rotary cutter on the rotary cutting blood piece at the front end of the casing performs rotary cutting on the thrombus, thereby shredding and destroying the thrombus; The blood tank enters the thrombus collector, and the blood filtered by the thrombus collector flows to the impeller, and is ejected radially to the periphery of the impeller under the drive of the impeller, and flows through the guide vane, which makes the inflowing blood flow backward. The blood turns to the center to flow out, and the blood gains kinetic energy and pressure energy at the same time, and finally discharges through the blood outlet at the tail of the shell. In the process of removing the thrombus by rotary cutting, the thrombus is first chopped and destroyed by the rotary cutter, so that it can be filtered into the thrombus collector to avoid clogging. Therefore, the driving force for the entire micro-robot is facilitated to move forward in the blood and absorb the debris.

本发明的一个优选方案，所述外壳表面设有多条等距设置的螺旋螺纹，所述多条螺旋螺纹在外壳表面形成多条螺旋槽。In a preferred solution of the present invention, the surface of the casing is provided with a plurality of helical threads arranged at equal intervals, and the plurality of helical threads form a plurality of helical grooves on the surface of the casing.

本发明的一个优选方案，所述碎栓收集器包括呈锥形设置的锥形过滤罩，该锥形过滤罩从前往后逐渐收缩设置，且锥形过滤罩的前端开口与所述进血槽连通设置。In a preferred solution of the present invention, the debris collector includes a conical filter cover arranged in a conical shape, the conical filter cover is gradually contracted from front to back, and the front opening of the conical filter cover is connected to the blood inlet groove. Connectivity settings.

优选地，所述碎栓收集器还包括柱形过滤罩，该柱形过滤罩的前端设有连接开口，所述连接开口连接在所述锥形过滤罩上，所述锥形过滤罩的后端延伸至柱形过滤罩内。Preferably, the debris collector further includes a cylindrical filter cover, the front end of the cylindrical filter cover is provided with a connection opening, the connection opening is connected to the conical filter cover, and the rear of the conical filter cover The ends extend into the cylindrical filter housing.

优选地，所述锥形过滤罩的后端设有延伸过滤罩，该延伸过滤罩呈圆柱形设置，且该延伸过滤罩的后端开口设置。Preferably, the rear end of the conical filter cover is provided with an extension filter cover, the extension filter cover is arranged in a cylindrical shape, and the rear end of the extension filter cover is provided with an opening.

优选地，所述柱形过滤罩的后端呈锥形设置，且从前往后逐渐扩大设置。Preferably, the rear end of the cylindrical filter cover is arranged in a conical shape, and is gradually enlarged from front to back.

本发明的一个优选方案，所述旋切进血件上的旋切刀有两组；其中一组为外部旋切刀，该外部旋切刀呈圆形等距排列设置；另一组为内部旋切刀，该内部旋切刀以旋转排列的方式设置，且位于外部旋切刀内；所述进血槽设有多个，且多个进血槽以旋转排列的方式设置在外部旋切刀和内部旋切刀之间。In a preferred solution of the present invention, there are two sets of rotary cutters on the rotary cutting blood feeding piece; one set is an external rotary cutter, and the external rotary cutters are arranged in a circular and equidistant arrangement; the other set is an internal rotary cutter a rotary cutter, the inner rotary cutter is arranged in a rotary arrangement and is located in the outer rotary cutter; the blood inlet groove is provided with a plurality of, and the plurality of blood inlet grooves are arranged in a rotary arrangement in the outer rotary cutter between the knife and the internal rotary cutter.

本发明的一个优选方案，所述排血驱动机构包括转轴以及驱动转轴转动的转动动力机构，所述转轴转动设置在外壳的轴线处，所述叶轮设置在转轴上；所述柱形过滤罩内部设有轴向延伸的中心过滤罩，所述转轴穿设在所述中心过滤罩中。所述中心过滤罩穿设在延伸过滤罩内。In a preferred solution of the present invention, the blood-draining drive mechanism includes a rotating shaft and a rotational power mechanism for driving the rotating shaft to rotate, the rotating shaft is rotatably arranged at the axis of the casing, and the impeller is arranged on the rotating shaft; the interior of the cylindrical filter cover An axially extending central filter cover is provided, and the rotating shaft is passed through the center filter cover. The central filter cover is passed through the extended filter cover.

本发明的一个优选方案，所述外壳的尾部外凸设置，所述排血口设有多个，该多个排血口呈圆形栅格分布设置在外壳的尾部上。In a preferred solution of the present invention, the tail of the casing is arranged to be convex, and the blood drainage ports are provided with a plurality of blood drainage ports, and the plurality of blood drainage ports are distributed on the tail of the casing in the form of a circular grid.

本发明的一个优选方案，所述外部磁驱动器包括三轴亥姆霍兹线圈以及底座，所述微型机器人设置在所述三轴亥姆霍兹线圈中。In a preferred solution of the present invention, the external magnetic driver includes a three-axis Helmholtz coil and a base, and the micro-robot is arranged in the three-axis Helmholtz coil.

本发明与现有技术相比具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:

1、本发明通过旋切刀先对血栓进行切碎破坏，以便碎栓进入碎栓收集器中进行过滤，避免堵塞，并且有利于提高对血栓的清除效果。1. In the present invention, the thrombus is firstly chopped and destroyed by the rotary cutter, so that the broken thrombus enters the broken thrombus collector for filtration, avoids clogging, and is beneficial to improve the removal effect of the thrombus.

2、在排血过程中，通过叶轮和导叶对过滤后的血液进行主动排出，便于将血液排走，同时增加了对整个微型机器人的推动力，以便微型机器人在血液中前进以及吸收碎栓。2. During the bleeding process, the filtered blood is actively discharged through the impeller and the guide vane, which is convenient for the blood to be discharged, and at the same time increases the driving force for the whole micro-robot, so that the micro-robot can move forward in the blood and absorb the broken thrombus. .

附图说明Description of drawings

图1-图4为本发明的用于清理血栓的旋切机器人的其中一种具体实施方式的结构示意图，其中，图1为立体图，图2为微型机器人的立体图，图3为微型机器人的剖视图，图4为微型机器人的爆炸视图。1 to 4 are schematic structural diagrams of one specific embodiment of the rotational cutting robot for thrombus cleaning according to the present invention, wherein, FIG. 1 is a perspective view, FIG. 2 is a perspective view of a micro-robot, and FIG. 3 is a cross-sectional view of the micro-robot , Figure 4 is an exploded view of the microrobot.

具体实施方式Detailed ways

下面结合实施例和附图对本发明作进一步描述，但本发明的实施方式不仅限于此。The present invention will be further described below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

参见图1-图4，本实施例的用于清理血栓的旋切机器人，包括微型机器人3和外部磁驱动器，所述外部磁驱动器包括三轴亥姆霍兹线圈1以及底座2，所述微型机器人3设置在所述三轴亥姆霍兹线圈1中；所述微型机器人3包括呈胶囊状的外壳4、设置在外壳4内的碎栓收集器、旋切进血件6以及尾部排血组件，所述外壳4内部嵌有永磁铁21；其中，所述旋切进血件6固定连接在外壳4的前端，所述旋切进血件6的前端面上设有多个旋切刀，且旋切进血件6上设有连通碎栓收集器进口的进血槽9，所述旋切进血件6上还设有朝向前方的微型摄像头10；所述尾部排血组件包括叶轮16、导叶17以及驱动叶轮16旋转的排血驱动机构，所述导叶17固定设置在外壳4内；沿着血液的流动方向，所述叶轮16设置在导叶17的前方，且位于所述碎栓收集器的后方，叶轮16与碎栓收集器的出口对应设置；所述外壳4的尾部设有排血口18。Referring to FIGS. 1 to 4 , the rotational cutting robot for thrombus cleaning in this embodiment includes amicro robot 3 and an external magnetic drive. The external magnetic drive includes a three-axis Helmholtzcoil 1 and abase 2 . Therobot 3 is set in the three-axis Helmholtzcoil 1; the micro-robot 3 includes a capsule-shaped casing 4, a thrombus collector arranged in thecasing 4, a rotarycutting blood inlet 6, and a tail draining blood Assembly, theouter casing 4 is embedded with apermanent magnet 21; wherein, the rotary cuttingblood feeding piece 6 is fixedly connected to the front end of thecasing 4, and the front end surface of the rotary cuttingblood feeding piece 6 is provided with a plurality of rotary cutting knives , and the rotary cuttingblood feeding member 6 is provided with ablood feeding groove 9 that communicates with the inlet of the thrombus collector, and the rotary cuttingblood feeding member 6 is also provided with aminiature camera 10 facing forward; the tail blood drainage assembly includes animpeller 16. Theguide vane 17 and the blood-draining drive mechanism for driving the rotation of theimpeller 16, theguide vane 17 is fixedly arranged in thecasing 4; along the flow direction of the blood, theimpeller 16 is arranged in front of theguide vane 17, and is located at the Behind the broken plug collector, theimpeller 16 is arranged corresponding to the outlet of the broken plug collector; the tail of thecasing 4 is provided with ablood discharge port 18 .

参见图2-图4，所述外壳4表面设有多条等距设置的螺旋螺纹5，所述多条螺旋螺纹5在外壳4表面形成多条螺旋槽。这样，在外壳4旋转过程中能产生动压润滑膜，实现在血管中悬空运行；同时，在螺旋槽的作用下，便于在血液中产生轴向推力，有利于机器人的悬浮式快速运行。Referring to FIGS. 2-4 , the surface of thehousing 4 is provided with a plurality ofhelical threads 5 arranged at equal intervals, and the multiplehelical threads 5 form a plurality of helical grooves on the surface of thehousing 4 . In this way, a dynamic pressure lubricating film can be generated during the rotation of thehousing 4, so as to realize the suspended operation in the blood vessel; at the same time, under the action of the spiral groove, it is convenient to generate an axial thrust in the blood, which is beneficial to the suspended and rapid operation of the robot.

参见图3和图4，所述碎栓收集器包括呈锥形设置的锥形过滤罩11，该锥形过滤罩11从前往后逐渐收缩设置，且锥形过滤罩11的前端开口与所述进血槽9连通设置。设置锥形过滤罩11，便于碎栓集中过滤，有利于血液从各个方向排出，从而加快过滤速度，避免堵塞。Referring to FIG. 3 and FIG. 4 , the broken plug collector includes aconical filter cover 11 arranged in a conical shape, theconical filter cover 11 is gradually contracted from front to back, and the front opening of theconical filter cover 11 is the same as the Theblood inlet tank 9 is connected and arranged. Theconical filter cover 11 is arranged to facilitate centralized filtration of broken plugs and facilitate the discharge of blood from all directions, thereby speeding up the filtration speed and avoiding clogging.

参见图3和图4，所述碎栓收集器还包括柱形过滤罩12，该柱形过滤罩12的前端设有连接开口，所述连接开口连接在所述锥形过滤罩11上，所述锥形过滤罩11的后端延伸至柱形过滤罩12内。位于锥形过滤罩11中的碎栓，在血液的冲击下容易冲出锥形过滤罩11，此时通过柱形过滤罩12的设置，对冲出的碎栓进行二次过滤和收集，避免重新进入血管，有利于碎栓的收集，增加储存空间。Referring to FIG. 3 and FIG. 4 , the broken plug collector further includes acylindrical filter cover 12, the front end of thecylindrical filter cover 12 is provided with a connection opening, and the connection opening is connected to theconical filter cover 11, so The rear end of theconical filter cover 11 extends into thecylindrical filter cover 12 . The broken plugs located in theconical filter cover 11 are easily flushed out of theconical filter cover 11 under the impact of blood. Re-entering the blood vessel facilitates the collection of thrombus and increases storage space.

参见图3和图4，所述锥形过滤罩11的后端设有延伸过滤罩13，该延伸过滤罩13呈圆柱形设置，且该延伸过滤罩13的后端开口设置。通过延伸过滤罩13的设置，使得碎栓进入到锥形过滤罩11后，延伸锥形过滤罩11的内壁导向移动到延伸过滤罩13中，并通过延伸过滤罩13进入到柱形过滤罩12中，让碎栓能够进入到柱形过滤罩12的内部中心，延长碎栓移动距离，让血液能够充分通过锥形过滤罩11上的通孔流出；同时，也能够避免碎栓堆积在锥形过滤罩11的后端部，保持血液的流动性，提高过滤效果。Referring to FIG. 3 and FIG. 4 , the rear end of theconical filter cover 11 is provided with anextension filter cover 13 , theextension filter cover 13 is arranged in a cylindrical shape, and the rear end of theextension filter cover 13 is provided with an opening. By setting theextension filter cover 13 , after the broken plug enters theconical filter cover 11 , the inner wall of the extendedconical filter cover 11 is guided to move into theextension filter cover 13 , and enters thecylindrical filter cover 12 through theextension filter cover 13 , so that the broken plugs can enter the inner center of thecylindrical filter cover 12, extend the moving distance of the broken plugs, and allow the blood to flow out through the through holes on theconical filter cover 11; at the same time, it can also prevent the broken plugs from accumulating in the cone The rear end portion of thefilter cover 11 maintains the fluidity of blood and improves the filtering effect.

参见图3和图4，所述柱形过滤罩12的后端呈锥形设置，且从前往后逐渐扩大设置。通过设置这样的柱形过滤罩12，有效避免碎栓堆积在柱形过滤罩12的后端上，从而避免堵塞；另外，碎栓移动到柱形过滤罩12的后端时，沿着锥形设置的后端部，逐渐向各个方向散开移动，从而有利于提高过滤效果。Referring to FIG. 3 and FIG. 4 , the rear end of thecylindrical filter cover 12 is arranged in a tapered shape, and is gradually enlarged from front to back. By arranging such acylindrical filter cover 12 , the accumulation of broken plugs on the rear end of thecylindrical filter cover 12 is effectively avoided, thereby avoiding clogging; The rear end part is arranged to gradually spread out and move in all directions, which is beneficial to improve the filtering effect.

参见图2和图3，所述旋切进血件6上的旋切刀有两组；其中一组为外部旋切刀7，该外部旋切刀7呈圆形等距排列设置；另一组为内部旋切刀8，该内部旋切刀8以旋转排列的方式设置，且位于外部旋切刀7内；所述进血槽9设有多个，且多个进血槽9以旋转排列的方式设置在外部旋切刀7和内部旋切刀8之间。通过设置这样的旋切刀，便于在接触血栓后充分地将血栓切碎破坏，同时让碎栓从设置在旋切刀之间的进血槽9进入碎栓收集器中进行过滤。2 and 3, there are two sets of rotary cutters on the rotary cuttingblood feeding member 6; one group is an externalrotary cutter 7, and the externalrotary cutters 7 are arranged in a circular and equidistant arrangement; The group is an internalrotary cutter 8, the internalrotary cutter 8 is arranged in a rotary arrangement, and is located in the outerrotary cutter 7; theblood inlet groove 9 is provided with a plurality of, and the plurality ofblood inlet grooves 9 are rotated to rotate The arrangement is arranged between the outerrotary cutter 7 and the innerrotary cutter 8 . By providing such a rotary cutter, it is convenient to sufficiently chop and destroy the thrombus after contacting with the thrombus, and at the same time, allow the crushed thrombus to enter the crushed thrombus collector from theblood inlet groove 9 provided between the rotary cutters for filtering.

参见图3和图4，所述排血驱动机构包括转轴15以及驱动转轴15转动的转动动力机构，所述转轴15转动设置在外壳4的轴线处，所述叶轮16设置在转轴15上；所述转轴15的后端向后延伸穿过导叶17且连接在外壳4尾部；所述柱形过滤罩12内部设有轴向延伸的中心过滤罩14，所述转轴15穿设在所述中心过滤罩14中。所述中心过滤罩14穿设在延伸过滤罩13内。通过转轴15便于叶轮16和导叶17的安装，实现对叶轮16的旋转驱动。转轴15穿设在中心过滤罩14中，能在转轴15转动时让中心过滤罩14以及柱形过滤罩12中的碎栓也保持一定的动态，避免堆积堵塞，且有利于提高过滤效果。本实施例中，所述转动动力机构为电机19，该电机19和微型机器人3的控制模块设置在转轴15的前端上。本实施例中，所述叶轮16的叶片与导叶17外壳内壁靠近设置，所述叶轮16的轮盘与导叶17外壳内壁之间设有通血槽20。本实施例中，所述导叶17与外壳4内壁固定连接，且导叶17与外壳4之间同样设有通血槽22，所述导叶17能利于血流扩散通过，增加微型机器人3推进力。Referring to FIGS. 3 and 4 , the blood drainage drive mechanism includes a rotatingshaft 15 and a rotational power mechanism for driving the rotatingshaft 15 to rotate, the rotatingshaft 15 is rotatably arranged at the axis of thehousing 4, and theimpeller 16 is arranged on therotating shaft 15; The rear end of the rotatingshaft 15 extends backward through theguide vane 17 and is connected to the rear of thecasing 4; thecylindrical filter cover 12 is provided with an axially extendingcentral filter cover 14, and the rotatingshaft 15 passes through the center in thefilter housing 14. Thecentral filter cover 14 passes through theextended filter cover 13 . The installation of theimpeller 16 and theguide vane 17 is facilitated by the rotatingshaft 15 , so as to realize the rotational drive of theimpeller 16 . The rotatingshaft 15 is penetrated in thecentral filter cover 14, which can keep the broken plugs in thecentral filter cover 14 and thecylindrical filter cover 12 in a certain dynamic when therotating shaft 15 rotates, so as to avoid accumulation and blockage, and is beneficial to improve the filtering effect. In this embodiment, the rotating power mechanism is amotor 19 , and themotor 19 and the control module of themicro robot 3 are arranged on the front end of the rotatingshaft 15 . In this embodiment, the blades of theimpeller 16 are disposed close to the inner wall of the casing of theguide vane 17 , and ablood passage 20 is provided between the disk of theimpeller 16 and the inner wall of the casing of theguide vane 17 . In this embodiment, theguide vane 17 is fixedly connected to the inner wall of thehousing 4, and ablood channel 22 is also provided between theguide vane 17 and thehousing 4. Theguide vane 17 can facilitate the diffusion of blood flow and increase the number of micro-robots 3 propulsion.

参见图3和图4，所述外壳4的尾部外凸设置，所述排血口18设有多个，该多个排血口18呈圆形栅格分布设置在外壳4的尾部上。Referring to FIGS. 3 and 4 , the tail portion of thehousing 4 is protruded outward, and a plurality of theblood drain ports 18 are provided. The plurality ofblood drain ports 18 are distributed on the tail portion of thehousing case 4 in a circular grid.

参见图1-图4，本实施例的用于清理血栓的旋切机器人的工作原理是：Referring to FIG. 1 to FIG. 4 , the working principle of the atherectomy robot for thrombus cleaning in this embodiment is as follows:

首先，在外部磁驱动器的作用下，控制微型机器人3旋转并按设定方向前进；同时，所述排血驱动机构驱动叶轮16旋转，且叶轮16的旋转方向与外微型机器人3外壳4的旋转方向相反；当微型机器人3移动至血栓位置处时，位于外壳4前端的旋切进血件6上的旋切刀对血栓进行旋切，从而将血栓切碎破坏；旋切下来的碎栓通过旋切进血件6上的进血槽9进入到碎栓收集器中，经过碎栓收集器的过滤后的血液流动至叶轮16上，并在叶轮16的带动下向叶轮16外围呈放射状往后射出，流经导叶17，导叶17使流入的血液转向至中心流出，血液同时获得动能和压力能，最终经过外壳4尾部的排血口18排出。在旋切清除血栓过程中，通过旋切刀先对血栓进行切碎破坏，以便进入碎栓收集器中进行过滤，避免堵塞，同时在排血过程中，在叶轮16和导叶17的作用下，增加了对整个微型机器人3的推动力，便于微型机器人3在血液中前进以及吸收碎栓。First, under the action of the external magnetic driver, themicro-robot 3 is controlled to rotate and advance in the set direction; at the same time, the blood-discharging drive mechanism drives theimpeller 16 to rotate, and the rotation direction of theimpeller 16 is the same as the rotation of theouter micro-robot 3shell 4 The direction is opposite; when themicro-robot 3 moves to the position of the thrombus, the rotary cutter on the rotary cuttingblood inlet 6 at the front end of thecasing 4 performs rotary cutting on the thrombus, thereby cutting and destroying the thrombus; Theblood inlet groove 9 on the rotary cutblood inlet piece 6 enters into the thrombus collector, and the filtered blood flows to theimpeller 16, and is driven by theimpeller 16 in a radial manner toward the periphery of theimpeller 16. After being ejected, it flows through theguide vane 17 , and theguide vane 17 diverts the inflowing blood to the center to flow out. In the process of removing the thrombus by rotary cutting, the thrombus is first chopped and destroyed by the rotary cutter, so as to enter the thrombus collector for filtration to avoid clogging. , which increases the driving force for theentire micro-robot 3, which facilitates themicro-robot 3 to move forward in the blood and absorb the debris.

上述为本发明较佳的实施方式，但本发明的实施方式并不受上述内容的限制，其他的任何未背离本发明的精神实质与原理下所做的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The above is the preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned content, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention, All should be equivalent replacement modes, and all are included in the protection scope of the present invention.

Claims (10)

Translated fromChinese

1.一种用于清理血栓的旋切机器人，包括微型机器人和外部磁驱动器；其特征在于，所述微型机器人包括呈胶囊状的外壳、设置在外壳内的碎栓收集器、旋切进血件以及尾部排血组件，所述外壳内部嵌有永磁铁；其中，所述旋切进血件固定连接在外壳的前端，所述旋切进血件的前端面上设有多个旋切刀，且旋切进血件上设有连通碎栓收集器进口的进血槽，所述旋切进血件上还设有朝向前方的微型摄像头；所述尾部排血组件包括叶轮、导叶以及驱动叶轮旋转的排血驱动机构，所述导叶固定设置在外壳内；沿着血液的流动方向，所述叶轮设置在导叶的前方，且位于所述碎栓收集器的后方，叶轮与碎栓收集器的出口对应设置；所述外壳的尾部设有排血口。1. a rotary cutting robot for cleaning up thrombus, comprising a micro-robot and an external magnetic driver; it is characterized in that, the micro-robot comprises a capsule-shaped casing, a broken thrombus collector arranged in the casing, a rotary cutting into the blood A permanent magnet is embedded in the outer casing; wherein, the rotary cutting blood feeding member is fixedly connected to the front end of the casing, and a plurality of rotary cutting knives are arranged on the front end surface of the rotary cutting blood feeding member , and the rotary cutting blood feeding piece is provided with a blood feeding groove that communicates with the inlet of the thrombus collector, and the rotary cutting blood feeding piece is also provided with a miniature camera facing forward; the tail blood drainage assembly includes an impeller, a guide vane and A blood-draining drive mechanism that drives the impeller to rotate, the guide vane is fixedly arranged in the casing; along the flow direction of the blood, the impeller is arranged in front of the guide vane and behind the broken plug collector, and the impeller is connected to the The outlet of the plug collector is correspondingly arranged; the tail of the casing is provided with a blood drain.2.根据权利要求1所述的用于清理血栓的旋切机器人，其特征在于，所述外壳表面设有多条等距设置的螺旋螺纹，所述多条螺旋螺纹在外壳表面形成多条螺旋槽。2 . The atherectomy robot according to claim 1 , wherein a plurality of helical threads arranged at equal distances are provided on the surface of the casing, and the plurality of helical threads form a plurality of helical threads on the surface of the casing. 3 . groove.3.根据权利要求1所述的用于清理血栓的旋切机器人，其特征在于，所述碎栓收集器包括呈锥形设置的锥形过滤罩，该锥形过滤罩从前往后逐渐收缩设置，且锥形过滤罩的前端开口与所述进血槽连通设置。3 . The rotary cutting robot for cleaning thrombus according to claim 1 , wherein the thrombus collector comprises a conical filter cover arranged in a conical shape, and the conical filter cover is gradually contracted from front to back. 4 . , and the front opening of the conical filter cover is communicated with the blood inlet groove.4.根据权利要求3所述的用于清理血栓的旋切机器人，其特征在于，所述碎栓收集器还包括柱形过滤罩，该柱形过滤罩的前端设有连接开口，所述连接开口连接在所述锥形过滤罩上，所述锥形过滤罩的后端延伸至柱形过滤罩内。4 . The rotary cutting robot for thrombus cleaning according to claim 3 , wherein the thrombus collector further comprises a cylindrical filter cover, the front end of the cylindrical filter cover is provided with a connection opening, and the connection The opening is connected to the conical filter cover, and the rear end of the conical filter cover extends into the cylindrical filter cover.5.根据权利要求4所述的用于清理血栓的旋切机器人，其特征在于，所述锥形过滤罩的后端设有延伸过滤罩，该延伸过滤罩呈圆柱形设置，且该延伸过滤罩的后端开口设置。5 . The rotary cutting robot for thrombus cleaning according to claim 4 , wherein an extension filter cover is provided at the rear end of the conical filter cover, and the extension filter cover is arranged in a cylindrical shape, and the extension filter cover is arranged in a cylindrical shape. 6 . The rear end opening of the cover is provided.6.根据权利要求4或5所述的用于清理血栓的旋切机器人，其特征在于，所述柱形过滤罩的后端呈锥形设置，且从前往后逐渐扩大设置。6 . The rotary cutting robot for thrombus cleaning according to claim 4 or 5 , wherein the rear end of the cylindrical filter cover is arranged in a conical shape, and is gradually enlarged from front to back. 7 .7.根据权利要求1所述的用于清理血栓的旋切机器人，其特征在于，所述旋切进血件上的旋切刀有两组；其中一组为外部旋切刀，该外部旋切刀呈圆形等距排列设置；另一组为内部旋切刀，该内部旋切刀以旋转排列的方式设置，且位于外部旋切刀内；所述进血槽设有多个，且多个进血槽以旋转排列的方式设置在外部旋切刀和内部旋切刀之间。7. The rotary cutting robot for cleaning thrombus according to claim 1, wherein there are two groups of rotary cutting knives on the said rotary cutting blood feeding piece; The cutting knives are arranged in a circular and equidistant arrangement; the other group is the internal rotary cutting knives, which are arranged in a rotary arrangement and are located in the external rotary cutting knives; the blood inlet grooves are provided with multiple, and A plurality of blood inlet grooves are arranged between the outer rotary cutter and the inner rotary cutter in a rotary arrangement.8.根据权利要求4所述的用于清理血栓的旋切机器人，其特征在于，所述排血驱动机构包括转轴以及驱动转轴转动的转动动力机构，所述转轴转动设置在外壳的轴线处，所述叶轮设置在转轴上；所述柱形过滤罩内部设有轴向延伸的中心过滤罩，所述转轴穿设在所述中心过滤罩中。8 . The rotary cutting robot for thrombus cleaning according to claim 4 , wherein the blood ejection driving mechanism comprises a rotating shaft and a rotating power mechanism for driving the rotating shaft to rotate, and the rotating shaft is rotatably arranged at the axis of the casing, 9 . The impeller is arranged on a rotating shaft; an axially extending central filter cover is arranged inside the cylindrical filter cover, and the rotating shaft is passed through the center filter cover.9.根据权利要求1所述的用于清理血栓的旋切机器人，其特征在于，所述外壳的尾部外凸设置，所述排血口设有多个，该多个排血口呈圆形栅格分布设置在外壳的尾部上。9 . The rotary cutting robot for thrombus cleaning according to claim 1 , wherein the tail of the outer casing is convexly arranged, and the plurality of blood drainage ports are provided in a circular shape. 10 . The grid distribution is set on the tail of the shell.10.根据权利要求1所述的用于清理血栓的旋切机器人，其特征在于，所述外部磁驱动器包括三轴亥姆霍兹线圈以及底座，所述微型机器人设置在所述三轴亥姆霍兹线圈中。10 . The rotary cutting robot for thrombus cleaning according to claim 1 , wherein the external magnetic driver comprises a three-axis Helmholtz coil and a base, and the micro-robot is arranged on the three-axis Helmholtz coil. 11 . in a Hotz coil.

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