A magnetic navigation-based intravascular endoscope imaging system and navigation method thereof

Abstract

The present invention discloses an intravascular endoscopic imaging system based on magnetic navigation, wherein the endoscopic imaging system comprises five parts: a magnetic control drive system, a robotic arm system, a remote 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 is connected to the end effector of the robotic arm system; the magnetic navigation catheter is connected to the magnetic control drive system via magnetic force and serves as a controlled object; the endoscopic imaging system is connected to the magnetic navigation catheter; the remote control system is connected to a computer via remote communication and is used to precisely control the position and posture of the robotic arm system and simultaneously manipulate the magnetic control drive system. The present invention effectively improves the flexibility and manipulation accuracy of the catheter in complex vascular pathways, significantly reduces the difficulty of operation for doctors, and enhances the safety of intravascular diagnosis and treatment. It is particularly suitable for narrow or complex-shaped vascular pathways.

Description

Technical Field

[0001] The present invention belongs to the field of intravascular imaging and relates to an endoscopic imaging system, 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 tool in modern medicine for the diagnosis and treatment of vascular diseases. Traditional intravascular imaging methods include angiography, ultrasound imaging, and optical coherence tomography (OCT). These technologies provide important evidence 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 comprehensively and accurately analyze the vascular lining.

[0003] In recent years, photoacoustic imaging (PAI) and ultrasound imaging have been gradually introduced into the field of intravascular imaging due to their non-invasiveness, strong tissue penetration, and high-resolution imaging. Photoacoustic imaging combines the advantages of optics and acoustics, using lasers to induce ultrasound signals in tissues, thereby achieving high-contrast and high-resolution images. Ultrasound imaging, on the other hand, provides structural information about tissues. Therefore, combined photoacoustic and ultrasound imaging can more comprehensively reflect the structure and function of blood vessels.

[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 operation of catheter navigation is easily limited by the doctor's operating level and experience, making it 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] Given these challenges, magnetic navigation has attracted widespread attention in recent years as an emerging catheter manipulation technique. Magnetic navigation, through the control of an external magnetic field, enables precise, non-contact manipulation of the catheter. Its efficiency, safety, and flexibility make it particularly suitable for use in complex vascular environments. Therefore, integrating magnetic navigation with intravascular photoacoustic-ultrasound imaging to develop a high-precision, intelligent imaging system has become both a hot topic and a challenge in current intravascular diagnostic research. Summary of the Invention

[0006] The present invention aims to provide an intravascular endoscopic imaging system and navigation method based on magnetic navigation. These systems aim to address the operational complexity, insufficient imaging accuracy, and insufficient navigation flexibility inherent in existing technologies, providing more efficient and reliable technical support for the precise diagnosis and treatment of intravascular lesions. The system utilizes a remote teleoperation mode, precisely manipulating the catheter by controlling the position and orientation of a magnetic control unit. Combined with a magnetizing device on the catheter head, the catheter achieves 360-degree flexible deflection within the vessel. Furthermore, a force sensor integrated into the catheter head detects stress changes in the vessel in real time, providing real-time feedback for the procedure. This design effectively improves the catheter's flexibility and control accuracy within complex vascular pathways, significantly reducing the operator's operational complexity and enhancing the safety of intravascular diagnosis and treatment. By combining magnetic navigation technology with force sensing, the present invention facilitates manipulation within complex vascular networks, making it particularly suitable for narrow or complexly shaped vascular pathways. Furthermore, the system integrates photoacoustic-ultrasound imaging technology, enabling high-resolution and high-contrast imaging of the vascular wall, providing comprehensive support for clinical diagnosis.

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

[0008] A magnetic navigation-based intravascular 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:

[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 precisely control the position and posture of the robotic arm system, while also manipulating the magnetic control drive system.

[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 operations, safety hazards caused by the lack of real-time force feedback, and complex catheter replacement in the existing technology. It significantly improves the operational efficiency and accuracy of complex vascular pathways, while reducing the difficulty of operation, enabling this technology to 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 This is the overall structure diagram of the intravascular endoscopic imaging system based on magnetic navigation;

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

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

[0022] Figure 4 This is a structural diagram of an 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 housing, 6-servo motor, 7-motor connecting shaft, 8-strong magnet fixing mechanism, 9-strong magnet, 10-catheter magnet housing, 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 collimating lens group, 24-optical coupling device, 25-retraction slide. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below with reference to the accompanying drawings, but is not limited thereto. Any modification or equivalent replacement of the technical solution of the present invention that does not depart from the spirit and scope of the technical solution of the present invention should be included in the scope of protection of the present invention.

[0025] The present invention provides an intravascular endoscopic imaging system based on magnetic navigation, which 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: magnetic control drive system 1, robotic arm system 2, remote operation control system 3, magnetic navigation catheter and endoscopic imaging system, among which:

[0026] The magnetic control drive system 1 is installed at the end of the robotic arm system 2 and connected to the end effector of the robotic 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 teleoperation control system 3 is connected to a computer via remote communication, and is used to precisely control the position and posture of the robotic arm system 2 and simultaneously manipulate the magnetic control drive system 1 .

[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 the three degrees of freedom of 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 1 relative to the magnetic navigation catheter.

[0035] like Figure 3 As shown, the magnetic navigation catheter includes 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 component 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 the 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 of different diameters;

[0038] The catheter imaging assembly includes an ultrasonic transducer 13, a self-focusing lens 11, and a reflector 14. The ultrasonic transducer is used to collect ultrasonic and photoacoustic signals, the self-focusing lens 11 is used to focus the pulsed light required for photoacoustic imaging, and the reflector 14 is used to adjust the propagation direction of the pulsed 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 plate 17, a timing controller 18, a power supply 19, an ultrasound 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 ensure the orderly operation of the entire endoscopic imaging system;

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

[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 within the blood vessel by retracting the slide 25 to image 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 operated, force-sensing driven magnetic navigation endoscopic imaging system comprises the following steps:

[0047] Step 1. Preoperative preparation:

[0048] Roughly adjust the posture of the magnetic control drive system 1 through the robotic arm system 2 to achieve a suitable surgical position; adjust the servo motor 6 in the magnetic control drive system 1 to reset the deflection section 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] Under the guidance of the robot's endoscopic photoacoustic ultrasound, a clinically experienced physician uses a commercial teleoperation arm or a commercial handle to control the advancement and deflection angle of the magnetic navigation catheter in real time, ensuring smooth entry into the target area. A force sensor 16 monitors the axial and tangential forces generated by the magnetic navigation catheter during operation, ensuring safety and accuracy.

[0051] When controlling the advancement of the magnetic navigation catheter, the computer controls the endoscopic imaging system through serial communication, drives the retraction slide 25, and realizes the advancement 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 robotic arm system 2 and the magnetic control drive system 1 to move to the corresponding position, driving the servo motor 6 and the robotic 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 exerted on the catheter during vascular navigation in real time, 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 realize 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, providing high-resolution intravascular imaging information in real time, significantly improving 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 to accurately control the position and posture of the robotic arm system and to manipulate the magnetic control drive system; 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 head of the catheter magnet shell is an S pole and the tail is an N pole, and is adsorbed on the catheter base in a nested manner; The magnetic navigation catheter is connected to the endoscopic imaging system via a catheter torque spring, which is used to measure the axial and tangential stresses on the catheter during the magnetic control process in real time, providing accurate mechanical feedback for navigation. The endoscopic imaging system includes an attenuation plate, 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 ensure 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.

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 to drive the motor to rotate the strong magnet fixing mechanism; 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 uses two left and right buttons to achieve precise position control of the end effector of the robotic arm system in three degrees of freedom: front, back, left, right, and up and down, 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, 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 pulsed light required for photoacoustic imaging. The reflector (14) is used to adjust the propagation direction of the pulsed light to ensure imaging accuracy.

5. An intravascular navigation method based on the intravascular endoscopic imaging system based on magnetic navigation according to any one of claims 1 to 4, characterized in that The method comprises the following steps: Step 1. Preoperative preparation: Roughly adjust the position of the magnetically controlled drive system through the robotic arm system to achieve a suitable surgical position; adjust the servo motor in the magnetically controlled 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-controlled main hand or commercial handle to control the feed 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.

6. The intravascular navigation method according to claim 5, characterized in that In step 2, when controlling the advancement of the magnetic navigation catheter, the computer controls the endoscopic imaging system through serial communication, drives the retraction slide, and realizes the advancement movement of the magnetic navigation catheter; when controlling the deflection of the magnetic navigation catheter, the teleoperation control system inputs the command of moving the 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 corresponding positions, 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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