Intravascular endoscope imaging system based on magnetic navigation and navigation method thereof

Abstract

The invention discloses an endovascular endoscope imaging system based on magnetic navigation, and the endovascular endoscope imaging system comprises a magnetic control driving system, a mechanical arm system, a teleoperation control system, a magnetic navigation catheter and an endoscopic imaging system, the mechanical arm system is connected with a mechanical arm system end effector. The magnetic navigation conduit is connected with the magnetic control driving system through magnetic force and serves as a controlled object; the endoscopic imaging system is connected with the magnetic navigation catheter; the teleoperation control system is connected with a computer through remote communication and used for accurately controlling the position and the posture of the mechanical arm system and controlling the magnetic control driving system at the same time. The flexibility and the control precision of the catheter in a complex vascular access are effectively improved, the operation difficulty of a doctor is remarkably reduced, the safety of intravascular diagnosis and treatment is enhanced, and the catheter is particularly suitable for the narrow or complex-shaped vascular access.

Description

Technical Field

[0001] The present invention belongs to the field of intravascular imaging, and relates to an endoscopic imaging system, and in particular to an intravascular endoscopic imaging system based on magnetic navigation and a navigation method thereof. Background Art

[0002] Intravascular imaging technology is an important means for the diagnosis and treatment of vascular diseases in modern medicine. Traditional intravascular imaging methods mainly include angiography, ultrasound imaging, and optical coherence tomography (OCT). These technologies provide an important basis for the diagnosis of lesions such as vascular stenosis, plaque formation, and aneurysms. However, existing intravascular imaging methods still have some shortcomings, such as complex catheter operation, insufficient imaging resolution, and the inability to conduct a comprehensive and accurate analysis of the inner wall of the blood vessel.

[0003] In recent years, photoacoustic imaging (PAI) and ultrasound imaging (PAI) have been gradually introduced into the field of intravascular imaging due to their non-invasiveness, strong tissue penetration and high imaging resolution. Photoacoustic imaging combines the advantages of optics and acoustics, and can induce tissue to generate ultrasound signals through lasers, thereby achieving high-contrast and high-resolution images. Ultrasound imaging can provide structural information of tissues, so the combined imaging technology of photoacoustic and ultrasound can more comprehensively reflect the intravascular structure and function.

[0004] However, in practical applications, existing intravascular photoacoustic-ultrasound imaging systems generally have the following technical difficulties: (1) Navigation and positioning accuracy issues: Due to the complexity of the vascular network, the traditional manual catheter navigation method is easily limited by the doctor's operating level and experience, and it is difficult to achieve high-precision navigation and positioning. (2) Limited catheter advancement: The microenvironment within the blood vessel (such as blood flow and tube wall friction) will produce resistance to the advancement of the catheter, affecting the continuity and accuracy of the imaging process. (3) Insufficient system integration: Existing imaging systems are mostly single imaging modes, lacking in-depth integration with intelligent navigation technology, and cannot meet the needs of real-time and efficient diagnosis.

[0005] Based on the above problems, magnetic navigation technology has attracted widespread attention as an emerging catheter operation technology in recent years. Magnetic navigation can achieve non-contact and precise control of the catheter through the control of the external magnetic field. It is efficient, safe and flexible, and is particularly suitable for operating environments with complex vascular networks. Therefore, how to organically combine magnetic navigation technology with intravascular photoacoustic-ultrasound imaging technology to develop a high-precision, intelligent imaging system has become a hot spot and difficulty in the current research of intravascular diagnostic technology. Summary of the invention

[0006] The purpose of the present invention is to provide an intravascular endoscopic imaging system and a navigation method thereof based on magnetic navigation, aiming to solve the problems of operation complexity, insufficient imaging accuracy and insufficient navigation flexibility in the prior art, and provide more efficient and reliable technical support for the accurate diagnosis and treatment of intravascular lesions. The system adopts a remote teleoperation mode, and realizes the precise control of the catheter by controlling the position and direction of the magnetic control unit. Combined with the magnetization device of the catheter head, the catheter can be flexibly deflected 360 degrees in the blood vessel; at the same time, the catheter head is integrated with a force sensor, which can detect the stress changes in the blood vessel in real time and provide real-time feedback for the operation. The design of the present invention effectively improves the flexibility and control accuracy of the catheter in complex vascular pathways, significantly reduces the difficulty of doctor's operation, and enhances the safety of intravascular diagnosis and treatment. Through the combination of magnetic navigation technology and force sensing function, the present invention can more easily complete the operation in complex vascular networks, especially for narrow or complex vascular pathways. In addition, the system integrates photoacoustic-ultrasound imaging technology, realizes high-resolution and high-contrast imaging of the inner wall of the blood vessel, and provides comprehensive support for clinical diagnosis.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] A magnetic navigation-based intravascular endoscope imaging system includes five parts: a magnetic control drive system, a mechanical arm system, a remote operation control system, a magnetic navigation catheter and an endoscope imaging system, wherein:

[0009] The magnetic control drive system is installed at the end of the robotic arm system and connected to the end effector of the robotic arm system;

[0010] The magnetic navigation catheter is connected to the magnetic control drive system through magnetic force and serves as a controlled object;

[0011] The endoscopic imaging system is connected to the magnetic navigation catheter;

[0012] The teleoperation control system is connected to a computer via remote communication, and is used to accurately control the position and posture of the robotic arm system, and to manipulate the magnetic control drive system at the same time.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] 1. The magnetic navigation endoscopic imaging system provided by the present invention solves the problems of insufficient flexibility of intravascular navigation operation, safety hazards caused by lack of real-time force feedback, and complicated catheter replacement in the prior art, significantly improves the operational efficiency and accuracy of complex vascular pathways, and reduces the difficulty of operation, so that the technology can be more widely used in primary medical institutions, thereby effectively reducing the economic and social burden caused by cardiovascular diseases.

[0015] 2. The magnetic navigation endoscopic imaging system provided by the present invention realizes precise navigation and imaging of intravascular catheters through remote teleoperation mode combined with magnetic control drive technology and force feedback mechanism.

[0016] 3. The magnetic navigation endoscopic imaging system provided by the present invention integrates photoacoustic imaging and ultrasonic imaging technologies, and can provide high-resolution and high-contrast images of the inner wall of blood vessels, significantly improving the efficiency of diagnosis and treatment.

[0017] 4. The present invention innovatively designs a magnetic navigation component that can adapt to different catheters, and integrates a force sensor on the catheter head to monitor mechanical feedback in real time, thereby enhancing the safety and accuracy of the navigation process.

[0018] 5. The present invention is particularly suitable for the diagnosis and treatment of complex vascular networks, and can be widely used in the clinical diagnosis and treatment of cardiovascular diseases, providing efficient and reliable technical support for primary medical institutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the intravascular endoscopic imaging system based on magnetic navigation;

[0020] Figure 2 It is the structural diagram of the magnetic control drive system;

[0021] Figure 3 It is a structural diagram of a magnetic navigation catheter;

[0022] Figure 4 It is a structural diagram of the endoscopic imaging system;

[0023] In the figure: 1-magnetic control drive system, 2-robotic arm system, 3-teleoperation control system, 4-experimental table, 5-base shell, 6-servo motor, 7-motor connecting shaft, 8-strong magnet fixing mechanism, 9-strong magnet, 10-catheter magnet shell, 11-self-focusing lens, 12-catheter torque spring, 13-ultrasonic transducer, 14-reflector, 15-catheter base, 16-force sensor, 17-attenuation plate, 18-timing controller, 19-power supply, 20-ultrasonic transceiver, 21-magnetic navigation catheter, 22-laser, 23-optical collimation lens group, 24-optical coupling device, 25-retraction slide. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be included in the protection scope of the present invention.

[0025] The present invention provides an intravascular endoscopic imaging system based on magnetic navigation, wherein the system adopts a remote teleoperation mode and realizes precise control of the catheter by controlling the position and direction of the magnetic control unit. Figure 1 As shown, it includes five parts: a magnetic control drive system 1, a robotic arm system 2, a remote operation control system 3, a magnetic navigation catheter and an endoscopic imaging system, among which:

[0026] The magnetic control drive system 1 is installed at the end of the robot arm system 2 and connected to the end effector of the robot arm system 2;

[0027] The magnetic navigation catheter is connected to the magnetic control drive system 1 through magnetic force and serves as a controlled object;

[0028] The endoscopic imaging system is connected to the magnetic navigation catheter;

[0029] The remote control system 3 is connected to a computer via remote communication, and is used to accurately control the position and posture of the robotic arm system 2 and to manipulate the magnetic control drive system 1 at the same time.

[0030] In the present invention, Figure 2 As shown, the magnetic control drive system 1 includes a connecting base housing 5, a servo motor 6, a motor connecting shaft 7, a strong magnet fixing mechanism 8 and a strong magnet 9, wherein:

[0031] The connecting base housing is used to fix the servo motor 6, and through the motor connecting shaft 7 and the strong magnet fixing mechanism 8, a mechanical structure is established in which the motor drives the strong magnet fixing mechanism 8 to rotate;

[0032] The base shell 5 is provided with a structure connected to the end of the robotic arm system 2 and a strong magnet fixing mechanism 8;

[0033] The strong magnet fixing structure 8 is composed of two separable fixing devices. The strong magnet fixing structure 8 clamps the strong magnet 9 through the left and right fixing devices and is firmly fixed by bolts to ensure operational stability.

[0034] In the present invention, the remote control system 3 mainly realizes precise position control of the end actuator of the robotic arm system 2 in three degrees of freedom: front, back, left, right, and up and down, through two left and right buttons, thereby controlling the relative position of the magnetic control drive system 1 relative to the magnetic navigation catheter.

[0035] like Figure 3 As shown, the magnetic navigation catheter comprises a catheter magnet housing 10, a catheter base 11, a catheter imaging assembly, a force sensor 16 and a catheter torque spring 12, wherein:

[0036] The catheter base 11 is used to install the catheter imaging assembly and is connected to the catheter torque spring 12 through the force sensor 16. At the same time, the catheter base 11 is embedded with a catheter magnet housing on its housing, so that it can establish a magnetic connection with the external magnetic control drive system 1 through magnetic force;

[0037] The catheter magnet housing 10 has an S pole at the head and an N pole at the tail, and is adsorbed on the catheter base 11 in a nested manner, and can adapt to the use requirements of catheters with different diameters;

[0038] The catheter imaging assembly includes an ultrasonic transducer 13, a self-focusing lens 11 and a reflector 14, wherein the ultrasonic transducer is used to collect ultrasonic and photoacoustic signals, the self-focusing lens 11 is used to converge the pulse light required for photoacoustic imaging, and the reflector 14 is used to adjust the propagation direction of the pulse light to ensure imaging accuracy;

[0039] The force sensor 16 is arranged between the catheter base 11 and the catheter torque spring 12. The magnetic navigation catheter is connected to the endoscopic imaging system through the catheter torque spring. It is used to measure the axial and tangential stresses exerted on the catheter during the magnetic control process in real time, providing accurate mechanical feedback for navigation.

[0040] like Figure 4 As shown, the endoscopic imaging system is responsible for the retraction and imaging functions of the magnetic navigation catheter, including an attenuation sheet 17, a timing controller 18, a power supply 19, an ultrasonic transceiver 20, a magnetic navigation catheter 21, a laser 22, an optical collimating lens group 23, an optical coupling device 24, and a retraction slide 25, wherein:

[0041] The attenuation plate 17, the laser 22, the optical collimating lens group 23, and the optical coupling device 24 are optical components that provide optical excitation signals for photoacoustic imaging for the magnetic navigation catheter;

[0042] The timing controller 18 controls the operation sequence of the endoscopic imaging system in sequence to provide guarantee for the orderly operation of the entire endoscopic imaging system;

[0043] The ultrasonic transceiver 20 is used to provide an ultrasonic excitation signal for ultrasonic imaging to the magnetic navigation catheter 21;

[0044] The retraction slide 25 is connected to the magnetic navigation catheter 21 via the catheter torque spring 12 and is responsible for the retraction imaging function of the magnetic navigation catheter 21 during intravascular imaging.

[0045] When the entire system is working, the magnetic navigation catheter 21 moves in the blood vessel by withdrawing the slide 25 to perform imaging at different depths, and establishes a connection with the magnetic control drive system 1 outside the blood vessel through magnetic force. The size and direction of the magnetic force are indirectly controlled by the position and orientation of the magnetic control drive system 1, thereby controlling the deflection of the head of the magnetic navigation catheter 21, allowing it to pass through complex vascular bifurcations.

[0046] The intravascular navigation method of the remotely operable magnetic navigation endoscopic imaging system with force sensing function comprises the following steps:

[0047] Step 1: Preoperative preparation:

[0048] Roughly adjust the posture of the magnetically controlled drive system 1 through the robotic arm system 2 to achieve a suitable surgical position; adjust the servo motor 6 in the magnetically controlled drive system 1 to reset the deflection segment of the magnetic navigation catheter; check the operating status of the servo motor 6 and the force sensor 16 to ensure the normal operation of the magnetic navigation endoscopic imaging system.

[0049] Step 2: Intraoperative operation:

[0050] Doctors with clinical experience use a commercial teleoperation master hand or commercial handle to control the feeding of the magnetic navigation catheter and the deflection angle of the magnetic navigation catheter head in real time under the guidance of the robot's endoscopic photoacoustic ultrasound image, so that the magnetic navigation catheter can enter the target area smoothly. The force sensor 16 monitors the changes in the axial and tangential forces generated by the magnetic navigation catheter during the operation in real time to ensure the safety and accuracy of the operation.

[0051] When controlling the feeding of the magnetic navigation catheter, the computer controls the endoscopic imaging system through serial communication, drives the retracting slide 25, and realizes the feeding movement of the magnetic navigation catheter; when controlling the deflection of the magnetic navigation catheter, the remote control system inputs the command of moving the magnetic control drive system 1 into the computer through serial communication, thereby controlling the robot arm system 2 and the magnetic control drive system 1 to move to the corresponding position, driving the servo motor 6 and the robot arm system 2 to adjust the posture, changing the spatial position and orientation of the strong magnet, and thus controlling the deflection direction of the magnetic navigation catheter.

[0052] The present invention has the following advantages: First, adaptability to different imaging catheters: by embedding micro magnets in the catheter head, imaging catheters suitable for different diameters and forms are realized, which is not restricted by the shape of the catheter; Second, real-time force feedback: a force sensor is installed on the head of the magnetic navigation catheter, which can monitor the axial and tangential stresses of the catheter in real time during vascular navigation, comprehensively evaluate the safety and feasibility of navigation, and reduce the risk of vascular damage; Third, remote control and high compatibility: the system is compatible with a variety of control devices, including handles, remote control main hands, etc., and can achieve remote precise navigation, improving the convenience and flexibility of operation in complex surgical scenarios; Fourth, integration of imaging and navigation: the system integrates photoacoustic and ultrasonic imaging functions, provides high-resolution intravascular imaging information in real time, and significantly improves intraoperative diagnosis and operation efficiency.

Claims

1. A magnetic navigation-based intravascular endoscopic imaging system, characterized in that The endoscopic imaging system includes five parts: a magnetic control drive system, a robotic arm system, a remote operation control system, a magnetic navigation catheter and an endoscopic imaging system, wherein: The magnetic control drive system is installed at the end of the robotic arm system and connected to the end effector of the robotic arm system; The magnetic navigation catheter is connected to the magnetic control drive system through magnetic force and serves as a controlled object; The endoscopic imaging system is connected to the magnetic navigation catheter; The teleoperation control system is connected to a computer via remote communication, and is used to accurately control the position and posture of the robotic arm system, and to manipulate the magnetic control drive system at the same time.

2. The intravascular endoscopic imaging system based on magnetic navigation according to claim 1 is characterized in that The magnetic control drive system includes a connecting base housing, a servo motor, a motor connecting shaft, a strong magnet fixing mechanism and a strong magnet, wherein: The connecting base housing is used to fix the servo motor, and a mechanical structure is established through the motor connecting shaft and the strong magnet fixing mechanism for the motor to drive the strong magnet fixing mechanism to rotate; The base shell is provided with a structure connected to the end of the robotic arm system and a strong magnet fixing mechanism; The strong magnet fixing structure clamps the strong magnet through two left and right fixing devices.

3. The intravascular endoscopic imaging system based on magnetic navigation according to claim 1 is characterized in that The remote control system realizes precise position control of the end effector of the robotic arm system in three degrees of freedom, front and back, left and right, and up and down, through two left and right buttons, thereby controlling the relative position of the magnetic control drive system with respect to the magnetic navigation catheter.

4. The intravascular endoscopic imaging system based on magnetic navigation according to claim 1 is characterized in that The magnetic navigation catheter comprises a catheter magnet housing, a catheter base, a catheter imaging assembly, a force sensor and a catheter torque spring, wherein: The catheter base is used to install the catheter imaging component and is connected to the catheter torque spring through a force sensor. At the same time, the catheter base is embedded with a catheter magnet housing on its housing so that it can establish a magnetic connection with the magnetic control drive system through magnetic force; The catheter magnet shell has an S pole at the head and an N pole at the tail, and is adsorbed on the catheter base in a nested manner; The magnetic navigation catheter is connected to the endoscopic imaging system through a catheter torque spring, and is used to measure the axial and tangential stresses exerted on the catheter during the magnetic control process in real time, thereby providing accurate mechanical feedback for navigation.

5. The magnetic navigation-based intravascular endoscopic imaging system according to claim 4, characterized in that The catheter imaging assembly includes an ultrasonic transducer, a self-focusing lens and a reflector. The ultrasonic transducer is used to collect ultrasonic and photoacoustic signals, the self-focusing lens is used to converge the pulse light required for photoacoustic imaging, and the reflector 14 is used to adjust the propagation direction of the pulse light to ensure imaging accuracy.

6. The magnetic navigation-based intravascular endoscopic imaging system according to claim 1, characterized in that The endoscopic imaging system includes an attenuation sheet, a timing controller, an ultrasonic transceiver, a magnetic navigation catheter, a laser, an optical collimating lens group, an optical coupling device, and a retreat slide, wherein: The attenuation plate, laser, optical collimating lens group, and optical coupling device provide optical excitation signals for photoacoustic imaging for the magnetic navigation catheter; The timing controller sequentially controls the operation sequence of the endoscopic imaging system to provide a guarantee for the orderly operation of the entire endoscopic imaging system; The ultrasonic transceiver is used to provide the magnetic navigation catheter with an ultrasonic excitation signal for ultrasonic imaging; The retraction slide is connected to the magnetic navigation catheter via a catheter torque spring and is responsible for the retraction imaging function of the magnetic navigation catheter during intravascular imaging.

7. An intravascular navigation method of an intravascular endoscopic imaging system based on magnetic navigation according to any one of claims 1 to 6, characterized in that The method comprises the following steps: Step 1: Preoperative preparation: Roughly adjust the position of the magnetic control drive system through the robotic arm system to achieve a suitable surgical position; adjust the servo motor in the magnetic control drive system to reset the deflection segment of the magnetic navigation catheter; check the operating status of the servo motor and force sensor to ensure the normal operation of the magnetic navigation endoscope imaging system; Step 2: Intraoperative operation: Doctors with clinical experience use a commercial remote-control master hand or a commercial handle to control the advancement of the magnetic navigation catheter and the deflection angle of the magnetic navigation catheter head in real time under the guidance of the robot's endoscopic photoacoustic ultrasound image, so that the magnetic navigation catheter can enter the target area smoothly. The force sensor monitors the changes in the axial and tangential forces generated by the magnetic navigation catheter during the operation in real time to ensure the safety and accuracy of the operation.

8. The intravascular navigation method of the intravascular endoscopic imaging system based on magnetic navigation according to claim 7, characterized in that In the step 2, when controlling the feeding of the magnetic navigation catheter, the computer controls the endoscopic imaging system through serial communication, drives the retraction slide, and realizes the feeding movement of the magnetic navigation catheter; when controlling the deflection of the magnetic navigation catheter, the remote control system inputs the command of the mobile magnetic control drive system into the computer through serial communication, thereby controlling the robotic arm system and the magnetic control drive system to move to the corresponding position, driving the servo motor and the robotic arm system to adjust the posture, changing the spatial position and orientation of the strong magnet, and thus controlling the deflection direction of the magnetic navigation catheter.

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