CN-121987281-A - Multi-stage magnetic drive robot system and method for tumor treatment

CN121987281ACN 121987281 ACN121987281 ACN 121987281ACN-121987281-A

Abstract

The invention provides a multi-stage magnetic driving robot system for tumor treatment and a control method, wherein the system comprises a master-stage catheter, a sub-stage robot, a sub-stage micro-cluster robot and an external magnetic field control system, wherein the master-stage catheter is a magnetic control catheter with a centimeter or sub-centimeter scale, the sub-stage robot is a magnetic control variant robot with a millimeter scale, is loaded in the master-stage catheter in a contracted state and is switched to an expanded state under the action of a magnetic field so as to realize physical embolism of a blood vessel, the sub-stage micro-cluster robot is a micro-nano scale functionalized robot and is pre-loaded in the sub-stage robot and releases a treatment object under the action of the magnetic field, and the external magnetic field control system is used for generating a driving magnetic field and a triggering magnetic field and controlling the master-stage catheter, the sub-stage robot and the sub-stage micro-cluster robot to conduct three-stage relay conveying to a tumor deep micro-blood vessel. The invention realizes the accessibility of the micro blood vessel, long-distance delivery, stable and reliable embolism and improves the operation safety of doctors.

Inventors

KE XINGXING
LI SHIZHI
CHEN JUNXIANG
Xiao Yafen
ZHONG YUE
HE BINGWEI

Assignees

福州大学

Dates

Publication Date: 20260508
Application Date: 20260402

Claims (10)

1. A multi-stage magnetic drive robotic system for tumor treatment, comprising: The parent-level conduit is a magnetic control conduit with a centimeter or sub-centimeter level scale; The sub-level robot is a magnetic control variant robot with millimeter scale, is loaded in the main level catheter in a contracted state, and is switched into an expanded state under the action of a magnetic field so as to realize physical embolism of a blood vessel; The sub-level micro-cluster robot is a micro-nano scale functionalized robot, is preloaded in the sub-level robot and releases a therapeutic object under the action of a magnetic field; The external magnetic field control system is used for generating a driving magnetic field and a triggering magnetic field, guiding the parent catheter to enter a target branch vessel through the driving magnetic field, releasing the sub-level robot through the driving magnetic field, moving to a target embolism position in a contracted state, switching the sub-level robot into an expanded state through the triggering magnetic field to realize physical embolism, and finally controlling the sub-level robot to release the sub-level micro-cluster robot through the driving magnetic field and guiding the sub-level micro-cluster robot to permeate into a tumor deep micro-vessel.
2. The multi-stage magnetic drive robotic system of claim 1, wherein the sub-stage robots comprise a paper folding structure made of magnetically programmable material that effects a transition between an expanded state and a contracted state under a triggering magnetic field.
3. The multi-stage magnetic drive robot system for tumor treatment according to claim 2, wherein the paper folding structure is a water-elastic paper folding structure, the middle of the paper folding structure is hollow, two ends of the paper folding structure are closed, and the sub-stage micro-cluster robot is accommodated in the hollow part of the paper folding structure.
4. The multi-stage magnetic drive robotic system of claim 2, wherein the magnetically programmable material is an elastomer material doped with magnetic particles.
5. The multi-stage magnetic drive robotic system for tumor-facing therapy of claim 1, wherein the parent catheter is a magnetically controlled continuum catheter.
6. The multi-stage magnetic drive robotic system of claim 1, wherein the sub-stage robots are capable of moving in a spiral or swim motion after being released from the parent catheter.
7. The multi-stage magnetic drive robot system for tumor therapy according to claim 1, wherein the sub-stage micro-cluster robot is controlled to open an end sealing structure of the sub-stage micro-cluster robot after the sub-stage robot completes embolism by the sub-stage robot to generate periodic deformation in a specific mode, so that the sub-stage micro-cluster robot is released.
8. A control method for a tumor-treatment-oriented multistage magnetic drive robotic system according to any one of claims 1 to 7, comprising the following: Step S1, inserting a parent catheter loaded with a child-level robot and a child-level micro-cluster robot into a blood vessel, and controlling the head end of the parent catheter to deflect through a driving magnetic field so as to enter a target branch blood vessel; S2, applying a driving magnetic field to release the sub-level robot from the main level catheter, and driving the sub-level robot to move to a target embolism position in a contracted state; s3, changing the trigger magnetic field to trigger the sub-level robot to switch from a contracted state to an expanded state so as to form physical anchoring with the inner wall of the blood vessel and realize physical embolism; And S4, after the sub-level robot completes embolism, releasing the sub-level micro-cluster robot loaded in the sub-level robot through the driving magnetic field, and guiding the sub-level micro-cluster robot to permeate into a tumor deep micro-blood vessel through the driving magnetic field.
9. A control method according to claim 8, wherein said releasing the sub-level micro-cluster robot loaded therein in step S4 comprises: And the driving magnetic field is used for controlling the sub-level robot to generate periodic deformation in a specific mode, so that the end sealing structure of the sub-level robot is controllably opened, and the sub-level micro-cluster robot is released.
10. A control method according to claim 9, wherein the periodic deformation of the specific pattern comprises: The external magnetic field control system alternately applies a rotating magnetic field in the positive and negative directions, so that the sub-level robot generates torsion oscillation, and the end sealing structure of the sub-level robot is controllably opened under the action of periodic stress.

Description

Multi-stage magnetic drive robot system and method for tumor treatment Technical Field The invention relates to the technical field of robots for solid tumor treatment, in particular to a multistage magnetic drive robot system for tumor treatment and a control method. Background At present, the common radiotherapy/chemotherapy means in tumor treatment have certain limitations. Tumor radiotherapy (Radiation Therapy) is a method of treating malignant tumors by using radiation such as alpha, beta, gamma rays generated by radioactive isotopes and x-rays, electron beams, proton beams and other particle beams generated by various x-ray therapeutic machines or accelerators. Tumor chemotherapy (Chemotherapy) is a therapeutic strategy to inhibit tumor growth or destroy tumors by systemic or local administration of chemical agents. The chemotherapeutic medicine can act on all cells of the human body, including tumor cells and normal cells, so that the chemotherapeutic medicine has certain toxicity, can damage both the normal cells and the tumor cells, and can cause various side effects. In order to overcome the above problems, chemotherapy and embolism are combined with hepatic artery chemoembolization (TRANSCATHETER ARTERIAL Chemoembolization, TACE) in clinic, and as shown in fig. 2, the drug is directly delivered to the blood supply artery of tumor by interventional means, so as to realize local targeted therapy, thereby reducing systemic toxic and side effects. TACE is inserted into a catheter sheath by using a short guide wire by using a Seldinger percutaneous arterial puncture method, and the intubation operation is performed under X-ray television perspective. The catheter is selectively inserted into the tumor blood supply artery for action angiography to define the distribution of blood supply artery and tumor blood vessel, and then the chemotherapeutic medicine or embolic medicine is infused into the catheter. However, the TACE technique described above still has the following drawbacks in clinical applications: 1. The accessibility of the tiny blood vessels is poor. Traditional catheters are limited by size and rigidity, are difficult to penetrate into complicated and multistage bifurcated tiny tumor blood supply vessels, lead to difficult super-selective intervention, and are easy to cause normal vessel injury or non-targeted embolism. 2. Long distance transport is difficult. The micro-scale magnetic drive robot is easy to be dispersed in high-speed blood flow of a main blood vessel of a human body, and long-distance countercurrent or downstream stable conveying from a puncture point to a focus is difficult to realize. 3. Embolic stability and treatment depth are inadequate. The existing liquid embolic agent or microsphere is easy to generate reflux or ectopic embolism. 4. Doctor radiation exposure is severe. The existing super-selective intervention and embolism technology is highly dependent on long-time fine operation of doctors under the guidance of X-ray imaging, the operation time is long, the difficulty is high, the doctors are exposed to the radiation environment for a long time, and great occupational health risks are faced. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a multistage magnetic drive robot system for tumor therapy and a control method thereof, which realize the achievement of tiny blood vessels, long-distance transportation, stable and reliable embolism and improve the operation safety of doctors. In order to achieve the above purpose, the invention adopts the following technical scheme: In a first aspect, the present invention provides a multi-stage magnetic drive robotic system for tumor therapy, comprising: The parent-level conduit is a magnetic control conduit with a centimeter or sub-centimeter level scale; The sub-level robot is a magnetic control variant robot with millimeter scale, is loaded in the main level catheter in a contracted state, and is switched into an expanded state under the action of a magnetic field so as to realize physical embolism of a blood vessel; The sub-level micro-cluster robot is a micro-nano scale functionalized robot, is preloaded in the sub-level robot and releases a therapeutic object under the action of a magnetic field; The external magnetic field control system is used for generating a driving magnetic field and a triggering magnetic field, guiding the parent catheter to enter a target branch vessel through the driving magnetic field, releasing the sub-level robot through the driving magnetic field, moving to a target embolism position in a contracted state, switching the sub-level robot into an expanded state through the triggering magnetic field to realize physical embolism, and finally controlling the sub-level robot to release the sub-level micro-cluster robot through the driving magnetic field and guiding the sub-level micro-cluster robot to permeate into a tumor deep micro-vessel. The inve