CN102579088A - Three-dimensional navigation controllable magnetic field device on basis of permanent magnet array - Google Patents
Three-dimensional navigation controllable magnetic field device on basis of permanent magnet array Download PDFInfo
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- CN102579088A CN102579088A CN2012100108040A CN201210010804A CN102579088A CN 102579088 A CN102579088 A CN 102579088A CN 2012100108040 A CN2012100108040 A CN 2012100108040A CN 201210010804 A CN201210010804 A CN 201210010804A CN 102579088 A CN102579088 A CN 102579088A
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Abstract
The invention relates to a three-dimensional navigation controllable magnetic field device on the basis of a permanent magnet array. The three-dimensional navigation controllable magnetic field device comprises a base, a round ring, lifting columns and permanent magnets. The round ring is vertically and fixedly arranged on the base; the lifting columns are coaxially, uniformly and fixedly arranged on the round ring at intervals; one permanent magnet is arranged at the front end part of each lifting column; and the permanent magnets are arranged at the front ends of the lifting columns on the same surface of the round ring. The direction of the magnetic induction strength of the navigation controllable magnetic field device is adjustable in the three-dimensional space and the size of the magnetic induction strength is controllable in a certain range. The accurate navigation on a magnetic navigation joint puncture needle can be implemented. The puncture path of the magnetic navigation joint puncture needle in diagnosis and treatment tasks such as biopsy, drainage, suction, injection and the like can be controlled. The three-dimensional navigation controllable magnetic field device is particularly suitable for navigation control of the non-linear puncture path.
Description
Technical field
The invention belongs to medical domain, relate to a kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array.
Background technology
Minimally invasive surgery is one of key project and important topic of 21 century surgery development, and puncture needle is one of apparatus basic, the most the most frequently used in the micro-wound surgical operation.When implementing to use the micro-wound surgical operation of puncture needle,,, need avoid tissues such as important organ, skeleton and blood vessel thrusting in the process of puncture needle for fear of iatrogenic injury.Yet some focuses is stopped such as in-vivo tissues such as skeleton and blood vessels or when surrounding, existing staight needle can not get into diseased region via skin penetrating, and perhaps puncture can cause bigger iatrogenic injury.So, be badly in need of a kind of puncture needle and guider reliable, flexible, that can navigate and accomplish micro-wound surgical operation.
Magnetic navigation formula joint type puncture needle is a kind of navigation that is easy to, and can realize the puncture needle of complicated bend puncture path more exactly.Because organization of human body is complicated, for fear of in magnetic navigation formula joint type pin piercing process, causing bigger iatrogenic injury, must guarantee the stationarity and the controllability of driving, this just requires the external magnetic field must be uniformly, and is easy to regulate direction etc.Current, utilize built-up coil to obtain needed magnetic field in the portion zone within it usually, but the dc coil heating will consume most of energy.
At present, both at home and abroad to utilizing the magnetic navigation technology that the research that puncture needle navigates is just begun, only the pin problem of being obedient to of doctor Chen Yonghua of Hong Kong University research was done correlation theory work in early stage to this, does not still have other personages it is made a search.
Summary of the invention
Problem to be solved by this invention provides a kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array, its objective is to magnetic navigation formula joint type puncture needle to be provided at when carrying out the puncture of non-straight channel in the human body precision navigation and control to its puncture path and puncture position.
For realizing above-mentioned purpose, the technical scheme that the present invention takes is:
A kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array; Comprise base, annulus, lifting column and permanent magnet; On base, vertically install annulus; Coaxial being uniformly distributed with is fixed with at interval lifting column on annulus, at the leading section of each lifting column one permanent magnet is installed all, and this permanent magnet is arranged on the lifting column front end of annulus with one side.
And; To be that a plurality of expansion links are coaxial be slidingly installed together said lifting column; The expansion link of rear end is packed on the annulus, and a permanent magnet motor is installed in the expansion link of lifting column front end, and the end of the output shaft of this permanent magnet motor installs permanent magnet; In the expansion link of lifting column front end, install the front end of a co-axial leading screw; A screw is installed in engagement in the rear end of leading screw, and this screw engagement one is packed in the gear on the expansion link of lifting column rear end, and this gear is by the driven by servomotor on the expansion link that is installed in the lifting column rear end.
Advantage of the present invention and good effect are:
1, the magnetic induction that produced of this navigation magnetic field is by factors such as the translational movement decision of permanent magnet quantity, array diameter, permanent magnet; Regulate the size and Orientation of magnetic induction; Can make the cephalomere of puncture needle produce corresponding deflection angle; And the pin knot that drives back deflects, thereby the accurate location that can realize pin reaches the purpose of controlling its motion path.
2, the navigation magnetic field based on permanent magnet array of the present invention's proposition; The direction of its magnetic induction is adjustable in three dimensions; Size is controlled within the specific limits; Can realize the precision navigation to magnetic navigation formula joint type puncture needle, the puncture path of may command magnetic navigation formula joint type puncture needle in diagnosis and treatment tasks such as biopsy, drain, suction, injection is particularly useful for the Navigation Control of nonlinear type puncture path.
Description of drawings
Fig. 1 is a structural front view of the present invention;
Fig. 2 is the right view of Fig. 1;
Fig. 3 is that the A-A of Fig. 2 is to the cross section amplification view;
Fig. 4 is the structural representation of puncture needle used in the present invention.
The specific embodiment
Below in conjunction with embodiment, the present invention is further specified, following embodiment is illustrative, is not determinate, can not limit protection scope of the present invention with following embodiment.
A kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array; Referring to Fig. 1, Fig. 2; Comprise base 3, annulus 1, lifting column 4 and permanent magnet 2, on base, vertically install annulus, coaxial being uniformly distributed with is fixed with lifting column on annulus; The quantity of this lifting column is set according to actual needs, is six in the present embodiment accompanying drawing; Leading section at each lifting column all is equipped with a permanent magnet, and this permanent magnet is arranged on the lifting column front end of annulus with one side.
The structure of lifting column is referring to Fig. 3, and lifting column is packed on the annulus, and to be that a plurality of expansion links are coaxial be slidingly installed together lifting column, is three co-axial expansion links in the present embodiment accompanying drawing, and the expansion link of rear end is packed on the annulus.One permanent magnet motor 5 is installed in the expansion link of lifting column front end, and the end of the output shaft of this permanent magnet motor installs permanent magnet, to realize permanent magnet radially rotation under the driving of permanent magnet motor.In the expansion link of lifting column front end, install the front end of a co-axial leading screw 6, this leading screw is coaxial to be arranged in the lifting column, in the engagement of the rear end of leading screw one screw 7 is installed; This screw engagement one is packed in the gear 8 on the expansion link of lifting column rear end; This gear is driven by the servomotor on the expansion link that is installed in the lifting column rear end 9, is implemented under the driving of servomotor the gears engaged screw thus; Screw engagement in rotation leading screw rotates; Make leading screw left and right displacement in lifting column, drive expansion link the stretching in the expansion link at rear portion of lifting column front end thus, also just realized the displacement of permanent magnet on annulus is axial.Each permanent magnetism physical ability around self center on the radial plane of annulus internal rotation, and can with the axial top offset of annulus, thereby form three-dimensional controllable magnetic field in array center.
The material of annulus does not have specific (special) requirements, can use steel, ferrum or aluminum etc.
The structure of puncture needle used in the present invention is made up of magnetic cephalomere, joint and pin knot referring to Fig. 4, through pin knot the magnetic cephalomere is installed at the front end in joint, between each joint at magnetic cephalomere rear portion, pin knot is installed also.The structure of puncture needle is a prior art, repeats no more at this.
In the present embodiment, three pairs of permanent magnets are installed in the front end of six lifting columns respectively, and lifting column has determined the relative position between the permanent magnet jointly in the length of position on the annulus and lifting column.Lifting column on length during translational motion, the relative position of the permanent magnet on the control lifting column, the central point that makes all permanent magnets is all on same plane.When this plane parallel in annulus, all permanent magnets form a pure circumference array; When this plane was not parallel to annulus, all permanent magnets formed all array of ellipse.Like this, the magnetic direction that is formed jointly by all permanent magnets is controlled in three dimensions.
Operation principle of the present invention is:
When permanent magnet quantity was six, permanent magnet array was made up of three pairs of permanent magnets, was arranged in a circumference, and the magnetic induction of arbitrfary point equals the magnetic induction sum that all permanent magnets produce at this point in the array.The magnetic line of force in the big zone, array middle part is evenly distributed, and almost is parastate, that is to say that the magnetic induction in the array circle is more uniform.When in array plane, centering on lifting column rotation permanent magnet, the inner magnetic line of force of array also and then rotates identical angle, but rotation direction and permanent magnet are opposite.After the array diameter was confirmed, the induction level of permanent magnet array central area did not change with the rotation of permanent magnet, only presented linear relationship with permanent magnet quantity.Through adjustment array permanent magnet quantity and array diameter, just can obtain the magnetic field intensity in the certain limit, thereby obtain two-dimentional controllable magnetic field.Make permanent magnet along separately axial translation respectively through lifting column, the volume center point that remains each permanent magnet in the translation process so just can obtain three-dimensional controlled navigation magnetic field in same plane.
The magnetic navigation formula joint type puncture needle that the present invention relates to is as shown in Figure 4, is made up of magnetic cephalomere and some pin knots and flexible joint.In piercing process, under the effect in the controlled navigation of three-dimensional magnetic field, can receive corresponding magnetic field force on the puncture needle cephalomere and change direction of insertion.
Claims (2)
1. three-dimensional navigation controllable magnetic field device based on permanent magnet array; It is characterized in that: comprise base, annulus, lifting column and permanent magnet; On base, vertically install annulus; Coaxial being uniformly distributed with is fixed with at interval lifting column on annulus, at the leading section of each lifting column one permanent magnet is installed all, and this permanent magnet is arranged on the lifting column front end of annulus with one side.
2. the three-dimensional navigation controllable magnetic field device based on permanent magnet array according to claim 1; It is characterized in that: to be that a plurality of expansion links are coaxial be slidingly installed together said lifting column; The expansion link of rear end is packed on the annulus, and a permanent magnet motor is installed in the expansion link of lifting column front end, and the end of the output shaft of this permanent magnet motor installs permanent magnet; In the expansion link of lifting column front end, install the front end of a co-axial leading screw; A screw is installed in engagement in the rear end of leading screw, and this screw engagement one is packed in the gear on the expansion link of lifting column rear end, and this gear is by the driven by servomotor on the expansion link that is installed in the lifting column rear end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210010804.0A CN102579088B (en) | 2012-01-13 | 2012-01-13 | A kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array |
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| CN201210010804.0A CN102579088B (en) | 2012-01-13 | 2012-01-13 | A kind of three-dimensional navigation controllable magnetic field device based on permanent magnet array |
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| CN102579088A true CN102579088A (en) | 2012-07-18 |
| CN102579088B CN102579088B (en) | 2016-06-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049433A (en) * | 2017-05-05 | 2017-08-18 | 广州大学 | A kind of adjustable puncture needle structure in magnetostriction direction |
| CN107496031A (en) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | Remote operation multi-spindle machining hand and remote operation device |
| US10252030B2 (en) | 2017-01-17 | 2019-04-09 | Cook Medical Technologies Llc | Handheld magnetic gun for guide wire manipulation |
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| US20040050394A1 (en) * | 2002-09-12 | 2004-03-18 | Sungho Jin | Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles |
| CN1589729A (en) * | 2003-09-05 | 2005-03-09 | 西门子公司 | Magnet coil system for contactless movement of a magnetic body in a working space |
| CN201001771Y (en) * | 2006-10-20 | 2008-01-09 | 孙永海 | Magnetic guiding epidural targeted duct setting device |
| CN101909541A (en) * | 2008-01-17 | 2010-12-08 | 西门子公司 | Coil arrangement for guiding a magnetic element in a working space |
| US7974678B2 (en) * | 2003-03-21 | 2011-07-05 | Siemens Aktiengesellschaft | Catheter for magnetic navigation |
| CN102227869A (en) * | 2008-09-26 | 2011-10-26 | 西门子公司 | Coil system for contactless magnetic navigation of magnetic body in work space |
| CN202437210U (en) * | 2012-01-13 | 2012-09-19 | 天津科技大学 | Three-dimensional navigation controllable magnetic field device based on permanent magnet array |
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2012
- 2012-01-13 CN CN201210010804.0A patent/CN102579088B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040050394A1 (en) * | 2002-09-12 | 2004-03-18 | Sungho Jin | Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles |
| US7974678B2 (en) * | 2003-03-21 | 2011-07-05 | Siemens Aktiengesellschaft | Catheter for magnetic navigation |
| CN1589729A (en) * | 2003-09-05 | 2005-03-09 | 西门子公司 | Magnet coil system for contactless movement of a magnetic body in a working space |
| CN201001771Y (en) * | 2006-10-20 | 2008-01-09 | 孙永海 | Magnetic guiding epidural targeted duct setting device |
| CN101909541A (en) * | 2008-01-17 | 2010-12-08 | 西门子公司 | Coil arrangement for guiding a magnetic element in a working space |
| CN102227869A (en) * | 2008-09-26 | 2011-10-26 | 西门子公司 | Coil system for contactless magnetic navigation of magnetic body in work space |
| CN202437210U (en) * | 2012-01-13 | 2012-09-19 | 天津科技大学 | Three-dimensional navigation controllable magnetic field device based on permanent magnet array |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10252030B2 (en) | 2017-01-17 | 2019-04-09 | Cook Medical Technologies Llc | Handheld magnetic gun for guide wire manipulation |
| CN107049433A (en) * | 2017-05-05 | 2017-08-18 | 广州大学 | A kind of adjustable puncture needle structure in magnetostriction direction |
| CN107049433B (en) * | 2017-05-05 | 2023-03-24 | 广州大学 | Magnetostrictive direction adjustable puncture needle structure |
| CN107496031A (en) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | Remote operation multi-spindle machining hand and remote operation device |
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| CN102579088B (en) | 2016-06-29 |
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