Micro-nano robot cluster joint intracavity control and positioning imaging system and method

Abstract

The invention discloses a micro-nano robot cluster joint intracavitary control and positioning imaging system and a micro-nano robot cluster joint intracavitary control and positioning imaging method. The imaging system comprises an infrared imaging system and a magnetic control mechanical system used for controlling a micro-nano robot cluster, and the infrared imaging system comprises an excitation light source, a beam expanding element, a light path forwarding device, a light filtering device and a short wave infrared sensor which are arranged along a light path. The image processing and displaying device is in communication connection with the short wave infrared sensor; the magnetic control mechanical system comprises a combined mechanical arm unit and a mechanical arm control unit, and a magnetic pole is arranged at the operation end of the combined mechanical arm unit. According to the system, by means of the low tissue scattering characteristic of a near-infrared window, a fluorescent probe is injected into a joint to serve as a light-emitting background signal, then the micro-nano robot is injected (the micro-nano robot does not emit light and is shadowed), and then high-contrast imaging of the micro-nano robot and surrounding tissue can be achieved; meanwhile, the feedback mechanism of the optical real-time image can improve the control efficiency and effectively shorten the time.

Description

Technical Field

[0001] The invention relates to a micro-nano robot cluster intra-articular manipulation and positioning imaging system and method, belonging to the technical field of biomedical imaging and treatment equipment. Background Art

[0002] At present, there is no unified and strict definition of the size of micro-nano robots in the world. However, researchers usually call robots with a size between 1μm and 1mm micro-robots, and robots with a size between 1nm and 1μm nano-robots. Micro-robots and nano-robots are collectively referred to as micro-nano robots. Micro-nano robots can be used for in vivo and in vitro testing, drug delivery, tissue repair and regeneration, micro-manipulation and micro-assembly, environmental repair, etc., and have important value and broad prospects. However, since micro-nano robot clusters are difficult to be finely manipulated, accurately positioned and tracked in real time in the body, this is an important reason that hinders the future clinical application of micro-nano robots.

[0003] Regarding the positioning and imaging of micro-nano robots, ultrasound, magnetic resonance imaging (MRI), X-rays, and positron emission tomography-computed tomography (PET-CT) have been used to locate micro-nano robots. However, their respective limitations and potential risks cannot be ignored. For example, although X-rays and PET-CT can dynamically monitor robot clusters, they are limited by low image resolution and may not be able to clearly reveal the location of tiny clusters. At the same time, due to their radioactivity, the radiation risks they bring should not be underestimated. Although magnetic resonance imaging has high image resolution and no radiation risk, it is difficult to achieve real-time positioning and navigation due to its dependence on advanced equipment and technology and time-consuming disadvantages. Summary of the invention

[0004] The purpose of the present invention is to: in view of the deficiencies of the prior art, provide a micro-nano robot cluster intra-articular manipulation and positioning imaging system and method.

[0005] In order to achieve the above-mentioned object, the present invention provides a micro-nano robot cluster intra-articular manipulation and positioning imaging system, comprising an infrared imaging system and a magnetically controlled mechanical system for manipulating the micro-nano robot cluster, wherein the infrared imaging system comprises an excitation light source, a beam expansion element, an optical path forwarding device, a filter device and a short-wave infrared sensor arranged along an optical path, and an image processing and display device connected to the short-wave infrared sensor in communication;

[0006] The magnetically controlled mechanical system comprises a combined mechanical arm unit and a mechanical arm control unit, wherein the operating end of the combined mechanical arm unit is provided with a magnetic pole;

[0007] Preferably, the combined robotic arm unit comprises a robotic arm base, a short robotic arm and a long robotic arm; the robotic arm base is rotatably connected to one end of the short robotic arm, and the other end of the short robotic arm is rotatably connected to one end of the long robotic arm; the other end of the long robotic arm is an operating end and is provided with a magnetic pole.

[0008] Preferably, the magnetic pole is a single magnetic pole or a magnetic pole array.

[0009] Preferably, the short-wave infrared sensor includes a lens and a detector, and the image processing and display device includes a signal receiving module and an image processing / display module, the signal receiving module is used to receive infrared data detected by the detector, and the infrared data is processed and displayed by the image processing / display module.

[0010] Preferably, the excitation light source is an excitation light source of 600 to 1100 nm; in the present invention, the excitation light source is selected according to the excitation wavelength band of the fluorescent probe. For example, the selected fluorescent probe is the IR-808 series, and its excitation wavelength is 808 nm, so an 808 nm laser is selected accordingly.

[0011] Preferably, it also includes a lifting development platform for adjusting the height of the infrared imaging system.

[0012] The present invention also provides a method for obtaining micro-nano robot manipulation and positioning images based on the above-mentioned imaging system, comprising: first injecting a near-infrared fluorescent probe into the joint to be tested as a luminescent background signal, then injecting a magnetically controlled particle micro-group, adjusting the passing wavelength to the near-infrared band through a filter device, and using an infrared imaging system to obtain an initial image of the joint to be tested, and the initial image is processed and displayed by an image processing / display module in an image processing and display device, so as to obtain a tracing image of the magnetically controlled particle micro-group, wherein the background color is fluorescence, and the non-luminescent part displayed is the magnetically controlled particle micro-group.

[0013] Preferably, the near-infrared fluorescent probe is a near-infrared region I (NIR-I) fluorescent dye or a near-infrared region II (NIR-II) fluorescent dye, and accordingly, the passing wavelength is 700-900nm in the near-infrared region I (NIR-I) band or 1000-1700nm in the near-infrared region II (NIR-II) band. The near-infrared fluorescent probe is more preferably a near-infrared region II (NIR-II) fluorescent dye, and the passing wavelength is more preferably 1000-1700nm in the near-infrared region II band.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This micro-nano robot intra-articular manipulation and positioning imaging system is based on the near-infrared spectral imaging technology known as the "biological transparent window" and combined with a magnetically controlled mechanical system, providing an innovative solution for the manipulation, positioning and tracking of micro-nano robots in the joint cavity. The system utilizes the low tissue scattering characteristics of the near-infrared window, first injects a fluorescent probe into the joint as a luminous background signal, and then injects the micro-nano robot (which is a black shadow without luminescence), thereby achieving high-contrast imaging of the micro-nano robot and the surrounding tissues. At the same time, the feedback mechanism of the optical real-time image can improve the efficiency of manipulation and effectively shorten the time. Therefore, the micro-nano robot intra-articular manipulation and positioning imaging system integrates fine manipulation, precise positioning and real-time tracking, providing a new perspective and method for the research of micro-nano robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the micro-nano robot cluster intra-articular manipulation and positioning imaging system of the present invention;

[0017] Figure 2 This is an exemplary image of the system of the present invention tracking and positioning a micro-nano robot in real time. The background in the image is fluorescent, and the black part is a micro-group of magnetically controlled particles.

[0018] Figure numerals: 1. Excitation light source; 2. Short-wave infrared sensor; 3. Optical path forwarding device; 4. Beam expansion element; 5. Filter device; 6. Lifting and lowering developing table; 7. Image processing and display device; 8. Animal joint; 9. Lens; 10. Detector; 11. Dichroic mirror; 12. Reflector; 13. Filter wheel; 14. Filter; 15. Magnetically controlled particle micro-group; 16. Magnetically controlled mechanical system; 17. Single magnetic pole; 18. Long arm of the robot; 19. Short arm of the robot; 20. Robotic arm base; 21. Long-short arm joint; 22. Short arm base joint; 23. Robotic arm control unit. DETAILED DESCRIPTION

[0019] In order to make the present invention more clearly understood, preferred embodiments are described in detail below with reference to the accompanying drawings.

[0020] Example 1

[0021] This embodiment provides a micro-nano robot cluster intra-articular manipulation and positioning imaging system, such as Figure 1As shown, it includes an infrared imaging system and a magnetically controlled mechanical system 16 for manipulating a micro-nano robot cluster, wherein the infrared imaging system includes an excitation light source 1, a beam expander 4, an optical path forwarding device 3, a filter 5 and a short-wave infrared sensor 2 arranged along an optical path, and an image processing and display device 7 communicatively connected to the short-wave infrared sensor 2; the magnetically controlled mechanical system 16 includes a combined robotic arm unit and a robotic arm control unit 23; the combined robotic arm unit includes a robotic arm base 20, a robotic arm short arm 19 and a robotic arm long arm 18; the robotic arm base 20 and one end of the robotic arm short arm 19 are rotatably connected through a short arm base joint 22, and the other end of the robotic arm short arm 19 and one end of the robotic arm long arm 18 are rotatably connected through a long-short arm joint 21; the other end of the robotic arm long arm 18 is an operating end, provided with a single magnetic pole 17; in this embodiment, the micro-nano robot cluster is Figure 1 Magnetic controlled particle micro-swarm 15.

[0022] in:

[0023] The excitation light source 1 is an 808nm excitation light source, which may be an 808nm laser.

[0024] The optical path forwarding device 3 includes a dichroic mirror 11 and a reflector 12; the dichroic mirror 11 can allow light of a specific wavelength to pass through and reflect light of other wavelengths, and the reflector 12 is used to change the propagation direction of light to ensure that the light can propagate along the expected path.

[0025] The filter device 4 includes a filter wheel 13 and a filter 14. The filter wheel is a component used to control and adjust the spectral distribution of the light source in spectral imaging. It is mainly composed of a drive motor, a bearing, a wheel, an optical filter, etc. The drive motor drives the wheel to rotate, changes the position of the filter, and selects and filters the spectrum, thereby realizing the imaging of the infrared spectrum. The filter wheel plays an important role in infrared spectral imaging. By selecting and controlling the spectral filtering, the interference between different materials can be eliminated, and the accuracy and precision of the detection results can be improved.

[0026] The short-wave infrared sensor 2 includes a lens 9 and a detector 10; the main function of the lens 9 in the short-wave infrared sensor 2 is to gather the short-wave infrared light emitted by the observed object and focus it onto the image sensor, thereby achieving high-resolution imaging.

[0027] The image processing and display device 7 includes a signal receiving module and an image processing / display module. The signal receiving module is used to receive infrared data detected by the detector 10 . The infrared data is processed by the image processing / display module and the imaging result of the magnetically controlled particle micro-group 15 is displayed.

[0028] The positioning imaging system further comprises a lifting developing platform 6, which is used to adjust the height of the infrared imaging system relative to the detection part of the subject.

[0029] When the system of the present invention performs imaging of magnetic control manipulation and positioning, a fluorescent probe is first injected into the joint as a luminescent background signal, and then a micro-nano robot (i.e., a micro-group of magnetically controlled particles) is injected, which does not emit light but appears as a black shadow, thereby achieving high-contrast imaging of the micro-nano robot and surrounding tissues; at the same time, the feedback mechanism of the optical real-time image can improve the efficiency of manipulation and effectively shorten the time.

[0030] The fluorescent probe used in this embodiment is a near-infrared II (NIR-II) fluorescent dye, which includes IR-808 and its related modified forms, and its related modified forms include the amino-modified form of IR-808: IR-808NH2 or a complex of IR-808 and tetrazine: IR808-TZ or IR-808-PEG-DBCO, etc.

[0031] The working principle and process of the above-mentioned micro-nano robot cluster intra-articular manipulation and positioning imaging system are as follows:

[0032] First, a fluorescent probe is injected into the joint to be tested as a luminescent background signal, and then a micro-group of magnetically controlled particles is injected. The near-infrared light or continuous light emitted by the excitation light source 1 is expanded by the beam expander 4, and then enters the dichroic mirror 11 after expansion, so that the near-infrared light of a specific wavelength is irradiated to the tested joint. The infrared light reflected by the tested joint through the reflector 12 is filtered by the filter device 5 to filter the visible light. After the filter 14 is adjusted to the luminescent band (1000-1700nm) of the fluorescent probe, the received visible light part is filtered and cut off by the filter 14, and then focused by the front-end lens 9. After focusing, it is received by the detector 10. Since the detector only receives near-infrared light of a specific band, it outputs the near-infrared light to the infrared detector 10. The detector 10 identifies the received infrared light and generates an electrical signal. The image processing and display device 7 receives a preliminary image, and then the image processing / display module performs image processing and image display.

[0033] The exemplary detection image obtained through the above steps is as follows: Figure 2 shown.

[0034] The above-mentioned implementation cases are only preferred implementation cases of the present invention and are not any formal and substantial limitations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present invention, and these improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. A micro-nano robot cluster intra-articular manipulation and positioning imaging system, characterized in that: It includes an infrared imaging system and a magnetically controlled mechanical system for manipulating a micro-nano robot cluster, wherein the infrared imaging system includes an excitation light source, a beam expansion element, an optical path forwarding device, a filter device, and a short-wave infrared sensor arranged along an optical path, and an image processing and display device connected to the short-wave infrared sensor in communication; The magnetically controlled mechanical system comprises a combined mechanical arm unit and a mechanical arm control unit, wherein the operating end of the combined mechanical arm unit is provided with a magnetic pole.

2. The imaging system according to claim 1, wherein: The combined robotic arm unit comprises a robotic arm base, a short robotic arm and a long robotic arm; the robotic arm base is rotatably connected to one end of the short robotic arm, and the other end of the short robotic arm is rotatably connected to one end of the long robotic arm; the other end of the long robotic arm is an operating end and is provided with a magnetic pole.

3. The imaging system according to claim 1, wherein: The magnetic pole is a single magnetic pole or a magnetic pole array.

4. The imaging system according to claim 1, wherein: The short-wave infrared sensor includes a lens and a detector, and the image processing and display device includes a signal receiving module and an image processing / display module. The signal receiving module is used to receive infrared data detected by the detector, and the infrared data is processed and displayed by the image processing / display module.

5. The imaging system according to claim 1, wherein: The excitation light source is an excitation light source of 600-1100 nm.

6. The imaging system according to any one of claims 1 to 5, characterized in that: It also includes a lifting development platform for adjusting the height of the infrared imaging system.

7. A method for acquiring micro-nano robot manipulation and positioning images based on the imaging system according to any one of claims 1 to 5, characterized in that: include: First, a near-infrared fluorescent probe is injected into the joint to be tested as a luminescent background signal, and then a magnetically controlled particle micro-group is injected. The wavelength is adjusted to the near-infrared band through a filter device, and an initial image of the joint to be tested is obtained using an infrared imaging system. The initial image is processed and displayed by an image processing / display module in an image processing and display device, and a tracing image of the magnetically controlled particle micro-group is obtained, wherein the background color is fluorescence, and the non-luminescent part is displayed as the magnetically controlled particle micro-group.

8. The method according to claim 7, characterized in that The near-infrared fluorescent probe is a near-infrared region I (NIR-I) fluorescent dye or a near-infrared region II (NIR-II) fluorescent dye, and accordingly, the passing wavelength is 700-900nm in the near-infrared region I (NIR-I) band or 1000-1700nm in the near-infrared region II (NIR-II) band.

Images