Magnetic Navigation Device And Navigation Control Of Active Articulated Needle

When performing a minimally invasive surgery by biopsy needles and puncture needles, in order to avoid iatrogenic injury, it is necessary to keep clear of important organs and veins in process of inserting. However, some focuses which are wrapped by other tissues like bones, intestines and veins cannot be reached by the straight needle, even if it can, bigger iatrogenic injury will be caused. So, a needle which has navigability is in great need.Aiming at this phenomenon, this article introduced an articulated needle which is composed of a magnetic head, several sections and several articulations. The magnetic head is made of high magnetic conductive material, and it can be navigated by the magnetic force under the action of external magnetic field. The magnetic head can be deflected from its course by the external magnetic field, and drive the posterior sections deflecting. Then, the inserting direction of needle is changed.1) through the analysis of navigation process required the size of the magnetic force, magnetic navigation model is set up. According to the active materials and organization of joint type needle joint puncture force to determine the size of the required the size of the magnetic force in the process of navigation. Thus establishing navigation required material and volume of the permanent magnets, magnetic field magnetic navigation model is set up.2) navigation simulation of magnetic field model. Different number of permanent magnet array, the center of magnetic field intensity had significant difference between the two. At the same time, with the rotation of the permanent magnet and the rotation of the permanent magnet array is change the direction of the navigation field, complete active joints type needle navigation.3) navigation field device design. After the simulation and verification experiment, depending on the direction and the size of the magnetic force, the design of the magnetic navigation device, and completed a simple magnetic field equipment production.4) the joints type needle puncture are simulated under different navigation force control. Magnetic field can change the direction of magnetic navigation or size to change the direction of navigation and the size of the force. Points for navigation force changes are simulated and analyzed.