An imaging device, method and storage medium for a vascular network structure

Abstract

The present invention discloses an imaging device, method and storage medium of a vascular network structure, including an imaging device, an image processing device and a magnetic field driving device; the imaging device captures a developed image of a target area and transmits the developed image to the image processing device; the image processing device determines an exploration direction based on the developed image and sends the determined exploration direction to the magnetic field driving device; the magnetic field driving device drives a cluster of magnetically driven micro-robots in a vascular network in the target area to move according to the exploration direction. In the imaging device and method disclosed in this embodiment, since the cluster of magnetically driven micro-robots driven by the magnetic field can realize active movement of reverse flow or low-flow-velocity blocked or narrowed branches in a blood vessel under the drive of the magnetic field, the accurate structure of the vascular network can be obtained, thereby improving the accuracy of vascular network structure recognition.

Description

Technical Field

[0001] The present invention relates to the field of microscopic imaging technology, and in particular to an imaging device, method and storage medium for a vascular network structure. Background Art

[0002] Angiography is a method for imaging vascular structure. However, currently angiography uses the passive diffusion of contrast agents with blood and lymph. The range that can be reached is highly dependent on the flow field conditions in blood vessels and lymphatic vessels. It is impossible to reverse the flow direction into upstream branches or diffuse into low-flow embolic and stenotic branches. Therefore, it is impossible to obtain an accurate structural image of the vascular network.

[0003] Therefore, the prior art needs to be improved. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide users with a vascular network structure imaging device, method and storage medium to overcome the defect in the prior art that accurate vascular network structure images cannot be obtained when using angiography to perform vascular network structure imaging.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0006] In a first aspect, this embodiment discloses an imaging device of a vascular network structure, which includes: an imaging device, an image processing device, and a magnetic field driving device; the image processing device is connected to the imaging device and the magnetic field driving device respectively;

[0007] The imaging device is used to capture a development image of the target area and transmit the development image to an image processing device; wherein the development image is used to reflect the distribution information of the location of the magnetically driven micro-robot cluster, and the distribution information is characterized by a partial network structure of a blood vessel;

[0008] The image processing device is used to receive the developed image, determine the exploration direction according to the developed image, and send the determined exploration direction to the magnetic field driving device;

[0009] The magnetic field driving device is used to drive the movement of the magnetically driven micro-robot cluster in the vascular network in the target area according to the exploration direction.

[0010] Optionally, the magnetic field driving device includes an electromagnetic coil assembly or a permanent magnet assembly; the imaging device is an ultrasonic imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

[0011] Optionally, the imaging device includes at least one top camera and / or at least one side camera, the top camera is arranged above the target area for photographing the target area from the top, and the side camera is arranged on the side of the target area for photographing the target area from the side.

[0012] In a second aspect, this embodiment discloses a method for imaging a vascular network structure, wherein the imaging device applied to the vascular network structure comprises:

[0013] Using an imaging device to capture a developed image of a target area, and sending the developed image to an image processing device;

[0014] Determine an exploration direction according to the developed image using an image processing device, and transmit the exploration direction to a magnetic field driving device;

[0015] Using a magnetic field driving device to drive the movement of a cluster of magnetically driven micro-robots in the vascular network in the target area according to the exploration direction;

[0016] The arrangement of photographing the development image of the target area by using the imaging device is re-executed until a preset number of development images are acquired, wherein the preset number of development images include the vascular network structure in the target area.

[0017] Optionally, the step of determining the exploration direction according to the developed image includes:

[0018] Separate the location and diffusion characteristics of the magnetically driven microrobot cluster from the developed image;

[0019] The exploration direction of the target area is determined according to the location and diffusion characteristics of the magnetically driven micro-robot cluster.

[0020] Optionally, the diffusion characteristics include: branches, branch points and branch directions; the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics includes:

[0021] Determining whether there is a branch point in the target area according to the intersection information contained in the target area where the magnetically driven micro-robot cluster is located;

[0022] If there is a branch point, the branch direction corresponding to the branch point is determined according to the branch connected to the branch point, and the exploration direction is determined according to the branch direction.

[0023] Optionally, the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics further includes:

[0024] If there is no branch point, the exploration direction of the magnetically driven micro-robot cluster is determined according to the distribution information of the magnetically driven micro-robot cluster.

[0025] Optionally, the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics further includes:

[0026] The single branch point and the branch are described by using data vectors, the area and the diffusion characteristics are spliced ​​into a matrix structure through the data vectors, a vascular tree structure map is established, and the exploration direction is recorded in the vascular tree structure map.

[0027] Optionally, after the step of driving the magnetically driven micro-robot cluster in the vascular network in the target area to move, the method further comprises:

[0028] Determine whether the magnetically driven micro-robot cluster stops moving for a long time, or whether the magnetically driven micro-robot cluster moves to overlap with other branches, or whether the magnetically driven micro-robot cluster spreads outside the target area;

[0029] If it appears, it is marked that the magnetically driven micro-robot cluster has stopped moving for a long time, or has moved to coincide with other branches, or has spread beyond the target area. In this case, the exploration is completed and the magnetically driven micro-robot cluster is stopped from moving in the target area.

[0030] In a third aspect, this embodiment provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the imaging method of the vascular network structure.

[0031] Beneficial effects:

[0032] The present embodiment discloses an imaging device, method and storage medium of a vascular network structure, the imaging device, image processing device and magnetic field driving device; the image processing device is connected to the imaging device and the magnetic field driving device respectively; the imaging device is used to take a development image of a target area and transmit the development image to the image processing device; the image processing device is used to receive the development image, determine an exploration direction according to the development image, and send the determined exploration direction to the magnetic field driving device; the magnetic field driving device is used to drive the movement of a magnetically driven micro-robot cluster in the vascular network in the target area according to the exploration direction. In the imaging device and method disclosed in the present embodiment, since the magnetic field-driven magnetically driven micro-robot cluster can realize reverse flow or low flow rate blocked or narrowed branches active movement in the blood vessel under the drive of the magnetic field, the accurate structure of the vascular network can be obtained, thereby improving the accuracy of vascular network structure recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the principle of passive angiography in the prior art and cluster active angiography in an embodiment of the present invention;

[0034] Figure 2 It is a principle structural block diagram of a device for imaging a vascular network structure according to an embodiment of the present invention;

[0035] Figure 3 is a schematic block diagram of the information processing flow in the imaging device in an embodiment of the present invention;

[0036] Figure 4 Schematic diagram of the image processing process of the top view of the workspace in an embodiment of the present invention;

[0037] Figure 5 Schematic diagram of the key steps of the active exploration process in this embodiment;

[0038] Figure 6 Schematic diagram of the principle of the algorithm corresponding to the exploration direction in this embodiment;

[0039] Figure 7 This is a schematic diagram of the principle of branch connection reconstruction in this embodiment;

[0040] Figure 8 4 is a flowchart of the steps of the imaging method in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] Angiography is a method for imaging vascular structures and is often used to analyze whether there are abnormalities in blood vessels. Therefore, the accuracy of the results of vascular structure imaging is crucial. Figure 1 As shown, in current angiography, contrast agents are usually used to diffuse passively with the blood and lymph. Therefore, the range that the contrast agent can reach is highly dependent on the flow field conditions within the vascular network structure. When faced with embolism and stenosis branches that need to flow against the direction of flow to enter upstream branches or low flow rates, they cannot diffuse, thereby failing to achieve complete vascular network structure imaging.

[0043] Combination Figure 1As shown in the figure, the magnetically driven micro-robot clusters can be remotely and precisely driven by magnetic fields, so they are expected to become active exploration tools for vascular networks. By injecting the driven micro-robot clusters into the blood vessels, the driven micro-robot clusters follow the flow of blood in the blood vessels on the one hand, and on the other hand, because the driven micro-robot clusters can control the flow direction under the drive of the magnetic field, it can achieve a full range of exploration of the vascular network structure, overcoming the disadvantages of the contrast agent being unable to enter the low-flow embolism and narrow branches when it diffuses passively with the blood and lymph, and unable to achieve counterflow. Therefore, the time-varying magnetic field is used to drive the magnetically driven micro-robot clusters to flow in the vascular network to obtain a more accurate vascular network structure.

[0044] In response to the above-mentioned problem of how to efficiently and accurately guide a magnetically driven micro-robot cluster to complete full coverage of a vascular network structure in a complex vascular network structure, this embodiment provides an imaging device and method for a vascular network structure, which uses an imaging device to obtain an image of a magnetically driven micro-robot cluster in a vascular network structure, and obtains regional position information and diffusion morphological characteristics of the magnetically driven micro-robot cluster based on image recognition, thereby obtaining an accurate image of a partial vascular network structure. Since the magnetically driven micro-robot cluster can achieve reverse flow into the upstream branch and diffuse into the low-flow-velocity blocked branch, accurate recognition of the vascular network structure is achieved.

[0045] Next, a device and method for imaging a vascular network structure disclosed in this embodiment will be further described in detail in conjunction with the drawings provided in this embodiment.

[0046] In a first aspect, this embodiment provides an imaging device for a vascular network structure, such as Figure 2 As shown, the imaging device includes: an imaging device 210 , an image processing device 220 and a magnetic field driving device 230 .

[0047] The image processing device 220 is connected to the imaging device 210 and the magnetic field driving device 230 respectively.

[0048] The imaging device 210 is used to capture a development image of the target area and transmit the development image to an image processing device; wherein the development image is used to reflect the distribution information of the location of the magnetically driven micro-robot cluster, and the distribution information is characterized by a partial network structure of blood vessels.

[0049] The image processing device 220 is used to receive the development image, determine the exploration direction according to the development image, and send the determined exploration direction to the magnetic field driving device;

[0050] The magnetic field driving device 230 is used to drive the movement of the magnetically driven micro-robot cluster in the vascular network in the target area according to the exploration direction.

[0051] In a specific application embodiment, the magnetic field driving device includes an electromagnetic coil assembly or a permanent magnet assembly. The imaging device is an ultrasonic imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

[0052] In order to obtain more comprehensive vascular network structure information, the imaging device includes at least one top camera and / or at least one side camera. The top camera is set above the target area and is used to shoot the target area from the top to obtain a top view of the target area. The side camera is used to shoot the target area from the side to obtain a side view of the target area. Figure 1 and Figure 3 The imaging device is provided with a plurality of cameras, at least one camera is arranged above the target area for photographing a top view of the target area, and at least one camera is arranged on the side of the target area for photographing a side view of the target area.

[0053] When using an imaging device to take a developing image of the target area, the magnetically driven micro-robot cluster is first injected into the vascular network structure as a contrast agent. Specifically, the magnetically driven micro-robot cluster is a magnetically responsive developable material, so it can move under the drive of a time-varying magnetic field, and its position can also be located through image processing. In one embodiment, the magnetically driven micro-robot cluster can be a cluster of paramagnetic nanoparticles. Since the micro-robots in the magnetically driven micro-robot cluster are only the size of nanoparticles, they can enter the narrow space in the vascular network structure to achieve full coverage exploration of the vascular network structure.

[0054] Specifically, the magnetic drive device can generate a time-varying magnetic field. Specifically, an electromagnetic coil or a permanent magnet can be used to generate a magnetic field, and its working range can cover the required imaging area. In a specific application process, a magnetic field with a magnetic flux density that varies with time, such as a rotating field or an oscillating field, is generated by a magnetic field drive device. The magnetically driven micro-robot cluster can move in the direction driven by the magnetic field under a time-varying magnetic field.

[0055] Furthermore, the real-time position and morphology of the magnetically driven micro-robot cluster can be obtained by an imaging device, and the distribution information of the magnetically driven micro-robot cluster can be obtained by taking real-time development images of the target area where the magnetically driven micro-robot cluster is located. Since the magnetically driven micro-robot cluster dynamically diffuses in the vascular network structure under the drive of the time-varying magnetic field, the target area can be continuously photographed in this step to obtain multiple distribution information containing magnetically driven micro-robot clusters in the vascular network structure. Specifically, in order to obtain the position information of the magnetically driven micro-robot cluster in three-dimensional coordinates, the target imaging area can be photographed by cameras arranged at the top and sides of the target imaging area respectively, so as to obtain the position information of the cluster in three-dimensional coordinates.

[0056] When the imaging device acquires the development image of the magnetically driven micro-robot cluster in the vascular network structure within a sustained period of time, the acquired development image is processed to identify the regional position information and diffusion morphological characteristics of the magnetically driven micro-robot cluster in the vascular network structure. It can be imagined that the regional position information thereof is also the regional position information of the vascular network structure, and the diffusion morphological characteristics thereof are also the morphological characteristics of the vascular network structure.

[0057] Specific, combined Figure 3 As shown, after the imaging area of ​​the exploration target is imaged to obtain the top view and the side view, the captured images are preprocessed to identify the regional position sequence and the diffusion feature sequence therein, and the exploration direction decision and the construction of the tree map are carried out according to the regional position sequence and the diffusion feature sequence.

[0058] The image preprocessing in the above steps includes: intercepting the target area from the top view and the side view taken to achieve accurate recognition of the information in the target imaging area. The top view is used to extract the x-axis and y-axis information, and the side view is used to extract the z-axis information, and the tree map is constructed in combination with the extracted x, y and z-axis information, and the constructed tree map is updated in real time according to the images in the image sequence, and at the same time, the direction decision is explored according to the branch information in the image, the optimal state decision is obtained, and the driving magnetic field is generated based on the optimal state decision to control the movement of the magnetically driven micro-robot cluster in the blood vessel. In one embodiment, the target area is a partial area containing blood vessels and lymphatic vessels, and a magnetically driven micro-robot cluster is injected in the partial area. With the diffusion of the magnetically driven micro-robot cluster, the partial area can be adjusted accordingly according to the exploration direction to achieve accurate acquisition of the regional position and diffusion morphological characteristics of the magnetically driven micro-robot cluster.

[0059] The regional position sequence includes: a plurality of branch points and a plurality of branches, and the diffusion feature sequence includes: a branch direction and an exploration direction corresponding to each branch.

[0060] Furthermore, the region and diffusion form of the magnetically driven micro-robot cluster are first separated from the developed image to obtain the region and diffusion characteristics of the magnetically driven micro-robot cluster. In one embodiment, the method for separating the magnetically driven micro-robot cluster includes: separating the cluster region and form by a dynamic threshold image binarization method and an image difference method. Figure 5 As shown, the image is first processed using the image difference method to obtain a difference image between the real-time image and the background image, and then the difference image is binarized to obtain the location and diffusion characteristics of the separated magnetically driven micro-robot cluster.

[0061] Since the imaging device obtains the development image of the target area at a preset time interval, it is necessary to perform a dynamic threshold image binarization method and an image difference method on each development image in turn to separate the area where the magnetically driven micro-robot cluster is located in the image and the image corresponding to the extracted cluster.

[0062] Furthermore, the location and diffusion characteristics of the magnetically driven micro-robot cluster are the regional skeleton information of the separated magnetically driven micro-robot cluster, which is the main structural information of the location of the magnetically driven micro-robot machine, which not only contains the contour information of the location of the magnetically driven micro-robot, but also contains the corresponding position information.

[0063] Based on whether there is an intersection in the area corresponding to the regional structural information, it is determined whether there is a branch point in the current target imaging area, and the vascular network structure is described based on the determined branch points and the exploration progress is recorded.

[0064] Specifically, the step of determining the exploration direction of the magnetically driven micro-robot cluster in the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics includes:

[0065] Step S11: Determine whether there is a branch point in the imaging area according to the intersection information contained in the area where the magnetically driven micro-robot cluster is located.

[0066] Step S12: If there is a branch point, determine the branch direction corresponding to the branch point according to the vector connected to the branch point, and determine the optimal exploration direction according to the branch direction.

[0067] Step S13: If there is no branch point, determine the movement direction of the magnetically driven micro-robot cluster according to the position of the magnetically driven micro-robot cluster, select sampling points at fixed preset intervals, obtain the position coordinates of each sampling point, and record the branch to which each sampling point belongs.

[0068] Combination Figure 4As shown in , if the area and diffusion characteristics of the magnetically driven micro-robot cluster are the regional skeleton information of the cluster, if the regional skeleton information contains intersection information, such as Figure 4 As shown in b in , it is determined that there is a branch point in the target imaging area, and the branch direction is extracted according to the vector formed by the regional skeleton endpoint and the branch point, from which the potential explorable direction is obtained, and multiple unexplored branches are determined according to the branch point at the determined location, and the unexplored branch with the largest cluster diffusion speed is selected for exploration. If it is determined that there is no branch point, such as Figure 4 If there is no branch point in the recording area corresponding to a in , the movement direction of the cluster in the branch can be determined based on the historical diffusion position of the magnetically driven micro-robot cluster, and then the target imaging area of ​​the image processing can be adjusted according to the movement direction, and it can be ensured that the front end of the diffusion of the magnetically driven micro-robot cluster is always within the target imaging area.

[0069] After determining whether there are branch points in the imaging area based on the intersection information contained in the area where the magnetically driven micro-robot cluster is located, it is necessary not only to determine the branch directions and branches corresponding to each branch point and explore the optimal unexplored branch, but also to determine whether the exploration is completed based on the explored branch information. If the exploration is completed, the three-dimensional vascular network structure can be reconstructed based on the explored information.

[0070] Specific, combined Figure 6 As shown, after the step of determining multiple branch points, multiple branches, branch directions corresponding to multiple branches and optimal exploration directions of the magnetically driven micro-robot cluster in the target imaging area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics, it also includes:

[0071] Step S23, determine whether the magnetically driven micro-robot cluster stops spreading for a long time, or whether the magnetically driven micro-robot cluster spreads to overlap with other branches, or whether the magnetically driven micro-robot cluster spreads outside the required exploration area.

[0072] Step S24: If the magnetically driven micro-robot cluster stops diffusing for a long time or diffuses to overlap with other branches or diffuses outside the required exploration area, then the branch exploration of the magnetically driven micro-robot cluster that stops diffusing for a long time, or diffuses to overlap with other branches, or diffuses outside the required exploration area is marked as completed.

[0073] Step S25: Continue to record the diffusion status information of all branches until all branches are marked as explored.

[0074] After the optimal exploration direction is determined, while controlling the magnetically driven micro-robot cluster to diffuse along the optimal exploration direction, it is necessary to simultaneously record the diffusion state information of the cluster, and determine whether the corresponding branch has been explored based on the recorded diffusion state information, and mark the branches that have been explored. When all branches of all nodes are marked, the exploration process is completed.

[0075] In the above-mentioned process of exploring branches, the process of data extraction and collection can be carried out simultaneously, or the node and branch information can be explored and collected first, and then the vascular network structure is obtained based on the collected information. In addition, if there are no branch points in the target area of ​​image processing, sampling points are selected at fixed intervals on the skeleton of the cluster area, and the top view and side view of the area are obtained by imaging. The coordinate information and cavity diameter of the sampling points are calculated by image registration, and the branches to which the sampling points belong are recorded; if there are branch points in the target imaging area of ​​image processing, the coordinate information of the branch points and both ends of each branch are recorded.

[0076] Furthermore, the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics also includes:

[0077] The single branch point and the branch are described by using data vectors, the area and the diffusion characteristics are spliced ​​into a matrix structure through the data vectors, a vascular tree structure map is established, and the exploration direction is recorded in the vascular tree structure map.

[0078] Specifically, the steps of constructing a vascular tree structure map include:

[0079] For branches whose starting point and end point are both branch points, the direction from the starting point to the end point is taken as the branch direction, and the angle between the connection direction from the last identified branch point in the branch to each scattered point and the branch direction corresponding to each branch is taken as the deviation angle. The connection order of the scattered points is determined using the deviation angle and the distance between each scattered point and the last identified branch point, and the branch direction and structure are restored based on the determined connection order of the scattered points.

[0080] For a branch whose starting point is a branch point and whose end point is unknown, the line direction of the branch point identified last in the branch is taken as the branch direction, and the branch point identified last in the branch (that is, Figure 7 The angle between the connecting line direction from the connected point (the closest connected point to the unrecognized scattered point in case 1 and case 2) to each scattered point and the branch direction corresponding to each branch is taken as the deviation angle, and the connection order of the scattered points is determined by using the deviation angle and the distance between each scattered point and the last recognized branch point, and the branch direction and structure are restored according to the determined connection order of the scattered points.

[0081] When all scattered points in the tree map have been connected, or the distance between the remaining scattered points and the identified branch points exceeds the preset distance value, or the deviation angle corresponding to the last identified branch point exceeds the preset angle value, and the last identified branch point coincides with the branch end point, the reconstructed tree map is obtained.

[0082] Furthermore, when determining the branch direction, for a branch whose starting point and end point are both branch points in the tree map, the line connecting the starting point and the end point is taken as the branch direction. Figure 7 As shown in the figure, the angle between the direction of the line connecting the last branch point identified in the branch to the alternative scattered points and the trend direction is taken as the deviation angle, and the deviation angle and distance are used as parameters to establish the objective function. The smaller the deviation angle and the smaller the distance, the smaller the value of the objective function. The scattered point connection sequence that makes the objective function obtain the minimum value is calculated through the optimization process, and the scattered points are connected according to this sequence to restore the branch direction and structure.

[0083] For branches in the tree map with the starting point as a branch node and an unknown end point, the direction of the line connecting the last two points in the branch is taken as the trend direction of the branch, and the angle between the direction of the line connecting the last point in the branch to the alternative scattered point and the trend direction is the deviation angle. The deviation angle and distance are used as parameters to establish the objective function, so that the smaller the deviation angle and the smaller the distance, the smaller the value of the objective function. The scattered point connection order that makes the objective function obtain the minimum value is calculated through the optimization process, and the scattered points are connected according to this order to restore the branch direction and structure.

[0084] When all scattered data points in a branch are connected in sequence, or the remaining data points are too far away and have too much deviation angle from the connected points, or the last connected point almost overlaps with the end point of the branch, the reconstruction of the branch is completed; when all branches are connected, the reconstruction work is completed and the vascular network structure diagram can be obtained.

[0085] The device disclosed in this embodiment uses a magnetic field to remotely drive a magnetically responsive developable material, causing it to move in a controllable manner with the magnetic field drive, thereby actively expanding the imaging range and increasing the recognition completeness of the vascular network structure. In this embodiment, the tree map is dynamically updated in real time based on branch information, and the next step of guiding the magnetically responsive developable material can be automatically decided based on the tree map, thereby achieving complete exploration and imaging of the vascular network structure.

[0086] Based on the above imaging device, this embodiment also discloses a method for imaging a vascular network structure. Figure 8 As shown, the imaging device applied to the vascular network structure as described above, the imaging method includes:

[0087] This embodiment discloses a method for imaging a vascular network structure. Figure 8As shown, the imaging device applied to the vascular network structure, the imaging method includes:

[0088] Step S81: Use an imaging device to capture a developed image of the target area, and send the developed image to an image processing device.

[0089] Step S82: using an image processing device to determine an exploration direction according to the developed image, and transmitting the exploration direction to a magnetic field driving device.

[0090] Step S83: using a magnetic field driving device to drive the movement of a cluster of magnetically driven micro-robots in the vascular network within the target area according to the exploration direction.

[0091] Step S84, re-execute the arrangement of taking the development image of the target area by using the imaging device until a preset number of development images are acquired, wherein the preset number of development images include the vascular network structure in the target area.

[0092] Specifically, in the above method, using an imaging device to capture a development image of the target area and sending the development image to an image processing device; using the image processing device to determine an exploration direction based on the development image; and using a magnetic field driving device to drive the magnetically driven micro-robot cluster in the vascular network in the target area to move according to the exploration direction is a cyclic process, that is: first using an imaging device to capture a development image of the target area, and then sending the captured multiple development images to an image processing device, the image processing device determines the exploration direction based on the development image, and transmits the determined exploration direction to the magnetic field driving device; the magnetic field driving device drives the magnetically driven micro-robot cluster in the vascular network in the target area to move according to the received exploration direction, and the above steps are repeated continuously until a preset number of development images are obtained to obtain a vascular network structure.

[0093] Furthermore, the step of the magnetic field driving device determining the exploration direction according to the development image comprises:

[0094] The area where the magnetically driven micro-robot cluster is located and its diffusion characteristics are separated from the developed image; and the exploration direction of the target area is determined according to the area where the magnetically driven micro-robot cluster is located and its diffusion characteristics.

[0095] Furthermore, the diffusion characteristics include: branches, branch points and branch directions; the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics includes:

[0096] According to the intersection information contained in the target area where the magnetically driven micro-robot cluster is located, determine whether there is a branch point in the target area; if there is a branch point, determine the branch direction corresponding to the branch point according to the branches connected by the branch point, and determine the exploration direction according to the branch direction; if there is no branch point, determine the exploration direction of the magnetically driven micro-robot cluster according to the position of the magnetically driven micro-robot cluster.

[0097] Furthermore, after the step of driving the magnetically responsive nanoparticle cluster to move in the target area according to the exploration direction, the method further includes:

[0098] Determine whether the magnetically driven micro-robot cluster stops moving for a long time, or whether the magnetically driven micro-robot cluster moves to overlap with other branches, or whether the magnetically driven micro-robot cluster spreads beyond the required exploration area;

[0099] If it appears, it is marked that the magnetically driven microrobot cluster stops moving for a long time, or moves to coincide with other branches, or diffuses outside the target area, then the exploration is completed and the driving of the magnetically responsive nanoparticle cluster to move in the target area is stopped.

[0100] Optionally, the step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics further includes:

[0101] The single branch point and the branch are described by using data vectors, the area and the diffusion characteristics are spliced ​​into a matrix structure through the data vectors, a vascular tree structure map is established, and the exploration direction is recorded in the vascular tree structure map.

[0102] The method and system disclosed in this embodiment use a magnetic field to drive a magnetically driven micro-robot cluster to actively diffuse against flow or low-flow-rate blocked or narrowed branches in a blood vessel, and identify the location information and diffusion morphological characteristics of the cluster, thereby achieving a comprehensive exploration of the vascular network, and then obtaining a complete vascular network structure image, thereby improving the accuracy of vascular network structure identification.

[0103] This embodiment provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the imaging method of the vascular network structure.

[0104] Those skilled in the art will readily appreciate other embodiments of the invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0105] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A device for imaging a vascular network structure, characterized in that: include: Imaging equipment, image processing equipment and magnetic field driving equipment; The image processing device is connected to the imaging device and the magnetic field driving device respectively; The imaging device is used to capture a development image of the target area and transmit the development image to an image processing device; wherein the development image is used to reflect the distribution information of the location of the magnetically driven micro-robot cluster, and the distribution information is characterized by a partial network structure of a blood vessel; The image processing device is used to receive the developed image, determine the exploration direction according to the developed image, and send the determined exploration direction to the magnetic field driving device; The image processing device separates the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics from the developed image; determines the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics; wherein the diffusion characteristics include: branches, branch points and branch directions; The magnetic field driving device is used to drive the movement of the magnetically driven micro-robot cluster in the vascular network in the target area according to the exploration direction.

2. The imaging device for a vascular network structure according to claim 1, characterized in that: The magnetic field driving device includes an electromagnetic coil assembly or a permanent magnet assembly; the imaging device is an ultrasonic imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

3. The imaging device for a vascular network structure according to claim 1 or 2, characterized in that: The imaging device includes at least one top camera and / or at least one side camera, wherein the top camera is arranged above the target area for photographing the target area from the top, and the side camera is arranged on the side of the target area for photographing the target area from the side.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of a method for imaging a vascular network structure. The method for imaging a vascular network structure uses the imaging device for imaging a vascular network structure according to any one of claims 1 to 3, and the imaging method includes: Using an imaging device to capture a developed image of a target area, and sending the developed image to an image processing device; Determine an exploration direction according to the developed image using an image processing device, and transmit the exploration direction to a magnetic field driving device; Using a magnetic field driving device to drive the movement of a cluster of magnetically driven micro-robots in the vascular network in the target area according to the exploration direction; Re-execute the arrangement of taking the development image of the target area by using the imaging device until a preset number of development images are acquired, wherein the preset number of development images include the vascular network structure in the target area; The step of determining the exploration direction according to the developed image comprises: Separating the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics from the development image; wherein the diffusion characteristics include: branches, branch points and branch directions; The exploration direction of the target area is determined according to the location and diffusion characteristics of the magnetically driven micro-robot cluster.

5. The computer-readable storage medium according to claim 4, wherein: The step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics comprises: Determining whether there is a branch point in the target area according to the intersection information contained in the target area where the magnetically driven micro-robot cluster is located; If there is a branch point, the branch direction corresponding to the branch point is determined according to the branch connected to the branch point, and the exploration direction is determined according to the branch direction.

6. The computer-readable storage medium according to claim 5, wherein: The step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics also includes: If there is no branch point, the exploration direction of the magnetically driven micro-robot cluster is determined according to the distribution information of the magnetically driven micro-robot cluster.

7. The computer-readable storage medium according to claim 4, wherein: The step of determining the exploration direction of the target area according to the area where the magnetically driven micro-robot cluster is located and the diffusion characteristics also includes: The single branch point and the branch are described by using data vectors, the area and the diffusion characteristics are spliced ​​into a matrix structure through the data vectors, a vascular tree structure map is established, and the exploration direction is recorded in the vascular tree structure map.

8. The computer-readable storage medium according to claim 4, wherein: After the step of driving the magnetically driven micro-robot cluster in the vascular network in the target area to move, the method further includes: Determine whether the magnetically driven micro-robot cluster stops moving for a long time, or whether the magnetically driven micro-robot cluster moves to overlap with other branches, or whether the magnetically driven micro-robot cluster spreads outside the target area; If it appears, it is marked that the magnetically driven micro-robot cluster has stopped moving for a long time, or has moved to coincide with other branches, or has spread beyond the target area. In this case, the exploration is completed and the magnetically driven micro-robot cluster is stopped from moving in the target area.

Images