Teleoperated magnetic navigation multi-trauma hemorrhage intervention collaborative hemostasis method and system

Abstract

The present application relates to the field of interventional medical technology, and more particularly to a remote-controlled magnetic navigation multi-injury bleeding interventional collaborative hemostasis method. The method identifies multiple bleeding sites based on angiography images and generates a magnetic navigation path planning scheme, drives the interventional catheter to reach each bleeding site in turn through an external magnetic field, and releases magnetic responsive microspheres for embolization. Real-time monitoring of hemodynamic parameters is used to evaluate the hemostasis effect, and the subsequent path and embolization material release amount are dynamically adjusted. The method realizes precise and sequential collaborative hemostasis of multiple injury bleeding sites, and improves the efficiency and safety of interventional surgery.

Description

Technical Field

[0001] This invention relates to the field of interventional medical technology, and in particular to a remotely controlled magnetically guided interventional hemostasis method and system for multiple traumatic bleeding. Background Technology

[0002] In the field of interventional radiology, rapid and precise hemostasis of multiple bleeding sites caused by multiple injuries is crucial for clinical treatment. Traditional interventional hemostasis methods mainly rely on physicians manually manipulating catheter and guidewire systems under X-ray fluoroscopy guidance to sequentially locate and embolize each bleeding point.

[0003] This standard operating procedure relies heavily on the operator's experience and skill. When dealing with multiple hemorrhages that are scattered and anatomically complex, the operator needs to repeatedly and individually manipulate the catheter to enter different target vessels. The entire process is time-consuming, and for critically ill patients with multiple injuries, delays can directly lead to serious consequences such as hemorrhagic shock. Furthermore, during manual manipulation, the catheter's movement efficiency in tortuous vessels is low, and repeated attempts to enter branch vessels may increase the risk of intimal injury.

[0004] Existing technologies also include some magnetically guided interventional systems that utilize external magnetic fields to guide the directional movement of magnetic catheters or guidewires. However, these systems are typically designed for single target points or continuous vascular segments when planning their pathways, lacking the ability to coordinate and efficiently execute plans for multiple target points and discontinuous pathways. When dealing with multiple discrete bleeding points, the system often needs to replan or make significant magnetic field adjustments after each point is completed, resulting in an inconsistent operational process and room for improvement in overall hemostasis efficiency.

[0005] A more prominent problem is the lack of a real-time, quantitative feedback mechanism for hemostasis during embolization using conventional methods. Operators typically rely on angiographic images to subjectively judge the adequacy of embolization, which can be delayed and inaccurate. In patients with multiple injuries, the degree of embolization at one bleeding point may affect the hemodynamics of other sites, and traditional methods struggle to capture these dynamic changes in real time and adjust subsequent embolization strategies accordingly. This can lead to inappropriate dosage of embolic material or omission of bleeding points requiring priority treatment. Summary of the Invention

[0006] This invention provides a remotely controlled magnetically guided interventional hemostasis method and system for multiple traumatic bleeding, which can solve the problems in the prior art.

[0007] A first aspect of the present invention provides a remotely controlled magnetically guided interventional hemostasis method for multiple traumatic bleeding, comprising: Angiographic image data of patients with multiple injuries is acquired. Based on the angiographic image data, the location information and vascular structure information of multiple bleeding sites are identified. A magnetic navigation path planning scheme is generated according to the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic materials to sequentially reach each bleeding site along the catheter delivery path. When the interventional catheter reaches the first bleeding site, embolic material is released through the interventional catheter to achieve hemostasis at the first bleeding site. The embolic material includes magnetically responsive microspheres. After stopping the bleeding at the first bleeding site, the interventional catheter is moved to the second bleeding site by adjusting the magnetic field control parameters, and embolization material is released through the interventional catheter to stop the bleeding at the second bleeding site. The system monitors the hemodynamic parameters of each bleeding site in real time, judges the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjusts the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

[0008] A magnetic navigation path planning scheme is generated based on the location information and vascular structure information, including: Based on the angiography image data, a three-dimensional reconstruction of the vascular tree is performed to obtain the spatial topology of the blood vessels and the diameter information of each vascular branch; Each bleeding site is prioritized based on a comprehensive assessment of the bleeding rate, the type of blood vessel at the bleeding site, and the degree of threat posed by the bleeding to tissues and organs. Based on the priority assessment results, the intervention sequence for each bleeding site is determined, and a total catheter delivery path including multiple bleeding sites is generated; For each bleeding site, the optimal magnetic navigation path from the current position to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter. The optimal magnetic navigation path aims to minimize the turning angle at the vessel bifurcation and the total path length. The required magnetic field control parameters for each path segment are calculated based on the optimal magnetic navigation path and the magnetic response model of the interventional catheter. The calculation of the magnetic field control parameters takes into account the influence of intravascular blood flow velocity on the movement of the interventional catheter. Generate a magnetic navigation path planning scheme that includes the intervention sequence, the total catheter delivery path, the magnetic field control parameters for each path segment, and the estimated arrival time for each bleeding site.

[0009] For each bleeding site, the optimal magnetic navigation path from the current location to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter, including: Based on the angiography images, a vascular topology model containing the vascular centerline, bifurcation nodes, and diameter distribution is generated through image segmentation and three-dimensional reconstruction, and the spatial coordinates of the target bleeding site in the vascular topology model are identified. Obtain the magnetic susceptibility tensor and magnetic torque response curves of the interventional catheter, and establish the mapping relationship between the turning angle of the interventional catheter and the magnetic field strength under the action of an external magnetic field. In the vascular topology model, starting from the current position of the interventional catheter and ending at the target bleeding site, all candidate paths connecting the start and end points are searched. For each candidate path, all vascular bifurcation nodes are extracted, the turning angle of the interventional catheter at each bifurcation node is calculated, and the turning angles of each bifurcation node are accumulated to obtain the total turning angle of the path. The cumulative arc length along the vascular centerline of each candidate path is calculated as the total path length. A multi-objective evaluation function is constructed, which is formed by a linear combination of a weighted term of the total turning angle of the path and a weighted term of the total path length. The function value of the multi-objective evaluation function is calculated for all candidate paths, and the candidate path with the smallest function value is selected as the optimal magnetic navigation path. Output the path node sequence of the optimal magnetic navigation path and the magnetic field vector parameters to be applied at each node.

[0010] A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic material to sequentially reach various bleeding sites along the catheter delivery path, including: Based on the magnetic field control parameters required for the current path segment in the magnetic navigation path planning scheme, the attitude of the magnet array and the excitation current of the external magnetic field generator are controlled to generate a magnetic field with a specific magnetic field strength and direction at the location of the interventional catheter. The magnetic field and the magnetic torque and force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel. During the movement of the interventional catheter, the current position information of the interventional catheter is acquired through a real-time imaging system, and the current position information is compared with the catheter delivery path to calculate the positional deviation. When the position deviation exceeds a preset threshold, the magnetic field control parameters are adjusted in real time based on the position deviation, and the movement trajectory of the interventional catheter is corrected by changing the magnetic field strength, the magnetic field direction, or the magnetic field gradient. When the interventional catheter reaches the bifurcation of the blood vessel, the direction of the magnetic field is quickly adjusted to guide the interventional catheter into the correct blood vessel branch; the above magnetic field application and position feedback adjustment process is repeated until the interventional catheter reaches the current target bleeding site.

[0011] The magnetic field and the magnetic torque and magnetic force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel, including: Based on the magnetization characteristics of the magnetic material carried by the interventional catheter and the magnetic field control parameters, the magnetization intensity vector generated by the magnetic material in the magnetic field is calculated. Based on the magnetization intensity vector and the spatial distribution of the magnetic field, the magnetic torque generated by the magnetic field on the magnetic material is calculated. The magnetic torque is used to control the deflection angle and deflection direction of the tip of the interventional catheter. Based on the magnetization vector and magnetic field gradient, the magnetic force generated by the magnetic field on the magnetic material is calculated, and the magnetic force is used to drive the interventional catheter to advance axially along the catheter delivery path; A dynamic model of the interventional catheter within the blood vessel is established. This dynamic model comprehensively considers the magnetic torque, the magnetic force, the contact force between the blood vessel wall and the interventional catheter, the fluid resistance of blood flow to the interventional catheter, and the bending stiffness of the interventional catheter itself. The dynamic model predicts the motion state of the interventional catheter under the current magnetic field control parameters. The motion state includes the displacement velocity and angular velocity of the tip of the interventional catheter. Based on the degree of matching between the motion state and the catheter delivery path, the magnetic field control parameters are iteratively optimized to ensure that the interventional catheter advances stably along the catheter delivery path and reaches the target bleeding site.

[0012] Real-time monitoring of hemodynamic parameters at each bleeding site; determination of hemostasis effectiveness at each bleeding site based on these parameters; and adjustment of magnetic navigation path planning scheme and embolic material release amount for subsequent bleeding sites based on the hemostasis effectiveness, including: After releasing embolic materials at each bleeding site, digital subtraction angiography was used to continuously acquire image data of the bleeding site and its surrounding vessels. Based on the image data, hemodynamic parameters of each bleeding site were extracted. These hemodynamic parameters included the trend of contrast agent extravasation, blood flow velocity in vessels distal to the bleeding site, and intravascular pressure in the feeding artery of the bleeding site. The bleeding is determined to have stopped based on the trend of the contrast agent extravasation range. When the extravasation range no longer expands within the continuous monitoring time, the bleeding site is considered to have been successfully controlled. When the bleeding site is considered to have been successfully controlled, the blood flow velocity of the distal vessels of the bleeding site is analyzed to assess the impact of embolization treatment on the blood supply of surrounding normal tissues. For bleeding sites where hemostasis has not yet been achieved, the required amount of embolization material to be released for subsequent bleeding sites is predicted based on the hemostasis effect data of bleeding sites where hemostasis has been achieved. Based on the prediction results and the current remaining total amount of embolization material, the intervention sequence for subsequent bleeding sites and the allocation of embolization material for each bleeding site are re-optimized, and an updated magnetic navigation path planning scheme is generated.

[0013] Hemostasis at the bleeding site is achieved by releasing an embolic material through the interventional catheter. The embolic material includes magnetically responsive microspheres, comprising: The magnetically responsive microspheres are composed of a biodegradable polymer matrix and magnetic nanoparticles dispersed within the biodegradable polymer matrix. The magnetic nanoparticles enable the magnetically responsive microspheres to respond to magnetic fields. The embolic material carrying the magnetically responsive microspheres is delivered into the vascular lumen of the target bleeding site through the interventional catheter. Simultaneously with the release of the embolic material, a locally focused magnetic field is applied to the target bleeding site through the external magnetic field generator. The magnetic field gradient of the locally focused magnetic field is directed towards the bleeding rupture location. The magnetically responsive microspheres aggregate towards the bleeding site under the influence of the localized focused magnetic field, enhancing the deposition density of the embolic material at the bleeding site. The magnetically responsive microspheres interact with coagulation factors in the blood at the bleeding site, accelerating thrombus formation and sealing the bleeding site. By adjusting the magnetic field strength and duration of the localized focusing magnetic field, the aggregation degree and embolization range of the magnetically responsive microspheres can be controlled, thus preventing excessive migration of the embolization material to distal blood vessels and causing accidental embolization of normal blood vessels.

[0014] A second aspect of the present invention provides a remotely controlled magnetically navigated interventional hemostasis system for multiple traumatic bleeding, comprising: The path planning unit is used to acquire angiography image data of patients with multiple injuries, identify the location information and vascular structure information of multiple bleeding sites based on the angiography image data, and generate a magnetic navigation path planning scheme based on the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. The catheter driving unit is used to apply a dynamically changing magnetic field through an external magnetic field generator to drive the interventional catheter carrying magnetic material to reach each bleeding site sequentially along the catheter delivery path. When the interventional catheter reaches the first bleeding site, the interventional catheter releases embolizing material to achieve hemostasis at the first bleeding site. The embolizing material includes magnetically responsive microspheres. The multi-site hemostasis unit is used to, after completing hemostasis at the first bleeding site, drive the interventional catheter to move to the second bleeding site by adjusting the magnetic field control parameters, and release embolizing material through the interventional catheter to achieve hemostasis at the second bleeding site. The dynamic adjustment unit is used to monitor the hemodynamic parameters of each bleeding site in real time, judge the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjust the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

[0015] A third aspect of the present invention provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to invoke instructions stored in the memory to execute the aforementioned method.

[0016] A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the aforementioned method.

[0017] This method enables rapid, precise, and coordinated hemostasis at multiple bleeding sites in patients with multiple injuries. By planning a magnetic navigation path covering all target bleeding points in a single step, and using an externally controlled magnetic field to drive a single interventional catheter sequentially to each site, it avoids the cumbersome procedures and time delays associated with repeated punctures, catheter changes, or the use of multiple catheters in traditional methods. Dynamically adjusted magnetic field parameters ensure flexible and stable catheter navigation in complex vascular networks, significantly shortening the total time from identifying the bleeding point to implementing embolization, thus gaining valuable time for the rescue of severely traumatized patients.

[0018] The application of magnetically responsive embolization materials enhances the reliability and controllability of hemostasis. Once the catheter reaches the designated bleeding site, the released magnetically responsive microspheres can more precisely accumulate at the bleeding target under the guidance of a local magnetic field, enhancing the accuracy and stability of embolization. Combined with real-time monitoring of hemodynamic parameters, the hemostasis effect can be assessed immediately, providing feedback for subsequent procedures. The system can dynamically optimize subsequent pathway planning and embolization material dosage based on the hemostasis status of the previous site, achieving individualized and adaptive treatment and improving the overall hemostasis success rate.

[0019] This method integrates remote control and automation technologies, reducing the continuous reliance on highly skilled interventional physicians for on-site operation. Physicians can remotely plan procedures and monitor the execution process based on imaging data, reducing the surgeon's radiation exposure and enabling complex interventional hemostasis in resource-limited or emergency environments. The entire process achieves closed-loop management from identification, path planning, navigation control to effect evaluation, improving the systematic nature, efficiency, and safety of interventional hemostasis treatment for multiple traumas. Attached Figure Description

[0020] Figure 1 A flowchart illustrating a remotely controlled, magnetically navigated, interventional, and synergistic hemostasis method for multiple traumatic bleeding. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0023] Figure 1 This is a schematic flowchart of a remotely controlled magnetically navigated interventional hemostasis method for multiple traumatic bleeding according to an embodiment of the present invention. Figure 1 As shown, the remotely controlled magnetically guided interventional hemostasis method for multiple traumatic bleeding includes: Angiographic image data of patients with multiple injuries is acquired. Based on the angiographic image data, the location information and vascular structure information of multiple bleeding sites are identified. A magnetic navigation path planning scheme is generated according to the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic materials to sequentially reach each bleeding site along the catheter delivery path. When the interventional catheter reaches the first bleeding site, embolic material is released through the interventional catheter to achieve hemostasis at the first bleeding site. The embolic material includes magnetically responsive microspheres. After stopping the bleeding at the first bleeding site, the interventional catheter is moved to the second bleeding site by adjusting the magnetic field control parameters, and embolization material is released through the interventional catheter to stop the bleeding at the second bleeding site. The system monitors the hemodynamic parameters of each bleeding site in real time, judges the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjusts the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

[0024] A magnetic navigation path planning scheme is generated based on the location information and vascular structure information, including: Based on the angiography image data, a three-dimensional reconstruction of the vascular tree is performed to obtain the spatial topology of the blood vessels and the diameter information of each vascular branch; Each bleeding site is prioritized based on a comprehensive assessment of the bleeding rate, the type of blood vessel at the bleeding site, and the degree of threat posed by the bleeding to tissues and organs. Based on the priority assessment results, the intervention sequence for each bleeding site is determined, and a total catheter delivery path including multiple bleeding sites is generated; For each bleeding site, the optimal magnetic navigation path from the current position to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter. The optimal magnetic navigation path aims to minimize the turning angle at the vessel bifurcation and the total path length. The required magnetic field control parameters for each path segment are calculated based on the optimal magnetic navigation path and the magnetic response model of the interventional catheter. The calculation of the magnetic field control parameters takes into account the influence of intravascular blood flow velocity on the movement of the interventional catheter. Generate a magnetic navigation path planning scheme that includes the intervention sequence, the total catheter delivery path, the magnetic field control parameters for each path segment, and the estimated arrival time for each bleeding site.

[0025] After acquiring angiographic images of patients with multiple injuries, the angiographic images are first preprocessed, including denoising, contrast enhancement, and edge sharpening, to improve the clarity of vascular boundaries. Angiographic images typically consist of multiple two-dimensional projection images from different angles, acquired by rotating the angiography equipment. These two-dimensional projection images from different angles are then input into a three-dimensional reconstruction algorithm, using either voxel-based or surface-based reconstruction methods to construct a three-dimensional model of the vascular tree. During the three-dimensional reconstruction process, image segmentation techniques are used to extract the contour information of the vessels, distinguishing between main vessels and branch vessels, and identifying bifurcation points, confluence points, and terminal locations. By measuring the pixel dimensions of the vessel cross-sections and combining this with the calibration parameters of the angiography equipment, the actual diameter of each vascular branch is calculated. Main vessels with a diameter greater than 5 mm and branch vessels with a diameter between 2 and 5 mm are marked to establish a hierarchical relationship between vascular branches. The three-dimensional reconstruction results form a complete vascular spatial topology, which includes the three-dimensional coordinates of each vascular node, the connection relationships between adjacent nodes, and the length and diameter data of each vascular segment.

[0026] Based on the vascular spatial topology obtained from 3D reconstruction and combined with multiple bleeding sites identified from angiographic images, the priority of each bleeding site was assessed. Bleeding rate was quantified by analyzing the diffusion rate of contrast agent extravasation, calculating the area growth rate of the extravasated area per unit time, and classifying bleeding rates into three levels: rapid bleeding (area growth rate greater than 10 square millimeters per second), medium-speed bleeding (area growth rate between 3 and 10 square millimeters per second), and slow bleeding (area growth rate less than 3 square millimeters per second). The vascular type of the bleeding site was classified according to the vessel's location in the circulatory system, with arterial bleeding having a higher priority than venous bleeding, and main artery bleeding having a higher priority than branch artery bleeding. The threat level of bleeding to tissues and organs was determined by assessing the tissue type surrounding the bleeding site. Bleeding from vessels supplying vital organs such as the heart, brain, and liver was assigned the highest threat level, while bleeding from vessels in the extremities was assigned a lower threat level. Combining these three assessment dimensions, a comprehensive priority score was calculated for each bleeding site, with rapid arterial bleeding threatening vital organs receiving the highest score, and slow venous bleeding located in non-critical areas receiving the lowest score.

[0027] The bleeding sites are ranked in descending order based on their overall priority score to determine the sequence of interventional hemostasis. The bleeding site with the highest priority is designated as the first bleeding site, the next highest priority as the second bleeding site, and so on. After determining the interventional sequence, a general catheter delivery path is planned based on the vascular spatial topology, from the vessel inlet point (usually the femoral artery puncture point or radial artery puncture point) to each bleeding site sequentially. The planning of the general catheter delivery path needs to consider the connectivity of vascular branches, avoiding paths that require backtracking or repeatedly traversing the same vascular segment. For multiple bleeding sites distributed across different vascular branch systems, paths that can be reached sequentially through the natural branches of the vessels are prioritized, reducing complex catheter turning operations at vascular bifurcation points.

[0028] Optimal magnetic navigation paths are calculated for each path segment from the current location to each target bleeding site. The vascular spatial topology is abstracted as a network graph composed of nodes and edges, where nodes represent vascular bifurcation points, confluence points, or bleeding sites, and edges represent vascular segments connecting two nodes. Each edge is assigned a weight value, which comprehensively considers the length of the vascular segment and the turning angle present in that segment. For a vascular segment connecting two nodes, if the segment is a straight line, its weight value is equal to the actual length of the segment; if the segment contains curves, the degree of curvature is quantified as curvature, and the greater the curvature, the greater the increase in weight value. At vascular bifurcation points, the angle of change required by the interventional catheter is calculated, which is determined by the angle between the tangent vectors of two adjacent vascular segments. The larger the turning angle, the higher the navigation difficulty of the interventional catheter; therefore, a penalty coefficient is applied to large-angle turns in the weight calculation. The A* search algorithm is used to search for the shortest path from the current location to the target bleeding site in the vascular network graph. This shortest path achieves a balanced optimization of the total path length and turning angle under the comprehensive weight considerations.

[0029] After obtaining the optimal magnetic navigation path, the required magnetic field control parameters for each path segment are calculated based on the magnetic response characteristics of the interventional catheter. The tip of the interventional catheter is loaded with a magnetic material, which generates magnetic torque and force under the influence of an external magnetic field, driving the catheter tip to move in a specific direction. The magnetic response model of the interventional catheter describes the relationship between the external magnetic field parameters and the forces acting on the catheter. For straight vessel segments, a magnetic field gradient along the vessel axis is primarily required to generate the magnetic force propelling the catheter forward. The magnitude of the magnetic field gradient is determined based on the magnetization intensity of the magnetic material at the catheter tip and the resistance the catheter needs to overcome. This resistance includes the frictional force between the catheter and the vessel wall, as well as the reverse thrust of blood flow on the catheter. Intravascular blood flow velocity is obtained by analyzing the flow velocity of the contrast agent in angiographic images or by Doppler ultrasound measurement. For vessel segments with faster blood flow velocities, a larger magnetic field gradient is required to ensure the catheter can advance against the flow.

[0030] For tortuous vessel segments or bifurcation points, in addition to the magnetic field gradient, precise control of the magnetic field direction is required to guide the catheter tip's directional change. This is achieved by adjusting the magnitude and direction of the current in each magnet coil within the external magnetic field generator, synthesizing a magnetic field vector with a specific direction and intensity. The magnetic field direction is calculated based on the catheter's current position and the target path direction, ensuring that the magnetic torque generated by the magnetic material at the catheter tip aligns the catheter axis with the direction of the target vessel branch. At vessel bifurcation points, a strong directional magnetic field is first applied to rotate the catheter tip towards the entrance of the target branch, and then the magnetic field gradient is increased to propel the catheter into that branch. The choice of magnetic field strength requires a balance between providing sufficient driving force and avoiding unnecessary impact on surrounding tissues; typically, the magnetic field strength is controlled within the range of 0.1 to 0.5 Tesla.

[0031] Based on the length of each path segment, vessel diameter, blood flow velocity, and required magnetic field control parameters, the movement speed of the interventional catheter in each path segment is estimated, and the estimated time to reach each bleeding site is calculated. The catheter's movement speed in the blood vessel is affected by various factors, including the magnitude of the magnetic field driving force, the degree of vessel tortuosity, blood flow velocity, and the catheter's own flexibility. For vessel segments with larger diameters and slower blood flow velocities, the catheter can advance at a faster speed; for vessel segments with smaller diameters or greater tortuosity, the catheter's advancement speed decreases accordingly. The estimated transit times for each path segment are summed to obtain the estimated time from the vessel inlet point to the first bleeding site, and the estimated time from the first bleeding site to the second bleeding site.

[0032] Based on all the above information, a complete magnetic navigation path planning scheme is generated. This scheme includes a priority-ordered sequence of bleeding sites, with detailed sequential numbers indicating the first, second, and final bleeding sites. The overall catheter delivery path is represented as a sequence of vessel nodes, listing the three-dimensional coordinates of each vessel bifurcation point and the target bleeding site, starting from the vessel inlet. For each path segment, the starting and ending nodes, segment length, recommended catheter speed, and corresponding magnetic field control parameters are recorded. The magnetic field control parameters are given in time-series format, specifying the magnetic field strength, direction (represented by azimuth angles in three-dimensional space), and gradient to be applied at different times during the catheter's passage through the segment. The scheme also includes the estimated arrival time for each bleeding site, providing interventional operators with a time reference to facilitate coordination of the entire hemostasis process and preparation of embolic materials and monitoring equipment for subsequent procedures.

[0033] For each bleeding site, the optimal magnetic navigation path from the current location to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter, including: Based on the angiography images, a vascular topology model containing the vascular centerline, bifurcation nodes, and diameter distribution is generated through image segmentation and three-dimensional reconstruction, and the spatial coordinates of the target bleeding site in the vascular topology model are identified. Obtain the magnetic susceptibility tensor and magnetic torque response curves of the interventional catheter, and establish the mapping relationship between the turning angle of the interventional catheter and the magnetic field strength under the action of an external magnetic field. In the vascular topology model, starting from the current position of the interventional catheter and ending at the target bleeding site, all candidate paths connecting the start and end points are searched. For each candidate path, all vascular bifurcation nodes are extracted, the turning angle of the interventional catheter at each bifurcation node is calculated, and the turning angles of each bifurcation node are accumulated to obtain the total turning angle of the path. The cumulative arc length along the vascular centerline of each candidate path is calculated as the total path length. A multi-objective evaluation function is constructed, which is formed by a linear combination of a weighted term of the total turning angle of the path and a weighted term of the total path length. The function value of the multi-objective evaluation function is calculated for all candidate paths, and the candidate path with the smallest function value is selected as the optimal magnetic navigation path. Output the path node sequence of the optimal magnetic navigation path and the magnetic field vector parameters to be applied at each node.

[0034] In interventional treatment of multiple traumatic bleeding, precise magnetic navigation path planning is crucial for improving treatment efficiency and safety. After acquiring the patient's angiographic images, the images are first preprocessed, including denoising, contrast enhancement, and grayscale normalization, to provide high-quality input data for subsequent image segmentation. A deep learning-based semantic segmentation algorithm is used to segment the angiographic images, accurately distinguishing the vascular region from the background region and extracting complete vascular contour information. Based on the obtained two-dimensional vascular segmentation results, a three-dimensional vascular structure model is generated using a volumetric data reconstruction algorithm, combined with multi-angle angiographic images. This three-dimensional vascular structure model contains the spatial geometric information of the blood vessels. The vascular centerline is calculated using a skeleton extraction algorithm, and the centerline reflects the main direction and distribution characteristics of the blood vessels.

[0035] In the 3D vascular model, vascular bifurcation regions are automatically identified. By analyzing the connection relationships of the centerline and the bifurcation angle, the spatial locations of all vascular bifurcation nodes are marked. For each bifurcation node, its 3D coordinates, bifurcation angle, and the number of connected vascular branches are recorded. Simultaneously, the local diameter distribution of the vessel is calculated along the vessel centerline. The maximum inscribed circle method is used to measure the vessel diameter at each centerline point, forming complete diameter distribution data. This diameter data is crucial for subsequent assessment of whether the interventional catheter can safely pass through a specific vascular segment. The vascular centerline, bifurcation node information, and diameter distribution data are integrated to form a vascular topology model. This model is represented by a graph structure, where nodes represent vascular bifurcation points or endpoints, edges represent vascular segments, and each edge includes length and diameter attribute information.

[0036] Based on the contrast agent extravasation characteristics and density abnormalities in angiographic images, the locations of various bleeding sites are identified. These bleeding sites are then mapped onto a vascular topology model, determining the spatial coordinates of each target bleeding site within the model. For the current target bleeding site requiring treatment, its three-dimensional coordinates are recorded. Simultaneously, obtain the three-dimensional coordinates of the current position of the interventional catheter. .

[0037] For the interventional catheter used, its magnetic response characteristics need to be obtained. The tip of the interventional catheter is embedded with a magnetic material, which will generate a magnetization response under the influence of an external magnetic field. The magnetic susceptibility tensor of the interventional catheter is experimentally determined. This tensor describes the magnetization response characteristics of a magnetic material in different directions. Calibration experiments were conducted on interventional catheters using a standard magnetic field environment at different magnetic field strengths. Magnetic torque generated at the tip of the catheter is measured. A response curve between magnetic torque and magnetic field strength was established. By fitting experimental data, the mapping relationship between magnetic torque and the direction and strength of the applied magnetic field was obtained. ,in It indicates the direction angle of the magnetic field.

[0038] Based on the magnetic torque response relationship, a model for the steering angle of the interventional catheter was further established. When the interventional catheter is at a vascular bifurcation point, applying a magnetic field of specific direction and intensity can drive the catheter tip to deflect, thereby selectively entering the target branch vessel. Steering Angle With the applied magnetic field strength There is a nonlinear relationship between them; a mapping function is established through calibration experiments. ,in This represents the angle between the target branch vessel and the main vessel. This mapping takes into account the combined effects of blood flow resistance, catheter flexibility, and magnetic field forces.

[0039] An improved graph search algorithm is used for path search in the vascular topology model. The node corresponding to the current position of the interventional catheter is set as the starting node. Set the node corresponding to the target bleeding site as the endpoint node. The vascular topology is traversed using either depth-first search or breadth-first search to find all connected paths from the starting point to the ending point, forming a set of candidate paths. For complex vascular networks, there may be multiple candidate paths, each passing through different vascular branches and bifurcation nodes.

[0040] For each candidate path, its geometric features and magnetic navigation feasibility are analyzed in detail. The sequence of all vascular bifurcation nodes along the candidate path is extracted. ,in This indicates the number of branching nodes on the path. At each branching node... Based on the spatial orientation of the upstream and downstream target vessel segments, the required turning angle of the interventional catheter is calculated. The turning angle is determined by the angle between the direction vectors of the two vessel segments, i.e. ,in and These represent the unit direction vectors of the blood vessel segments entering and leaving the bifurcation node, respectively. The total turning angle of the path is obtained by summing the turning angles of all bifurcation nodes on the candidate path. The total turning angle of the path reflects the tortuousness of the path and the difficulty of magnetic navigation control. A larger turning angle means that a stronger magnetic field needs to be applied and more frequent magnetic field adjustments are required.

[0041] In addition to the turning angle, the total length of the candidate path also needs to be calculated. The arc length of each blood vessel segment along the candidate path is calculated cumulatively according to the spatial curve of the blood vessel centerline. The path is then decomposed into several smaller segments, and the length of each segment is calculated using the Euclidean distance between adjacent centerline points. The total path length is obtained by summing the lengths of all segments. The total path length affects the interventional procedure time and catheter advancement stability; a longer path may increase procedural risks and patient radiation exposure time. To comprehensively consider multiple evaluation indicators of the path, a multi-objective evaluation function is constructed. The multi-objective evaluation function adopts a weighted linear combination form, expressed as follows: ,in and are weighting coefficients for the total turning angle and total path length, respectively. The weighting coefficients are determined based on clinical needs and the performance characteristics of the interventional catheter. If the magnetic response performance of the interventional catheter is weak, then should be increased. The value should prioritize paths with smaller turning angles; if minimizing surgical time is a greater priority, the value should be increased. The value of is selected with preference for shorter paths. The multi-objective evaluation function value is calculated for each path in the candidate path set. The function values ​​of all candidate paths are compared, and the candidate path with the smallest function value is selected as the optimal magnetic navigation path.

[0042] After determining the optimal magnetic navigation path, the detailed navigation parameters of that path need to be output. The optimal path is represented as an ordered sequence of path nodes. ,in This represents the total number of nodes on the path, including branching nodes and critical control points. For each path node... Based on the blood vessel orientation at the current node and the location of the next target node, the required magnetic field vector parameters are calculated. These parameters include the magnetic field strength. Magnetic field direction and magnetic field gradient The direction of the magnetic field is determined according to the direction the catheter needs to deflect, and the magnetic field strength is determined by a mapping relationship between the deflection angle and the magnetic response characteristics of the catheter. Reverse calculations show that the magnetic field gradient is used to control the spatial distribution of the magnetic field force, ensuring that the magnetic field force is concentrated at the tip of the conduit.

[0043] The path node sequence and the corresponding magnetic field vector parameters of each node are integrated to form a complete magnetic navigation control command, which is then transmitted to the extracorporeal magnetic field generator. Based on these commands, the magnetic field generator adjusts the magnetic field parameters in real time during the interventional procedure to achieve precise driving and control of the interventional catheter, guiding the catheter along the planned optimal path to the target bleeding site, and providing a reliable catheter positioning basis for subsequent embolization treatment.

[0044] A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic material to sequentially reach various bleeding sites along the catheter delivery path, including: Based on the magnetic field control parameters required for the current path segment in the magnetic navigation path planning scheme, the attitude of the magnet array and the excitation current of the external magnetic field generator are controlled to generate a magnetic field with a specific magnetic field strength and direction at the location of the interventional catheter. The magnetic field and the magnetic torque and force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel. During the movement of the interventional catheter, the current position information of the interventional catheter is acquired through a real-time imaging system, and the current position information is compared with the catheter delivery path to calculate the positional deviation. When the position deviation exceeds a preset threshold, the magnetic field control parameters are adjusted in real time based on the position deviation, and the movement trajectory of the interventional catheter is corrected by changing the magnetic field strength, the magnetic field direction, or the magnetic field gradient. When the interventional catheter reaches the bifurcation of the blood vessel, the direction of the magnetic field is quickly adjusted to guide the interventional catheter into the correct blood vessel branch; Repeat the above magnetic field application and position feedback adjustment process until the interventional catheter reaches the current target bleeding site.

[0045] In interventional treatment of multiple traumatic bleeding, magnetic navigation technology guides an interventional catheter carrying magnetic materials to the target bleeding site by precisely controlling an external magnetic field. The external magnetic field generator typically consists of a magnet array composed of multiple electromagnets distributed at different spatial locations outside the patient's body. By independently controlling the excitation current of each electromagnet, the desired magnetic field distribution can be generated in specific areas within the patient's body. A typical configuration of the magnet array includes a six-axis magnetic field generating system, with six electromagnets positioned anterior-posterior, lateral, and cephalad-feet directions, respectively, working collaboratively to achieve flexible control of the magnetic field in three-dimensional space.

[0046] The design of interventional catheters is crucial for achieving magnetic navigation. The catheter tip is embedded or coated with permanent magnetic materials, commonly including neodymium iron boron magnets, ferrite magnetic powder, or magnetic nanoparticle composites. These magnetic materials generate magnetic torque and magnetic force under an applied magnetic field. The magnetic torque deflects the catheter tip, changing its direction of travel, while the magnetic force provides the driving force for the catheter's advancement. The distribution length of the magnetic material at the catheter tip is typically 3 to 8 millimeters, and the magnetization intensity is between 150 and 400 kA / m. This design ensures sufficient magnetic response while maintaining the catheter's flexibility to adapt to the tortuous structure of blood vessels.

[0047] Based on the magnetic navigation path planning scheme, the required magnetic field control parameters for the path segment from the current location of the catheter to the next bleeding site are calculated. The magnetic field strength typically ranges from 80 to 200 millitalas, and the magnetic field direction is defined by the azimuth and elevation angles in three-dimensional space. The azimuth angle ranges from 0 to 360 degrees, and the elevation angle ranges from -90 to +90 degrees. The magnetic field gradient reflects the spatial rate of change of the magnetic field strength and is crucial for providing thrust for catheter advancement; a typical magnetic field gradient is 5 to 15 tesla per meter.

[0048] The control system sends corresponding excitation current commands to each electromagnet in the magnet array based on the calculated magnetic field control parameters. Taking a six-axis magnetic field generating system as an example, the required current value for each electromagnet is determined by solving the magnetic field superposition equation. The magnetic field strength generated by each electromagnet is proportional to its excitation current. By adjusting the magnitude and direction of the current in each electromagnet, a magnetic field with a specific intensity and direction can be synthesized in the target area where the catheter is located. The response time for adjusting the excitation current is typically between 50 and 150 milliseconds, which is sufficient to support real-time navigation control of the catheter within the blood vessel.

[0049] When a magnetic field is applied to the magnetic material carried by the catheter, the magnetic material rotates under the influence of a magnetic torque, causing the catheter tip to deflect towards the direction of the magnetic field. The magnitude of the magnetic torque depends on the magnetic moment of the magnetic material, the strength of the applied magnetic field, and the angle between the magnetization direction of the magnetic material and the direction of the magnetic field. Simultaneously, the magnetic material in a non-uniform magnetic field also experiences a magnetic force, which points in the direction of increasing magnetic field gradient, providing the driving force for the catheter's advancement. By precisely controlling the direction and gradient of the magnetic field, the catheter can be guided along a planned path within the blood vessel.

[0050] During catheter travel, a real-time imaging system continuously monitors the catheter's position. This system typically employs digital subtraction angiography (DSA) or magnetic resonance imaging (MRI), with an imaging frame rate of 5 to 15 frames per second, clearly displaying the catheter tip's position within the blood vessel. Image processing algorithms extract the coordinate information of the catheter tip, represented by X, Y, and Z coordinates in three-dimensional space, with the origin usually set at the isocenter of the imaging device.

[0051] The real-time acquired catheter position information is compared with the target position of the corresponding point on the planned path, and the positional deviation between the two is calculated. The positional deviation is obtained by calculating the Euclidean distance between the current position coordinates and the target position coordinates. This distance value reflects the degree to which the catheter deviates from the planned path. The preset threshold is set according to the vessel diameter and catheter accuracy requirements. For vessels with a diameter of 3 to 5 mm, the positional deviation threshold is usually set to 1 to 2 mm. For thinner vessels, the threshold may be reduced to 0.5 to 1 mm.

[0052] When a positional deviation exceeds a preset threshold, the control system immediately initiates a magnetic field parameter adjustment program. First, the direction of the duct deviation is analyzed. If the duct deviates to the left of the planned path, the magnetic field direction needs to be adjusted to correct it by turning the duct to the right. The magnetic field direction is adjusted by changing the excitation current ratio of each electromagnet in the magnet array, with an angular accuracy of 1 to 3 degrees. If the deviation is mainly due to insufficient duct forward speed, the magnetic field gradient needs to be increased to provide greater driving force. The magnetic field gradient is adjusted by changing the current intensity of specific electromagnets, with gradient increments typically ranging from 1 to 3 Tesla per meter. The magnetic field strength adjustment range is between 80% and 120% of the original set value, achieving effective correction while avoiding excessive magnetic force that could cause the duct to lose control.

[0053] The bifurcation of blood vessels presents a key challenge for magnetic navigation. When the catheter approaches the bifurcation point, typically 5 to 10 millimeters away, the system prepares for a rapid magnetic field switch. At the instant the catheter reaches the bifurcation, the magnetic field direction is quickly switched to guide the catheter into the target branch. The time window for switching the magnetic field direction is usually 100 to 300 milliseconds, within which time the magnetic field direction smoothly transitions from the original direction to the new direction. The switching angle depends on the angle between the branch vessel and the main vessel. For branches with an angle of 30 to 60 degrees, the magnetic field needs to be deflected by 30 to 60 degrees; for perpendicular branches approaching 90 degrees, the magnetic field direction may need to be deflected by 80 to 90 degrees. Simultaneously with the rapid magnetic field direction switch, the magnetic field strength and gradient are appropriately increased to provide sufficient magnetic torque and force to overcome the impact of blood flow on the catheter, ensuring that the catheter can smoothly enter the target branch rather than being swept into a non-target branch by the blood flow.

[0054] The entire navigation process employs a closed-loop control strategy, with magnetic field application, position feedback, deviation calculation, and magnetic field adjustment forming a continuous control loop. The control loop frequency is typically 10 to 20 times per second, meaning a complete feedback adjustment loop is completed every 50 to 100 milliseconds. As the catheter gradually approaches the target bleeding site, when the distance between the catheter tip and the target location is less than 5 millimeters, the system reduces the catheter's forward speed, decreasing the magnetic field gradient and intensity to allow the catheter to reach the precise location more smoothly. When the catheter tip reaches the target bleeding site and the positional deviation remains within the threshold range for more than 3 to 5 seconds, the catheter is considered successfully positioned, and the magnetic field switches to maintenance mode to maintain the catheter's stability at the current position, preparing for the subsequent release of embolic material. Through this precise magnetic field control and real-time feedback adjustment mechanism, the interventional catheter can be guided accurately to multiple bleeding sites in complex vascular networks, achieving synergistic hemostasis for multiple injuries.

[0055] The magnetic field and the magnetic torque and magnetic force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel, including: Based on the magnetization characteristics of the magnetic material carried by the interventional catheter and the magnetic field control parameters, the magnetization intensity vector generated by the magnetic material in the magnetic field is calculated. Based on the magnetization intensity vector and the spatial distribution of the magnetic field, the magnetic torque generated by the magnetic field on the magnetic material is calculated. The magnetic torque is used to control the deflection angle and deflection direction of the tip of the interventional catheter. Based on the magnetization vector and magnetic field gradient, the magnetic force generated by the magnetic field on the magnetic material is calculated, and the magnetic force is used to drive the interventional catheter to advance axially along the catheter delivery path; A dynamic model of the interventional catheter within the blood vessel is established. This dynamic model comprehensively considers the magnetic torque, the magnetic force, the contact force between the blood vessel wall and the interventional catheter, the fluid resistance of blood flow to the interventional catheter, and the bending stiffness of the interventional catheter itself. The dynamic model predicts the motion state of the interventional catheter under the current magnetic field control parameters. The motion state includes the displacement velocity and angular velocity of the tip of the interventional catheter. Based on the degree of matching between the motion state and the catheter delivery path, the magnetic field control parameters are iteratively optimized to ensure that the interventional catheter advances stably along the catheter delivery path and reaches the target bleeding site.

[0056] Precise navigation of interventional catheters within blood vessels is crucial for achieving coordinated hemostasis at multiple injury sites. The tip of the interventional catheter is typically embedded or attached with a permanent magnetic material. This magnetic material responds to an external magnetic field, enabling remote control of the catheter. Magnetic materials can be neodymium iron boron, ferrite, or surface-modified magnetic nanoparticle composites, all of which possess excellent magnetic response characteristics and biocompatibility. The catheter body is made of a flexible polymer material, ensuring sufficient flexibility to adapt to the tortuous path of the blood vessel while also possessing sufficient rigidity to support the catheter's stability under the impact of blood flow.

[0057] The calculation of the magnetization vector is fundamental to magnetic navigation control. When the magnetic material carried by the interventional catheter is placed in an external magnetic field, its magnetization vector... With external magnetic field strength There is a specific relationship between them. For soft magnetic materials, the magnetization vector can be expressed as... ,in Magnetic susceptibility is a parameter that reflects how easily a material can be magnetized. For hard magnetic materials, their remanent magnetization must be considered. and coercivity Due to the influence of the magnetic field, the calculation of the magnetization vector requires incorporating the hysteresis loop characteristics of the material. In practical applications, by pre-measuring the magnetization curve of the magnetic material used in the conduit, a lookup table is established between the magnetization intensity and the external magnetic field intensity. During control, the corresponding magnetization vector value is quickly obtained based on the currently applied magnetic field intensity. The direction of the magnetization vector is coupled with the direction of the external magnetic field. When the direction of the external magnetic field changes, the magnetization vector will adjust accordingly, but there is a certain response delay, which is usually on the order of milliseconds and needs to be compensated for in the control algorithm.

[0058] The generation mechanism of magnetic torque originates from the interaction between the magnetization vector and the external magnetic field. When the magnetization vector... With external magnetic field When they are not collinear, a magnetic torque will be generated. Its calculation formula is: ,in This represents the volume of the magnetic material. The magnetic torque acts on the tip of the interventional catheter, generating a torque effect that deflects the catheter tip. The magnitude of the magnetic torque is proportional to the sine of the angle between the magnetization vector and the magnetic field; the magnetic torque reaches its maximum when they are perpendicular and is zero when they are parallel. By precisely controlling the direction of the external magnetic field, the magnitude and direction of the magnetic torque can be adjusted, thereby achieving fine control over the deflection angle of the catheter tip. In actual vascular navigation, the catheter tip needs to deflect in any direction in three-dimensional space, which requires the external magnetic field generator to generate magnetic field components in different directions within space. By coordinating and controlling the current intensity of multiple electromagnetic coils, the magnetic field vector in the desired direction can be synthesized, thus generating the desired magnetic torque. The deflection response speed of the catheter tip depends on the magnitude of the magnetic torque and the bending stiffness of the catheter material. More flexible catheters are more sensitive to the magnetic torque but are also more susceptible to blood flow disturbances.

[0059] The calculation of magnetic force involves the spatial gradient distribution of the magnetic field. When a magnetic material is placed in a non-uniform magnetic field, it will experience a magnetic force pointing in the direction of increasing magnetic field strength. The magnetic force can be expressed as: ,in This represents the gradient operator. The magnitude of the magnetic force is proportional to the magnetization vector, the magnetic field gradient, and the volume of the magnetic material. During the axial advancement of the interventional catheter, a magnetic field gradient is established in the expected direction of catheter advancement, causing a pulling force on the magnetic material along that direction, thereby driving the catheter forward. The generation of the magnetic field gradient requires the formation of current differences between multiple coils in an external magnetic field generator, creating a region of varying magnetic field strength in space. The advantage of magnetic drive is that it enables non-contact advancement of the catheter, reducing the risk of mechanical damage to the vessel wall during traditional manual catheter advancement. The direction of the magnetic force can be controlled by adjusting the direction of the magnetic field gradient, generating thrust not only along the catheter's axial direction but also radially to assist the catheter through vessel bifurcation points.

[0060] The motion of an interventional catheter within a blood vessel is subject to the combined effects of multiple forces, requiring a comprehensive dynamic model for description. This dynamic model, based on Newton's second law and Euler's equations, treats the catheter as a flexible multibody system, discretizing it into multiple interconnected micro-units using the finite element method. For each unit, the magnetic torque, magnetic force, vessel wall contact force, blood flow resistance, and internal forces between adjacent units are considered. The vessel wall contact force on the catheter is described using an elastic contact model; when the catheter contacts the vessel wall, the magnitude of the contact force is proportional to the deformation at the contact point, and the direction of the contact force is perpendicular to the vessel wall surface. The blood flow resistance on the catheter is approximated using the Stokes resistance formula; the resistance magnitude is related to blood flow velocity, catheter outer diameter, and blood viscosity. The bending stiffness of the catheter itself is characterized by the material's elastic modulus and moment of inertia. Catheters with higher bending stiffness generate a larger restoring moment during bending and tend to maintain a straight state.

[0061] The dynamic model is solved using numerical integration. Given the initial position and velocity of the catheter, and the current magnetic field control parameters, the resultant force and torque acting on each element of the catheter at that moment are calculated using the dynamic equations. Based on the resultant force and torque, the position and velocity of each element of the catheter at the next moment are predicted using the fourth-order Runge-Kutta method or other numerical integration algorithms. By progressively advancing the time, the trajectory of the catheter over a period of time can be predicted. During the prediction process, the vessel wall contact force and blood flow resistance need to be updated in real time, as these forces change with the catheter position. The accuracy of the dynamic model directly affects the control effect of magnetic navigation. To improve computational efficiency, a simplified catheter model or a reduced-order model can be used to reduce the computational load while maintaining prediction accuracy.

[0062] The motion state of the catheter tip includes two key parameters: displacement velocity and angular velocity. Displacement velocity... This represents the spatial displacement of the catheter tip's center of mass per unit time. The direction of this velocity vector indicates the direction of movement of the catheter tip, and its magnitude reflects the speed of movement. Angular velocity. The angular velocity vector represents the speed at which the catheter tip rotates around its center of mass. The direction of the angular velocity vector follows the right-hand rule, and the direction of the rotation axis is indicated by the angular velocity. In vascular navigation, the catheter tip needs to be able to advance rapidly along the vessel axis and adjust its direction promptly when encountering vessel bifurcation or bends. The displacement velocity and angular velocity predicted by the dynamic model can be used to determine whether the catheter can move along the predetermined catheter delivery path.

[0063] The degree of matching between the catheter delivery path and the actual motion state is quantified by defining path tracking error. Path tracking error consists of two parts: position error and direction error. Position error... Defined as the distance between the current position of the catheter tip and the nearest point on the catheter delivery path, directional error. Defined as the angle between the direction of the catheter tip axis and the tangent direction of the catheter delivery path at that point. (Comprehensive path tracking error) It can be represented as ,in and This is a weighting coefficient used to balance the relative importance of position and orientation errors. When the overall path tracking error exceeds a preset threshold, it indicates that the current magnetic field control parameters cannot make the duct move along the desired path, and the magnetic field control parameters need to be adjusted.

[0064] Iterative optimization of the magnetic field control parameters is achieved using a feedback control strategy. The adjustment amount of the magnetic field control parameters is calculated based on the current path tracking error. For magnetic field strength, when the catheter advancement speed is lower than the desired speed, the magnetic field gradient is increased to provide greater magnetic force; when the catheter advancement speed is too high, the magnetic field gradient is decreased to avoid catheter runaway. For magnetic field direction, when the catheter tip deviates from the path tangent, the magnetic field direction is adjusted to generate a corrective magnetic torque, gradually turning the catheter tip towards the correct direction. The adjustment of the magnetic field gradient needs to comprehensively consider position and velocity errors, and is adjusted using a proportional-integral-derivative controller. The iterative optimization process continues until the catheter successfully reaches the target bleeding site. Throughout the navigation process, the magnetic field control parameters are dynamically adjusted according to the real-time status of the catheter to ensure the stability and accuracy of catheter movement.

[0065] Real-time monitoring of hemodynamic parameters at each bleeding site; determination of hemostasis effectiveness at each bleeding site based on these parameters; and adjustment of magnetic navigation path planning scheme and embolic material release amount for subsequent bleeding sites based on the hemostasis effectiveness, including: After releasing embolic materials at each bleeding site, digital subtraction angiography was used to continuously acquire image data of the bleeding site and its surrounding vessels. Based on the image data, hemodynamic parameters of each bleeding site were extracted. These hemodynamic parameters included the trend of contrast agent extravasation, blood flow velocity in vessels distal to the bleeding site, and intravascular pressure in the feeding artery of the bleeding site. The bleeding is determined to have stopped based on the trend of the contrast agent extravasation range. When the extravasation range no longer expands within the continuous monitoring time, the bleeding site is considered to have been successfully controlled. When the bleeding site is considered to have been successfully controlled, the blood flow velocity of the distal vessels of the bleeding site is analyzed to assess the impact of embolization treatment on the blood supply of surrounding normal tissues. For bleeding sites where hemostasis has not yet been achieved, the required amount of embolization material to be released for subsequent bleeding sites is predicted based on the hemostasis effect data of bleeding sites where hemostasis has been achieved. Based on the prediction results and the current remaining total amount of embolization material, the intervention sequence for subsequent bleeding sites and the allocation of embolization material for each bleeding site are re-optimized, and an updated magnetic navigation path planning scheme is generated.

[0066] After releasing embolic materials at each bleeding site, the hemostatic effect needs to be dynamically evaluated to ensure the effectiveness and safety of the treatment. Digital subtraction angiography (DSA) allows for continuous image acquisition of the bleeding site and surrounding vessels, providing high-contrast information on vascular structure and blood flow. The working principle of DSA involves acquiring images before and after contrast agent injection, then using computer image processing to subtract background structures such as bone and soft tissue, retaining only the images of blood vessels and contrast agent distribution. During acquisition, the contrast agent injection rate is set to 3-5 ml per second, with the total injection volume dynamically adjusted according to the diameter of the target vessel and blood flow velocity to ensure the contrast agent fully displays the vascular structure and any abnormal extravasation. The temporal resolution of the image acquisition is set to 4-6 frames per second, with a spatial resolution of at least 0.3 pixels per millimeter. These parameter settings capture the dynamic changes in blood flow.

[0067] Based on the acquired continuous imaging data, key hemodynamic parameters are extracted to assess hemostasis. The trend of contrast agent extravasation is a direct indicator of whether bleeding has stopped. Image segmentation algorithms are used to identify the distribution area of ​​contrast agent outside the blood vessel, and the extravasation area is calculated at different time points. In practice, the acquired image sequences are subjected to time series analysis, with the baseline time set at 30 seconds after the release of the embolic material. The extravasation area is then measured every 15 seconds thereafter. If the rate of change of the extravasation area is less than a threshold of 2% in three consecutive measurements, bleeding at that site is considered to have stopped. This threshold is determined based on a combination of clinical experience and image noise levels, effectively distinguishing between true hemostasis and random fluctuations during image acquisition.

[0068] Blood flow velocity in vessels distal to the bleeding site is an important parameter for assessing the side effects of embolization therapy. Blood flow velocity is calculated using time-density curve analysis by tracking the flow of contrast agent in the vessel. A cross-section of the vessel approximately 2-3 cm downstream of the embolization point is selected as the measurement location, and the time-concentration curve of the contrast agent passing through this cross-section is recorded. The peak arrival time of the curve reflects the transmission time of the contrast agent from the injection point to the measurement point; combined with the known vessel path length, the average blood flow velocity can be calculated. Under normal circumstances, the blood flow velocity in peripheral arteries ranges from 30-50 cm / s. If the blood flow velocity in distal vessels decreases by more than 40% after embolization, it suggests that the embolization therapy may have affected the blood supply to normal tissues, and the risk of over-embolization needs to be assessed.

[0069] Changes in intravascular pressure in the feeding artery at the bleeding site can reflect the degree of blockage by the embolic material and the hemodynamic status. Although intravascular pressure cannot be directly measured, it can be indirectly assessed through the contrast agent filling rate and dynamic changes in vessel diameter. During cardiac systole, the diameter of a normal artery increases by approximately 8-12%, and this pulsatility changes after embolization. By measuring the amplitude of vessel diameter changes with the cardiac cycle using a high-speed imaging system, when the pulsatility amplitude of the vessel diameter proximal to the embolization site increases by more than 50% of the baseline value, it indicates a significant increase in blood flow resistance at the embolization site, and elevated intravascular pressure at that location. This pressure change information helps determine whether the embolic material placement is appropriate and whether additional embolic material is needed.

[0070] When assessing hemostasis effectiveness based on the changing trend of contrast agent extravasation, the specificities of different tissue types and bleeding locations must be considered. For bleeding in solid organs such as the liver or spleen, contrast agent extravasation typically exhibits a diffuse distribution; successful hemostasis is characterized by a clear and stable boundary of the extravasation area. For concentrated bleeding caused by arterial rupture, contrast agent extravasation manifests as localized high-concentration accumulation; successful hemostasis is characterized by the accumulation area ceasing to expand and the concentration gradually decreasing. The monitoring time window is set to 5-8 minutes after embolic material release. This timeframe is sufficient for the embolic material to fully interact with the vessel wall and thrombus, forming a stable mechanical occlusion.

[0071] Once hemostasis at a bleeding site is deemed successful, detailed analysis of distal vessel blood flow velocity can quantitatively assess the impact of embolization on the blood supply to surrounding normal tissues. A multi-point velocity measurement method was employed, selecting three measurement points at different distances distal to the embolization site: 2 cm, 5 cm, and 10 cm from the embolization site. The recovery of blood flow velocity at these locations was analyzed. Ideally, embolization should result in complete cessation of blood flow proximal to the embolization site, while the blood flow velocity at distal measurement points gradually returns to normal with increasing distance. If the blood flow velocity at 10 cm distal to the embolization site remains below 70% of normal, it indicates that the embolization area may be too large, collateral circulation may not be sufficiently established, and close monitoring of ischemia in that area is necessary.

[0072] For bleeding sites where hemostasis has not yet been achieved, predictive analysis based on data from sites where hemostasis has been completed can optimize subsequent treatment strategies. An empirical model is established between hemostatic effect and the amount of embolic material used. Parameters such as bleeding rate, vessel diameter, type and amount of embolic material at the hemostatic site are collected, and predictive relationships are established through data fitting. Assuming the vessel diameter at the first bleeding site where hemostasis has been achieved is... The volume of the embolic material used is The extravasation rate of contrast agent in this area is For the second bleeding site to be treated, the diameter of its blood vessel was measured to be... If the outflow rate is given, then the required volume of embolic material can be predicted. It can be estimated based on a combination of the proportion of blood vessel cross-sectional area and the proportion of extravasation rate: , where k is an empirical correction coefficient, typically ranging from 0.8 to 1.2, used to compensate for the effects of differences in vascular branch structure and tissue type at different bleeding sites.

[0073] When optimizing resource allocation based on prediction results and the current remaining amount of embolic material, it is necessary to comprehensively consider the risk level and treatment priority of each bleeding site. By assessing the amount of embolic material consumed at sites where hemostasis has been achieved, it is calculated whether the remaining available material is sufficient to cover all bleeding points to be treated. If there is sufficient remaining material, treatment continues according to the original risk level order; if there is insufficient remaining material, the urgency of each bleeding site needs to be reassessed. Assessment indicators include the degree of hemodynamic instability of the bleeding site, the degree of organ function impact, and the potential rate of blood loss. The bleeding sites are re-ranked according to their comprehensive scores, prioritizing the bleeding points with the highest scores to ensure that limited embolic material is used for the most life-threatening bleeding sites.

[0074] The updated magnetic navigation path planning scheme needs to consider the cumulative dwell time and path efficiency of the interventional catheter within the blood vessel. During the replanning process, the length and complexity of the vascular path from the current location to each bleeding site to be treated are analyzed, selecting the order with the shortest overall navigation distance and the simplest path. Catheter fatigue is also considered; if the catheter has been in operation for more than 45 minutes, its navigation performance needs to be assessed for degradation, and magnetic field control parameters should be adjusted as necessary to compensate for the reduced catheter responsiveness. The amount of embolization material allocated to each bleeding site is determined based on the prediction model calculations, with a 15-20% material margin reserved to address uncertainties in actual operation. The updated scheme also includes adjusting the magnetic field gradient parameters; for areas with many vascular branches or tortuous paths, the magnetic field gradient intensity is increased to improve the catheter's positioning accuracy and path tracking ability, ensuring accurate arrival at the target bleeding site and effective hemostasis.

[0075] Hemostasis at the bleeding site is achieved by releasing an embolic material through the interventional catheter. The embolic material includes magnetically responsive microspheres, comprising: The magnetically responsive microspheres are composed of a biodegradable polymer matrix and magnetic nanoparticles dispersed within the biodegradable polymer matrix. The magnetic nanoparticles enable the magnetically responsive microspheres to respond to magnetic fields. The embolic material carrying the magnetically responsive microspheres is delivered into the vascular lumen of the target bleeding site through the interventional catheter. Simultaneously with the release of the embolic material, a locally focused magnetic field is applied to the target bleeding site through the external magnetic field generator. The magnetic field gradient of the locally focused magnetic field is directed towards the bleeding rupture location. The magnetically responsive microspheres aggregate towards the bleeding site under the influence of the localized focused magnetic field, enhancing the deposition density of the embolic material at the bleeding site. The magnetically responsive microspheres interact with coagulation factors in the blood at the bleeding site, accelerating thrombus formation and sealing the bleeding site. By adjusting the magnetic field strength and duration of the localized focusing magnetic field, the aggregation degree and embolization range of the magnetically responsive microspheres can be controlled, thus preventing excessive migration of the embolization material to distal blood vessels and causing accidental embolization of normal blood vessels.

[0076] After acquiring angiographic images of patients with multiple injuries, the primary bleeding site requiring hemostasis is identified. This primary bleeding site may be located in areas such as branches of the celiac artery, subcapsular vessels of the liver, or marginal arteries of the spleen. When the interventional catheter reaches the proximal vessel of this primary bleeding site using magnetic navigation technology, a specially designed embolic material is prepared for release. The core component of this embolic material is magnetically responsive microspheres, which possess unique magnetic field response characteristics and biocompatibility.

[0077] The magnetically responsive microspheres were prepared using emulsion solvent evaporation or microfluidic technology. The biodegradable polymer matrix was selected from materials such as polylactic-co-glycolic acid copolymer (PLGA), polycaprolactone (PCL), or chitosan. These biodegradable polymers can be gradually degraded in the in vivo environment through hydrolysis or enzymatic hydrolysis, with a degradation cycle typically between 30 and 180 days, ensuring that they can be metabolized and absorbed by the body after hemostasis is achieved. The molecular weight of the polymer matrix was selected from 10,000 to 150,000 Daltons; higher molecular weights provide longer degradation time and better mechanical strength.

[0078] Magnetic nanoparticles are uniformly dispersed within the polymer matrix. These magnetic nanoparticles are typically iron oxide nanoparticles, including magnetite (Fe3O4) or ferric oxide (Fe2O4). The particle size of the magnetic nanoparticles is controlled between 8 and 50 nanometers, a size range that ensures good superparamagnetism while preventing rapid particle removal within the matrix. The mass percentage of magnetic nanoparticles in the polymer matrix ranges from 5% to 40%. A higher content of magnetic particles enhances the magnetic response of the microspheres, but a balance needs to be struck between biocompatibility and degradation performance. To improve the compatibility between the magnetic nanoparticles and the polymer matrix, the surface of the magnetic nanoparticles is modified with oleic acid, citric acid, or silane coupling agents to form a stable surface coating layer.

[0079] The prepared magnetically responsive microspheres are spherical or near-spherical, with diameters ranging from 50 to 800 micrometers. The particle size distribution of the microspheres is adjusted according to the diameter of the blood vessels at the target bleeding site. For bleeding from small arteries with diameters of 1 to 3 millimeters, microspheres with diameters of 300 to 600 micrometers are selected; for bleeding from micro-arteries with diameters less than 1 millimeter, microspheres with diameters of 100 to 300 micrometers are selected. The surface of the microspheres has a certain degree of roughness and porous structure, with a porosity of 10% to 40%. This porous structure facilitates the penetration of blood components and promotes thrombus formation.

[0080] The distal end of the interventional catheter is designed with a controllable release chamber containing a magnetically responsive microsphere suspension. The suspension is prepared using isotonic saline or a solution containing contrast agent as the dispersion medium, with a microsphere volume concentration of 15% to 45%. To prevent microsphere sedimentation and aggregation during delivery, an appropriate amount of hydroxypropyl methylcellulose or hyaluronic acid is added to the suspension as a suspending stabilizer, at a concentration of 0.1% to 0.5%. The viscosity of the suspension is controlled between 5 centipoise and 50 centipoise to ensure smooth catheter delivery while preventing excessively rapid microsphere release.

[0081] Once the interventional catheter is positioned proximal to the feeding artery at the first bleeding site, the operator initiates the embolic material release procedure via a remote control system. The release process employs a pulsatile injection method, with each injection volume ranging from 0.2 ml to 1 ml, and injection intervals of 15 to 60 seconds. This fractionated injection method allows for real-time fluoroscopic monitoring of the microsphere distribution, avoiding proximal vascular occlusion caused by a single large-volume release.

[0082] Three to ten seconds before the release of the magnetically responsive microspheres, the external magnetic field generator has already configured a locally focused magnetic field. This locally focused magnetic field is generated collaboratively by multiple electromagnetic coils, and its spatial distribution exhibits a clear gradient characteristic. The center strength of the magnetic field ranges from 0.15 Tesla to 0.8 Tesla, and the magnetic field gradient ranges from 5 Tesla per meter to 50 Tesla per meter. By precisely calculating the three-dimensional coordinates of the bleeding rupture, the maximum direction vector of the magnetic field gradient is directed towards this location. The magnetic field gradient forms a magnetic potential well around the bleeding rupture, generating a directional driving force on the magnetically responsive microspheres.

[0083] After being released from the catheter outlet, the magnetically responsive microspheres migrate distally under the influence of blood flow. Due to the presence of magnetic nanoparticles within the microspheres, they exhibit a magnetization response under an applied magnetic field. The magnitude of the magnetic force experienced by the microspheres is proportional to the magnetic field gradient and the magnetization intensity of the microspheres. When a microsphere enters the effective range of a locally focused magnetic field, it experiences a magnetic force directed towards the bleeding site. Although the magnetic force experienced by a single microsphere is relatively small, the overall effect is significant due to the synergistic effect of a large number of microspheres.

[0084] Magnetic forces cause microspheres, which are originally diffusely distributed with the blood flow, to deflect towards the bleeding rupture. Within a range of 5 to 20 millimeters from the bleeding rupture, the trajectory of the microspheres deviates significantly from the blood flow direction, with deflection angles ranging from 20 to 60 degrees. As the microspheres approach the bleeding rupture, the magnetic field gradient increases, further enhancing the magnetic force on the microspheres and accelerating their aggregation towards the rupture. Ultimately, a large number of microspheres form a high-density aggregation area near the bleeding rupture, with a concentration in this area 3 to 10 times higher than that in the surrounding vascular lumen.

[0085] High-density aggregated magnetically responsive microspheres first seal the bleeding opening through physical blockage. Multiple microspheres contact each other to form a tightly packed structure, reducing the pathway for blood to leak out of the opening. Simultaneously, the porous structure and rough surface of the microspheres provide ideal attachment sites for platelet adhesion and aggregation. Upon contact with the microsphere surface, platelets in the blood are activated and release procoagulant factors, including thromboxane A2 and serotonin. These procoagulant factors recruit more platelets to the microsphere surface, forming platelet aggregates.

[0086] Platelet aggregates and microspheres intertwine to form a primary hemostatic thrombus. Based on this, a cascade of coagulation factors in the blood is initiated. Prothrombin is converted to thrombin on the surface of activated platelets, and thrombin catalyzes the conversion of fibrinogen into fibrin monomers. Fibrin monomers spontaneously polymerize and cross-link under the influence of factor XIII, forming a stable fibrin network. This fibrin network binds together magnetically responsive microspheres, platelet aggregates, erythrocytes, and other components, forming a dense mixed thrombus. The entire thrombus formation process is accelerated under the continuous action of a magnetic field, shortening the time from microsphere release to stable thrombus formation to 3 to 8 minutes, while traditional embolic materials typically require 10 to 20 minutes.

[0087] During the gradual formation and stabilization of the thrombus, the operator observes changes in blood flow at the bleeding site using a real-time monitoring system. This system includes a digital subtraction angiography (DSA) device and a hemodynamic parameter acquisition module. When the blood flow signal at the bleeding site significantly weakens, and angiography shows the disappearance or significant reduction of contrast agent extravasation, it indicates that initial hemostasis has been achieved. At this point, the operator begins adjusting the parameters of the local focused magnetic field to optimize the embolization effect and prevent over-embolization.

[0088] The magnetic field strength was adjusted using a phased strategy. During the microsphere release and initial aggregation phases, the magnetic field strength was maintained at a high level, between 0.4 and 0.8 Tesla, to ensure sufficient magnetic driving force. Once a significant slowdown in blood flow was detected at the bleeding site, the magnetic field strength was gradually reduced to between 0.15 and 0.3 Tesla, at which point the stable aggregation of microspheres at the rupture site was maintained. The duration of magnetic field application was adjusted according to the severity of the bleeding. For active bleeding, the application time was 5 to 15 minutes; for cases where a preliminary thrombus had formed but oozing was still present, the application time was extended to 15 to 30 minutes.

[0089] By adjusting the spatial distribution of the magnetic field gradient, the aggregation range of microspheres can be precisely controlled. When embolization needs to be confined to a range of 2 to 5 millimeters around the bleeding rupture, a high-gradient, narrow-distribution magnetic field configuration is used, with the magnetic field gradient set to 30 to 50 Tesla per meter, and the gradient change concentrated near the bleeding rupture. Under this configuration, the aggregation of microspheres is highly limited, avoiding diffusion to distal blood vessels. Conversely, when bleeding originates from a seepage surface formed by multiple micro-ruptures, a medium-gradient, wide-distribution magnetic field configuration is used, with the magnetic field gradient reduced to 5 to 15 Tesla per meter, expanding the coverage area to 10 to 20 millimeters around the bleeding area, allowing the microspheres to be evenly distributed over a larger area, achieving planar occlusion.

[0090] A second aspect of the present invention provides a remotely controlled magnetically navigated interventional hemostasis system for multiple traumatic bleeding, comprising: The path planning unit is used to acquire angiography image data of patients with multiple injuries, identify the location information and vascular structure information of multiple bleeding sites based on the angiography image data, and generate a magnetic navigation path planning scheme based on the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. The catheter driving unit is used to apply a dynamically changing magnetic field through an external magnetic field generator to drive the interventional catheter carrying magnetic material to reach each bleeding site sequentially along the catheter delivery path. When the interventional catheter reaches the first bleeding site, the interventional catheter releases embolizing material to achieve hemostasis at the first bleeding site. The embolizing material includes magnetically responsive microspheres. The multi-site hemostasis unit is used to, after completing hemostasis at the first bleeding site, drive the interventional catheter to move to the second bleeding site by adjusting the magnetic field control parameters, and release embolizing material through the interventional catheter to achieve hemostasis at the second bleeding site. The dynamic adjustment unit is used to monitor the hemodynamic parameters of each bleeding site in real time, judge the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjust the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

[0091] A third aspect of the present invention provides an electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to invoke instructions stored in the memory to execute the aforementioned method.

[0092] A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the aforementioned method.

[0093] This invention can be a method, apparatus, system, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of the invention.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remotely controlled magnetically navigated interventional hemostasis method for multiple traumatic bleeding, characterized in that, include: Acquire angiographic image data of patients with multiple injuries, identify the location information and vascular structure information of multiple bleeding sites based on the angiographic image data, and generate a magnetic navigation path planning scheme based on the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic materials to sequentially reach each bleeding site along the catheter delivery path. When the interventional catheter reaches the first bleeding site, embolic material is released through the interventional catheter to achieve hemostasis at the first bleeding site. The embolic material includes magnetically responsive microspheres. After stopping the bleeding at the first bleeding site, the interventional catheter is moved to the second bleeding site by adjusting the magnetic field control parameters, and embolization material is released through the interventional catheter to stop the bleeding at the second bleeding site. The system monitors the hemodynamic parameters of each bleeding site in real time, judges the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjusts the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

2. The method according to claim 1, characterized in that, A magnetic navigation path planning scheme is generated based on the location information and vascular structure information, including: Based on the angiography image data, a three-dimensional reconstruction of the vascular tree is performed to obtain the spatial topology of the blood vessels and the diameter information of each vascular branch; Each bleeding site is prioritized based on a comprehensive assessment of the bleeding rate, the type of blood vessel at the bleeding site, and the degree of threat posed by the bleeding to tissues and organs. Based on the priority assessment results, the intervention sequence for each bleeding site is determined, and a total catheter delivery path including multiple bleeding sites is generated; For each bleeding site, the optimal magnetic navigation path from the current position to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter. The optimal magnetic navigation path aims to minimize the turning angle at the vessel bifurcation and the total path length. The required magnetic field control parameters for each path segment are calculated based on the optimal magnetic navigation path and the magnetic response model of the interventional catheter. The calculation of the magnetic field control parameters takes into account the influence of intravascular blood flow velocity on the movement of the interventional catheter. Generate a magnetic navigation path planning scheme that includes the intervention sequence, the total catheter delivery path, the magnetic field control parameters for each path segment, and the estimated arrival time for each bleeding site.

3. The method according to claim 2, characterized in that... For each bleeding site, the optimal magnetic navigation path from the current location to the target bleeding site is calculated based on the three-dimensional reconstruction results and the magnetic response characteristics of the interventional catheter, including: Based on the angiography images, a vascular topology model containing the vascular centerline, bifurcation nodes, and diameter distribution is generated through image segmentation and three-dimensional reconstruction, and the spatial coordinates of the target bleeding site in the vascular topology model are identified. Obtain the magnetic susceptibility tensor and magnetic torque response curves of the interventional catheter, and establish the mapping relationship between the turning angle of the interventional catheter and the magnetic field strength under the action of an external magnetic field. In the vascular topology model, starting from the current position of the interventional catheter and ending at the target bleeding site, all candidate paths connecting the start and end points are searched. For each candidate path, all vascular bifurcation nodes are extracted, the turning angle of the interventional catheter at each bifurcation node is calculated, and the turning angles of each bifurcation node are accumulated to obtain the total turning angle of the path. The cumulative arc length along the vascular centerline of each candidate path is calculated as the total path length. A multi-objective evaluation function is constructed, which is formed by a linear combination of a weighted term of the total turning angle of the path and a weighted term of the total path length. The function value of the multi-objective evaluation function is calculated for all candidate paths, and the candidate path with the smallest function value is selected as the optimal magnetic navigation path. Output the path node sequence of the optimal magnetic navigation path and the magnetic field vector parameters to be applied at each node.

4. The method according to claim 1, characterized in that... A dynamically changing magnetic field is applied by an external magnetic field generator, driving an interventional catheter carrying magnetic materials to sequentially reach various bleeding sites along the catheter delivery path, including: Based on the magnetic field control parameters required for the current path segment in the magnetic navigation path planning scheme, the attitude of the magnet array and the excitation current of the external magnetic field generator are controlled to generate a magnetic field with a specific magnetic field strength and direction at the location of the interventional catheter. The magnetic field and the magnetic torque and force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel. During the movement of the interventional catheter, the current position information of the interventional catheter is acquired through a real-time imaging system, and the current position information is compared with the catheter delivery path to calculate the positional deviation. When the position deviation exceeds a preset threshold, the magnetic field control parameters are adjusted in real time based on the position deviation, and the movement trajectory of the interventional catheter is corrected by changing the magnetic field strength, the magnetic field direction, or the magnetic field gradient. When the interventional catheter reaches the bifurcation of the blood vessel, the direction of the magnetic field is quickly adjusted to guide the interventional catheter into the correct blood vessel branch; the above magnetic field application and position feedback adjustment process is repeated until the interventional catheter reaches the current target bleeding site.

5. The method according to claim 4, characterized in that... The magnetic field and the magnetic torque and magnetic force generated by the magnetic material carried by the interventional catheter drive the interventional catheter to advance along the catheter delivery path within the blood vessel, including: Based on the magnetization characteristics of the magnetic material carried by the interventional catheter and the magnetic field control parameters, the magnetization intensity vector generated by the magnetic material in the magnetic field is calculated. Based on the magnetization intensity vector and the spatial distribution of the magnetic field, the magnetic torque generated by the magnetic field on the magnetic material is calculated. The magnetic torque is used to control the deflection angle and deflection direction of the tip of the interventional catheter. Based on the magnetization vector and magnetic field gradient, the magnetic force generated by the magnetic field on the magnetic material is calculated, and the magnetic force is used to drive the interventional catheter to advance axially along the catheter delivery path; A dynamic model of the interventional catheter within the blood vessel is established. This dynamic model comprehensively considers the magnetic torque, the magnetic force, the contact force between the blood vessel wall and the interventional catheter, the fluid resistance of blood flow to the interventional catheter, and the bending stiffness of the interventional catheter itself. The dynamic model predicts the motion state of the interventional catheter under the current magnetic field control parameters. The motion state includes the displacement velocity and angular velocity of the tip of the interventional catheter. Based on the degree of matching between the motion state and the catheter delivery path, the magnetic field control parameters are iteratively optimized to ensure that the interventional catheter advances stably along the catheter delivery path and reaches the target bleeding site.

6. The method according to claim 1, characterized in that... Real-time monitoring of hemodynamic parameters at each bleeding site; determination of hemostasis effectiveness at each bleeding site based on these parameters; and adjustment of magnetic navigation path planning scheme and embolization material release amount for subsequent bleeding sites based on the hemostasis effectiveness, including: After releasing embolic materials at each bleeding site, digital subtraction angiography was used to continuously acquire image data of the bleeding site and its surrounding vessels. Based on the image data, hemodynamic parameters of each bleeding site were extracted. These hemodynamic parameters included the trend of contrast agent extravasation, blood flow velocity in vessels distal to the bleeding site, and intravascular pressure in the feeding artery of the bleeding site. The bleeding is determined to have stopped based on the trend of the contrast agent extravasation range. When the extravasation range no longer expands within the continuous monitoring time, the bleeding site is considered to have been successfully controlled. When the bleeding site is considered to have been successfully controlled, the blood flow velocity of the distal vessels of the bleeding site is analyzed to assess the impact of embolization treatment on the blood supply of surrounding normal tissues. For bleeding sites where hemostasis has not yet been achieved, the required amount of embolization material to be released for subsequent bleeding sites is predicted based on the hemostasis effect data of bleeding sites where hemostasis has been achieved. Based on the prediction results and the current remaining total amount of embolization material, the intervention sequence for subsequent bleeding sites and the allocation of embolization material for each bleeding site are re-optimized, and an updated magnetic navigation path planning scheme is generated.

7. The method according to claim 1, characterized in that... Hemostasis is achieved by releasing an embolic material through the interventional catheter. The embolic material includes magnetically responsive microspheres, comprising: The magnetically responsive microspheres are composed of a biodegradable polymer matrix and magnetic nanoparticles dispersed within the biodegradable polymer matrix. The magnetic nanoparticles enable the magnetically responsive microspheres to respond to magnetic fields. The embolic material carrying the magnetically responsive microspheres is delivered into the vascular lumen of the target bleeding site through the interventional catheter. Simultaneously with the release of the embolic material, a locally focused magnetic field is applied to the target bleeding site through the external magnetic field generator. The magnetic field gradient of the locally focused magnetic field is directed towards the bleeding rupture location. The magnetically responsive microspheres aggregate towards the bleeding site under the influence of the localized focused magnetic field, enhancing the deposition density of the embolic material at the bleeding site. The magnetically responsive microspheres interact with coagulation factors in the blood at the bleeding site, accelerating thrombus formation and sealing the bleeding site. By adjusting the magnetic field strength and duration of the localized focusing magnetic field, the aggregation degree and embolization range of the magnetically responsive microspheres can be controlled, thus preventing excessive migration of the embolization material to distal blood vessels and causing accidental embolization of normal blood vessels.

8. A remotely controlled magnetically guided interventional hemostasis system for multiple traumatic bleeding, used to implement the method as described in any one of claims 1-7, characterized in that, include: The path planning unit is used to acquire angiography image data of patients with multiple injuries, identify the location information and vascular structure information of multiple bleeding sites based on the angiography image data, and generate a magnetic navigation path planning scheme based on the location information and vascular structure information. The magnetic navigation path planning scheme includes catheter delivery path and magnetic field control parameters for each bleeding site. The magnetic field control parameters include magnetic field strength, magnetic field direction and magnetic field gradient. The catheter driving unit is used to apply a dynamically changing magnetic field through an external magnetic field generator to drive the interventional catheter carrying magnetic material to reach each bleeding site sequentially along the catheter delivery path. When the interventional catheter reaches the first bleeding site, the interventional catheter releases embolizing material to achieve hemostasis at the first bleeding site. The embolizing material includes magnetically responsive microspheres. The multi-site hemostasis unit is used to, after completing hemostasis at the first bleeding site, drive the interventional catheter to move to the second bleeding site by adjusting the magnetic field control parameters, and release embolizing material through the interventional catheter to achieve hemostasis at the second bleeding site. The dynamic adjustment unit is used to monitor the hemodynamic parameters of each bleeding site in real time, judge the hemostasis effect of each bleeding site based on the hemodynamic parameters, and adjust the magnetic navigation path planning scheme and embolization material release amount of subsequent bleeding sites based on the hemostasis effect.

9. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to invoke instructions stored in the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 7.

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