Guidewire coupled helical microrobot system for mechanical thrombectomy
The present invention relates to a medical robot system capable of effectively removing a calcified thrombus in a blood vessel. The present invention proposes a new guide-wired helical microrobot for mechanical thrombectomy applied to a calcified thrombus. Also, the present invention proposes an electromagnetic navigation system (ENS) which uses a high frequency operation that is based on a resonant effect in order to enhance the boring force of a microrobot. The microrobot system of the present invention can precisely tunnel through a blood vessel blockage site by means of the electromagnetic navigation system without damaging blood vessel walls. The microrobot system of the present invention has a wide range of applications including not only for thrombosis, but also thromboangiitis obliterans caused by vasoocclusion, cerebral infarction, strokes, angina or myocardial infarction, peripheral artery occlusive disease, or atherosclerosis, etc.
1. A medical microrobot system comprising:
(a) a microrobot main body comprising a helical head, a rotatable spherical joint, and a magnetic substance;
(b) an electromagnetic navigation system (ENS); and
(c) a three-dimensional imaging system
wherein the electromagnetic navigation system comprises an electromagnetic actuation (EMA) system for controlling the microrobot main body,
wherein the electromagnetic actuation system comprises 3-axis Helmholtz coils and variable capacitors, and
wherein the 3-axis Helmholtz coils comprise one pair of circular Helmholtz coils disposed in an x-axial space, a first pair of square Helmholtz coils disposed in a y-axial space, and a second pair of square Helmholtz coils disposed in a z-axial space.
2. The medical microrobot system of claim 1 , wherein the rotatable spherical joint is installed in a tip of the microrobot main body and the spherical joint is connected to a guidewire.
3. The medical microrobot system of claim 1 , wherein the guidewire is a magnetically steering guidewire.
4. The medical microrobot system of claim 1 , wherein the variable capacitors are connected in series to the 3-axis Helmholtz coils, respectively, to form a resonance control circuit.
5. The medical microrobot system of claim 1 , wherein the imaging system comprises X-ray fluoroscopy, computed tomography (CT), positron emission tomography (PET), positron emission tomography-computed tomography (PET/CT), radioisotope imaging (RI), or ultrasonography.
6. The medical microrobot system of claim 5 , wherein the X-ray fluoroscopy is mono-plane X-ray fluoroscopy, bi-plane X-ray fluoroscopy, or multi-plane X-ray fluoroscopy.
7. The medical microrobot system of claim 1 , wherein the magnetic substance is a permanent magnet or an electromagnet.
8. The medical microrobot system of claim 1 , further comprising a suction device.