Vascular intervention system and method

Abstract

The invention discloses a vascular intervention system and method, and relates to the technical field of vascular intervention surgeries, and the system comprises a control terminal, an angiography device, a catheter bed device, an intervention device, an electromagnet device and a derivation device. The angiography device can image the blood vessel of the patient on the catheter bed device from different angles at the same time, and the control terminal can construct a more complete and accurate three-dimensional blood vessel model conveniently. The head of the intervention device is provided with a magnetic material, the electromagnet device comprises at least one electromagnetic ring, and a plurality of electromagnets are uniformly distributed on each electromagnetic ring, so that a control terminal can accurately control the intervention device provided with the magnetic material by controlling a magnetic field generated by the electromagnets. The derivation device comprises a driving device, the intervention device is arranged on the driving device, the driving device is arranged on the catheter bed device, the control terminal can control the driving device to further accurately control the intervention device to move in the blood vessel, and then the accuracy of intervention operation is improved.

Description

Technical Field

[0001] This application relates to the technical field of vascular intervention surgery, and particularly relates to a vascular intervention system and method. Background Art

[0002] With the continuous progress of medical technology and the increasing demand for health by people, vascular intervention surgery has received more and more attention. Vascular intervention surgery has been widely used in multiple fields with its unique advantages and has gradually become an important means for treating various vascular diseases. Vascular intervention surgery is to use an intervention device to perform diagnosis and treatment inside tiny blood vessels. Therefore, vascular intervention surgery is inseparable from the support of equipment.

[0003] When performing vascular intervention surgery, a vascular angiography device and an intervention device need to be used simultaneously. The vascular angiography device can collect a three-dimensional vascular model, providing a basis for the turning and movement of the intervention device in the blood vessels.

[0004] Currently, usually, a doctor first manually rotates a single imaging device in the vascular angiography device at multiple angles to determine the three-dimensional vascular model of the patient, and then the doctor manually controls the intervention device to move in the patient's blood vessels based on the three-dimensional vascular model of the patient.

[0005] However, during the surgical process, the three-dimensional vascular model obtained by the doctor manually rotating the imaging device may be incomplete, and the doctor manually controls the intervention device to move in the patient's blood vessels by observing the three-dimensional vascular images, which cannot guarantee the accuracy of the intervention operation, thus reducing the safety of vascular intervention surgery. Summary of the Invention

[0006] In view of the above problems, this application provides a vascular intervention system and method to ensure the integrity of the three-dimensional vascular model and the accuracy of the intervention operation. The specific solutions are as follows:

[0007] In a first aspect of this application, a vascular intervention system is provided, including: a control terminal, a vascular angiography device, a catheter bed device, an intervention device, an electromagnet device, and a pusher device. At least two imaging devices are distributed on the annular structure of the vascular angiography device. A magnetic material is provided at the head of the intervention device. The electromagnet device includes at least one electromagnetic ring, and a plurality of electromagnets are evenly distributed on each electromagnetic ring. The pusher device includes a driving device.

[0008] The control terminal is communicatively connected to the imaging device, each electromagnet, and the driving device respectively;

[0009] The catheter bed device can move radially along the annular structure of the vascular angiography device so that the catheter bed device is within the action range of the imaging device;

[0010] The intervention device can move spirally along the axial direction of the driving device so that the magnetic material is within the action range of the plurality of electromagnets;

[0011] The intervention device is arranged on the driving device;

[0012] The driving device is arranged on the catheter bed device.

[0013] In a possible implementation, the system further includes a power device, and the power device includes a first cable tension sensor, a first servo motor, and a first lead screw.

[0014] The control terminal is also respectively communicatively connected to the first cable tension sensor and the first servo motor;

[0015] The first cable tension sensor is respectively communicatively connected to the angiography device and the electromagnet device so that both the angiography device and the electromagnet device can move horizontally;

[0016] The first servo motor is physically connected to the angiography device and the electromagnet device respectively through the first lead screw.

[0017] In a possible implementation, three imaging devices are evenly distributed on the annular structure of the angiography device, and each imaging device includes a detector and a tube.

[0018] The control terminal is respectively communicatively connected to the detector and the tube;

[0019] The catheter bed device can move radially along the annular structure of the angiography device so that the catheter bed device is within the action range of the detector and the tube.

[0020] In a possible implementation, the electromagnet device includes two electromagnetic rings, and a plurality of electromagnets are evenly distributed on each electromagnetic ring. Each electromagnet includes an iron core, a coil, and a cooling water jacket, and the coil is a rectangular wire.

[0021] Each electromagnetic ring is symmetrically distributed left and right with respect to the angiography device, and the central axis of each electromagnetic ring coincides with the central axis of the angiography device;

[0022] The control terminal is respectively communicatively connected to each electromagnet;

[0023] The intervention device can move spirally along the axial direction of the driving device so that the magnetic material is within the action range of the plurality of electromagnets;

[0024] The rectangular wire is spirally wound around the iron core, and the cooling water jacket is spirally wrapped outside the coil.

[0025] In a possible implementation, the interventional device includes a catheter and / or a guide wire,

[0026] The head of the catheter is provided with the magnetic material, and the head of the guide wire is provided with the magnetic material;

[0027] The catheter is arranged on the driving device, and the guide wire is arranged on the driving device.

[0028] In a possible implementation, the pusher device further includes a coiling device, the coiling device includes a catheter coiling device and / or a guide wire coiling device, and the driving device includes a catheter driving device and / or a guide wire driving device,

[0029] The control terminal is also communicatively connected to the coiling device;

[0030] The coiling device is arranged on the catheter bed device;

[0031] The catheter coiling device is physically connected to the catheter driving device, and the guide wire coiling device is physically connected to the guide wire driving device;

[0032] The catheter is arranged on the catheter driving device, and the guide wire is arranged on the guide wire driving device;

[0033] The catheter is arranged on the catheter coiling device, and the guide wire is arranged on the guide wire coiling device.

[0034] In a possible implementation, the catheter bed device includes a second cable tension sensor, a second servo motor, a second lead screw, a vertical movement device, a cable encoder, a third servo motor, a third lead screw, and a horizontal movement device,

[0035] The control terminal is communicatively connected to the second cable tension sensor, the second servo motor, the cable encoder, and the third servo motor respectively;

[0036] The second cable tension sensor is communicatively connected to the vertical movement device;

[0037] The second servo motor is physically connected to the vertical movement device through the second lead screw;

[0038] The cable encoder is communicatively connected to the horizontal movement device;

[0039] The third servo motor is physically connected to the horizontal movement device through the third lead screw;

[0040] The vertical movement device is physically connected to the horizontal movement device;

[0041] The left - right moving device can move radially along the annular structure of the angiography device so that the left - right moving device is within the action range of the imaging device;

[0042] The driving device is arranged on the left - right moving device.

[0043] A second aspect of the present application provides a vascular intervention method, which is applied to the vascular intervention system described in any one of the above. The method includes:

[0044] The control terminal controls the imaging device to collect a plurality of two - dimensional vascular images of the patient on the catheter bed device, and performs three - dimensional reconstruction on the plurality of two - dimensional vascular images of the patient to obtain a three - dimensional vascular model of the patient;

[0045] The control terminal obtains the current position and target position of the intervention device in the blood vessels of the patient and the blood vessel position of the blood vessels of the patient in the three - dimensional vascular model of the patient, and determines the current moving direction, current moving speed and current intervention depth of the intervention device based on the current position, the target position and the blood vessel position;

[0046] The control terminal controls the magnetic field direction of the magnetic fields generated by a plurality of electromagnets on each electromagnetic ring, so that the intervention device provided with magnetic materials moves in the magnetic field in the blood vessels of the patient in the current moving direction, and controls the magnetic field intensity of the magnetic field, so that the intervention device provided with the magnetic materials moves in the magnetic field in the blood vessels of the patient in the current intervention depth;

[0047] The control terminal controls the speed of the driving device so that the intervention device moves in the blood vessels of the patient at the current moving speed.

[0048] In a possible implementation, the system further includes a power device. The power device includes a first cable tension sensor, a first servo motor and a first lead screw. The control terminal is also respectively communicatively connected to the first cable tension sensor and the first servo motor. The first cable tension sensor is respectively communicatively connected to the angiography device and the electromagnet device, so that both the angiography device and the electromagnet device can move horizontally. The first servo motor is physically connected to the angiography device and the electromagnet device respectively through the first lead screw,

[0049] Before the control terminal controls the imaging device to collect a plurality of two - dimensional vascular images of the patient on the catheter bed device and performs three - dimensional reconstruction on the plurality of two - dimensional vascular images of the patient to obtain a three - dimensional vascular model of the patient, the method further includes:

[0050] The control terminal controls the first cable tension sensor to obtain a first distance and a second distance between the patient and the angiography device and the electromagnet device respectively, and calculates a first distance difference between the first distance and a first preset distance, and a second distance difference between the second distance and a second preset distance;

[0051] The control terminal controls the first servo motor to provide power to the angiography device and the electromagnet device through the first lead screw, so that the angiography device moves the first distance difference and the electromagnet device moves the second distance difference.

[0052] In a possible implementation, the catheter bed device includes a second cable tension sensor, a second servo motor, a second lead screw, a vertical movement device, a cable encoder, a third servo motor, a third lead screw, and a left-right movement device. The control terminal is further communicatively connected to the second cable tension sensor, the second servo motor, the cable encoder, and the third servo motor. The second cable tension sensor is communicatively connected to the vertical movement device. The second servo motor is physically connected to the vertical movement device through the second lead screw. The cable encoder is communicatively connected to the left-right movement device. The third servo motor is physically connected to the left-right movement device through the third lead screw. The vertical movement device is physically connected to the left-right movement device. The left-right movement device can move radially along the annular structure of the angiography device so that the left-right movement device is within the action range of the imaging device. The driving device is arranged on the left-right movement device.

[0053] Before the control terminal controls the first cable tension sensor to obtain a first distance and a second distance between the patient and the angiography device and the electromagnet device respectively, and calculates a first distance difference between the first distance and a first preset distance, and a second distance difference between the second distance and a second preset distance, the method further includes:

[0054] The control terminal controls the second cable tension sensor to obtain a third distance between the patient and the vertical movement device, and calculates a third distance difference between the third distance and a third preset distance;

[0055] The control terminal controls the second servo motor to provide power to the vertical movement device through the second lead screw, so that the vertical movement device moves the third distance difference;

[0056] The control terminal controls the cable encoder to obtain a fourth distance between a preset position and the left-right movement device;

[0057] The control terminal controls the third servo motor to provide power to the left - right moving device through the second lead screw, so that the left - right moving device moves the fourth distance.

[0058] By means of the above - mentioned technical solution, a vascular intervention system and method provided by the present application, the system includes: a control terminal, an angiography device, a catheter bed device, an intervention device, an electromagnet device, and a pusher device. The control terminal is communicatively connected to an imaging device, each electromagnet, the catheter bed device, and a driving device respectively. At least two imaging devices are distributed on the annular structure of the angiography device. The catheter bed device can move radially along the annular structure of the angiography device, so that the catheter bed device is within the action range of the imaging device, and the blood vessels of the patient on the catheter bed device can be imaged from different angles simultaneously. Compared with a doctor manually rotating a single imaging device, more comprehensive blood vessel information can be obtained, which is convenient for the control terminal to construct a more complete and accurate three - dimensional blood vessel model. The head of the intervention device is provided with a magnetic material. The electromagnet device includes at least one electromagnetic ring, and a plurality of electromagnets are evenly distributed on each electromagnetic ring. The intervention device can move spirally along the axial direction of the driving device, so that the magnetic material is within the action range of the plurality of electromagnets. By controlling the electromagnets through the control terminal, an accurate magnetic field can be generated, which is beneficial for the control terminal to precisely control the intervention device provided with the magnetic material to move in the blood vessel by controlling the magnetic field generated by the electromagnets. The pusher device includes a driving device, the intervention device is arranged on the driving device, and the driving device is arranged on the catheter bed device, which is beneficial for the control terminal to control the driving device to further precisely control the movement of the intervention device in the blood vessel. Compared with a doctor manually controlling the intervention device, the accuracy of the intervention operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Combined with the drawings and referring to the following specific embodiments, the above - mentioned and other features, advantages, and aspects of the embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic, and the original components and elements are not necessarily drawn to scale.

[0060] Figure 1 It is a front - view structural schematic diagram of a vascular intervention system provided by an embodiment of the present application;

[0061] Figure 2 It is a top - view structural schematic diagram of a vascular intervention system provided by an embodiment of the present application;

[0062] Figure 3 It is a front - view structural schematic diagram of another vascular intervention system provided by an embodiment of the present application;

[0063] Figure 4 It is a top - view structural schematic diagram of another vascular intervention system provided by an embodiment of the present application;

[0064] Figure 5 Structural schematic diagram of an angiography device provided by an embodiment of the present application;

[0065] Figure 6 Structural schematic diagram of a rotation mode of an angiography device provided by an embodiment of the present application;

[0066] Figure 7 Structural schematic diagram of a catheter bed device provided by an embodiment of the present application;

[0067] Figure 8 Structural schematic diagram of an up - and - down moving device provided by an embodiment of the present application;

[0068] Figure 9 Structural schematic diagram of a left - and - right moving device provided by an embodiment of the present application;

[0069] Figure 10 Structural schematic diagram of an intervention device provided by an embodiment of the present application;

[0070] Figure 11 Structural schematic diagram of an electromagnet device provided by an embodiment of the present application;

[0071] Figure 12 Structural schematic diagram of an electromagnet provided by an embodiment of the present application;

[0072] Figure 13 Arrott plot of the magnetic field generated by an electromagnet provided by an embodiment of the present application;

[0073] Figure 14 Structural schematic diagram of a winding method of a coil provided by an embodiment of the present application;

[0074] Figure 15 Structural schematic diagram of a coil immersed in a cooling medium provided by an embodiment of the present application

[0075] Figure 16 Structural schematic diagram of a hollow copper tube provided by an embodiment of the present application;

[0076] Figure 17 Structural schematic diagram of a winding method of a coil that is a hollow copper tube provided by an embodiment of the present application;

[0077] Figure 18 Structural sectional view of a spiral water channel provided by an embodiment of the present application;

[0078] Figure 19 Top - view structural schematic diagram of a cooling water jacket provided by an embodiment of the present application;

[0079] Figure 20A structural sectional view of a cooling water jacket provided by an embodiment of the present application;

[0080] Figure 21 A structural schematic diagram of a pusher device provided by an embodiment of the present application;

[0081] Figure 22 A structural schematic diagram of a power device provided by an embodiment of the present application;

[0082] Figure 23 A flowchart of a blood vessel intervention method provided by an embodiment of the present application;

[0083] Figure 24 A schematic diagram of a current position, a target position, and a blood vessel position provided by an embodiment of the present application;

[0084] Figure 25 A flowchart of a method for a control terminal to control the movement of an angiography device and an electromagnet device through a power device provided by an embodiment of the present application;

[0085] Figure 26 A flowchart of a method for a control terminal to control the movement of a catheter bed device provided by an embodiment of the present application.

[0086] Reference numerals:

[0087] 10 - Control terminal; 20 - Angiography device; 21 - Imaging device; 211 - Detector; 212 - Tube; 22 - Fourth servo motor; 23 - Rotary support device; 30 - Catheter bed device; 31 - Second cable tension sensor; 32 - Second servo motor; 33 - Second lead screw; 34 - Up and down moving device; 35 - Cable encoder; 36 - Third servo motor; 37 - Third lead screw; 38 - Left and right moving device; 39 - Brake; 40 - Intervention device; 41 - Magnetic ring; 50 - Electromagnet device; 51 - Electromagnetic ring; 52 - Electromagnet; 521 - Iron core; 522 - Coil; 523 - Cooling water jacket; 60 - Pusher device; 61 - Driving device; 611 - Catheter driving device; 612 - Guide wire driving device; 62 - Coiling device; 621 - Catheter coiling device; 622 - Guide wire coiling device; 70 - Power device; 71 - First cable tension sensor; 72 - First servo motor; 73 - First lead screw; 74 - Limit block. Detailed implementation manners

[0088] The following describes the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. The terms used in the implementation manners part of the present application are only for explaining the specific embodiments of the present application and are not intended to limit the present application.

[0089] The embodiments of the present application will be described below with reference to the accompanying drawings. As is known to those of ordinary skill in the art, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0090] The terms "first", "second", etc. in the description and claims of the present application and the above-mentioned accompanying drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinguishing objects with the same attributes when describing the embodiments of the present application. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product or device comprising a series of units does not have to be limited to those units, but may include other units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0091] The inventors of the present application have found through research that: during the current surgical process, by shaping the head of the intervention device and cooperating with rotation and pushing at the tail to control the steering of the intervention device, the intervention device cannot be directly controlled, increasing the difficulty of the surgery. Therefore, the present invention discloses a vascular intervention system, and the structure of the system will be described in detail through the following embodiments.

[0092] To ensure the integrity of the three-dimensional vascular model and the accuracy of the intervention operation, the present application provides a vascular intervention system, and the vascular intervention system provided by the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0093] Please refer to the attached Figure 1 and Figure 2 , Figure 1 which is a front view structural schematic diagram of a vascular intervention system provided by an embodiment of the present application, Figure 2 and is a top view structural schematic diagram of a vascular intervention system provided by an embodiment of the present application. The system may include: a control terminal 10, an angiography device 20, a catheter bed device 30, an intervention device 40, an electromagnet device 50, and a pusher device 60. The control terminal 10 is respectively communicatively connected to an imaging device 21, each electromagnet 52, the catheter bed device 30, and a driving device 61, and can realize the coordinated operation of each component. Specifically, the electromagnet device 50 may include two electromagnetic rings 51, and a plurality of electromagnets 52 may be evenly distributed on each electromagnetic ring 51. Please refer to the attached Figure 3 and Figure 4 , Figure 3 which is a front view structural schematic diagram of another vascular intervention system provided by an embodiment of the present application, Figure 4 and is a top view structural schematic diagram of another vascular intervention system provided by an embodiment of the present application.

[0094] In the embodiment of the present application, at least two imaging devices 21 are distributed on the annular structure of the angiography device 20. The control terminal 10 is communicatively connected to the imaging device 21. The catheter bed device 30 can move radially along the annular structure of the angiography device 20 so that the catheter bed device 30 is within the action range of the imaging device 21.

[0095] Specifically, three imaging devices 21 can be evenly distributed on the annular structure of the angiography device 20, and each imaging device 21 can include a detector 211 and an X-ray tube 212. The control terminal 10 can be communicatively connected to the detector 211 and the X-ray tube 212 respectively. The catheter bed device 30 can move radially along the annular structure of the angiography device 20, and the angiography device 20 can move horizontally so that the catheter bed device 30 is within the action range of the detector 211 and the X-ray tube 212. For ease of understanding, reference can be specifically made to Figure 5 , Figure 5 which is a schematic structural diagram of an angiography device provided by the embodiment of the present application.

[0096] It should be noted that the angiography device 20 is a medical device for diagnosing and treating vascular diseases, and its core function is to help doctors understand the morphology, position of blood vessels and their relationship with surrounding tissues through imaging technology, so as to provide important reference information for treatment means such as surgery.

[0097] Furthermore, the angiography device 20 can further include a fourth servo motor 22 and a revolving support device 23. The angiography device 20 can have three degrees of freedom and can rotate around the 1-axis, 2-axis and 3-axis respectively, so that the angiography device 20 can image blood vessels from different angles. Among them, the 1-axis can provide a smooth rotational movement by the fourth servo motor 22 and the revolving support device 23; the 2-axis adopts the direct drive mode of the fourth servo motor 22 to facilitate quick response to the instructions of the control terminal and achieve precise rotational control. The 3-axis adopts the mode of driving a rack and pinion by the fourth servo motor 22 to facilitate meeting the rotational requirements over a long distance. For ease of understanding, reference can be specifically made to Figure 6 , Figure 6 which is a schematic structural diagram of a rotation mode of an angiography device provided by the embodiment of the present application.

[0098] Each imaging device 21 includes a detector 211 and an X-ray tube 212. The detector 211 and the X-ray tube 212 cooperate with each other to collect two-dimensional images at three angles through sequential exposures. The control terminal 10 is communicatively connected to the detector 211 and the X-ray tube 212 respectively, and can precisely control the exposure and image acquisition processes of each imaging device 21, and construct a three-dimensional vascular model from the two-dimensional vascular images, providing doctors with more intuitive and accurate position information of the blood vessels of the patient on the catheter bed device 30 and the position information of the interventional device 40 in the blood vessels. The catheter bed device 30 is designed to be movable radially along the annular structure of the angiography device 20. This moving ability ensures that during angiography, the catheter bed device 30 can be accurately positioned within the action range of the detector 211 and the X-ray tube 212, thus ensuring the quality and accuracy of imaging.

[0099] In the embodiment of the present application, the control terminal 10 is communicatively connected to the catheter bed device 30. The catheter bed device 30 is movable radially along the annular structure of the angiography device 20 so that the catheter bed device 30 is within the action range of the imaging device 21. The driving device 61 is provided on the catheter bed device 30.

[0100] Specifically, the catheter bed device 30 may include a second cable sensor 31, a second servo motor 32, a second lead screw 33, a vertical moving device 34, a cable encoder 35, a third servo motor 36, a third lead screw 37, and a horizontal moving device 38. The horizontal moving device 38 is movable radially along the annular structure of the angiography device 20 so that the horizontal moving device 38 is within the action range of the imaging device 21. The driving device 61 is provided on the horizontal moving device 38. The control terminal 10 may also be communicatively connected to the second cable sensor 31, the second servo motor 32, the cable encoder 35, and the third servo motor 36 respectively, and can achieve precise control of the catheter bed device.

[0101] Further, the angiography device 20, the vertical moving device 34, and the electromagnet device 50 may all be provided on a base, and the base is physically connected to the ground.

[0102] Among them, the second cable sensor 31 may be communicatively connected to the vertical moving device 34. The second servo motor 32 may be physically connected to the vertical moving device 34 through the second lead screw 33. The cable encoder 35 may be communicatively connected to the horizontal moving device 38. The third servo motor 36 may be physically connected to the horizontal moving device 38 through the third lead screw 37. The vertical moving device 34 may be physically connected to the horizontal moving device 38. For ease of understanding, reference may specifically be made to Figure 7 , Figure 7 which is a schematic structural diagram of a catheter bed device provided in an embodiment of the present application.

[0103] The second cable sensor 31 is used to obtain the distance information between the patient and the vertical moving device 34 to ensure the accuracy of vertical movement. The second servo motor 32 serves as the power source of the vertical moving device. It transmits power to the second lead screw 33 through gears. The second lead screw 33 drives the vertical moving device 34 to move up and down. Guide rails are used on both sides for guiding to ensure the smoothness and accuracy of vertical movement. The second lead screw 33 converts the power of the second servo motor 32 into the linear motion of the vertical moving device 34. The vertical moving device 34 realizes the vertical movement of the patient, facilitating the patient to get on and off the bed. Among them, the motor encoder in the second servo motor 32 can also perform position positioning. The motor encoder in the second servo motor 32 is on the power input side, and the second cable sensor 31 is on the execution side. It can judge whether the transmission is in place by comparing the difference between the execution side and the power input side.

[0104] Further, a brake 39 design can be adopted. The brake 39 can include a servo brake and an external brake. The external brake meshes with the lead screw through gears. In the case of the failure of the servo brake, the external brake can also lock the lead screw to prevent downward movement. For the sake of easy understanding, reference can be specifically made to Figure 8 and Figure 9 , Figure 8 which is a schematic structural diagram of a vertical moving device provided by an embodiment of the present application; Figure 9 which is a schematic structural diagram of a left - right moving device provided by an embodiment of the present application.

[0105] The cable encoder 35 is used to obtain the distance information between the preset position and the left - right moving device 38 to ensure the accuracy of left - right movement. The third servo motor 36 serves as the power source of the left - right moving device. It transmits power to the third lead screw 37 through a synchronous pulley and a synchronous belt. The third lead screw 37 drives the left - right moving device 38 to move left and right. Guide rails are used on both sides for guiding to ensure the smoothness and accuracy of left - right movement. The third lead screw 37 converts the power of the third servo motor 36 into the linear motion of the left - right moving device 38. The left - right moving device 38 can move radially along the annular structure of the angiography device 20 to ensure being within the action range of the imaging device 21, facilitating the adjustment of the relative position of the target area view. Among them, the motor encoder in the third servo motor 36 can also perform position positioning. The motor encoder in the third servo motor 36 is on the power input side, and the cable encoder 35 is on the execution side. It can judge whether the transmission is in place by comparing the difference between the execution side and the power input side.

[0106] In the embodiment of the present application, a magnetic material is provided at the head of the intervention device 40. The intervention device 40 is arranged on the driving device 61.

[0107] Specifically, the interventional device 40 may include a catheter and / or a guide wire. The head of the catheter may be provided with a magnetic material, and the head of the guide wire may be provided with a magnetic material. The catheter may be disposed on the driving device 61, and the guide wire may be disposed on the driving device 61.

[0108] It should be noted that the interventional device 40 may include a catheter and / or a guide wire, and the interventional device 40 can be precisely steered in a blood vessel under the guidance of a magnetic field. The magnetic material at the head of the catheter / guide wire enables the catheter / guide wire to be precisely rotated and positioned under the guidance of the magnetic field. Among them, the magnetic material includes but is not limited to: magnetic hydrogel material, ferromagnetic material, rare earth magnetic material (such as neodymium iron boron), etc. A magnetic ring 41 can also be added to the end of the catheter / guide wire. The direction of the magnetic field is along the axial direction, and the magnetic ring 41 can also ensure the stability and precision of the catheter / guide wire in the magnetic field. The catheter / guide wire can be disposed on the driving device 61, and the driving device 61 is used to control the advancement and positioning of the catheter / guide wire. For the sake of easy understanding, specifically, reference can be made to Figure 10 , Figure 10 which is a schematic structural diagram of an interventional device provided by an embodiment of the present application.

[0109] In the embodiment of the present application, the electromagnet device 50 includes at least one electromagnetic ring 51, and a plurality of electromagnets 52 are uniformly distributed on each electromagnetic ring 51. The control terminal 10 is communicatively connected to each electromagnet 52. The interventional device 40 can move spirally along the axial direction of the driving device 61 so that the magnetic material is within the action range of the plurality of electromagnets 52.

[0110] Specifically, the control terminal 10 can be communicatively connected to each electromagnet 52 respectively. The interventional device 40 can move spirally along the axial direction of the driving device 61, and each electromagnetic ring 51 can move horizontally so that the magnetic material is within the action range of the plurality of electromagnets 52.

[0111] Among them, each electromagnetic ring 51 can be symmetrically distributed left and right with respect to the angiography device 20, and the central axis of each electromagnetic ring 51 can coincide with the central axis of the angiography device 20. For the sake of easy understanding, specifically, reference can be made to Figure 11 , Figure 11 which is a schematic structural diagram of an electromagnet device provided by an embodiment of the present application. Each electromagnet 52 may include an iron core 521, a coil 522, and a cooling water jacket 523. The coil 522 may be a rectangular wire. The rectangular wire may be spirally wound around the iron core 521. The cooling water jacket 523 may be spirally wrapped outside the coil 522. For the sake of easy understanding, specifically, reference can be made to Figure 12 , Figure 12 which is a schematic structural diagram of an electromagnet provided by an embodiment of the present application.

[0112] It should be noted that the electromagnet device 50 is used to generate and control the magnetic field to guide the interventional device 40 to turn in the blood vessel. The central axis of the two electromagnetic rings 51 of the electromagnet device 50 coincides with the central axis of the angiography device 20, which can ensure the symmetry and uniformity of the magnetic field. In addition, the two electromagnetic rings 51 can move independently, and each electromagnetic ring 51 is evenly distributed with a plurality of electromagnets 52. These electromagnets 52 are evenly distributed in the axial direction to form a symmetrical magnetic field layout. By precisely controlling each electromagnet 52 through the control terminal 10, these electromagnets 52 can be used in combination to generate a magnetic field in any direction. For ease of understanding, please refer to Figure 13 , Figure 13 An Arot diagram of the magnetic field generated by an electromagnet provided in an embodiment of the present application.

[0113] The iron core 521 is a core component of the electromagnet 52 and is used to enhance the magnetic field generated by the electromagnet 52 . The iron core 521 is usually made of a high magnetic permeability material, such as silicon steel sheet, iron-nickel alloy or pure iron.

[0114] The coil 522 generates a magnetic field based on the passage of current, and is usually made of a rectangular wire, which is wound in a spiral manner on the iron core 521. The specific winding method is as follows: the first layer is wound from left to right in a right-handed manner, and two consecutive turns are wound at the rightmost end to achieve a transition from the first layer to the second layer; the second layer is wound from the rightmost end to the leftmost end in a spiral manner, and the entire coil 522 is completed in sequence. This spiral winding method can ensure the uniform distribution of the coil 522 and improve the uniformity and strength of the magnetic field. For ease of understanding, please refer to Figure 14 , Figure 14 A schematic structural diagram of a coil winding method provided in an embodiment of the present application.

[0115] The electromagnet 52 generates a large amount of heat during operation, and this heat needs to be effectively dissipated to ensure the performance and life of the electromagnet 52. As an implementable method, the coil 522 is immersed in the cooling medium as a whole, and a sealed protective cover is required on the outside to prevent leakage of the cooling medium. The cooling medium (such as oil, pure water) circulates continuously, taking away the heat generated by the coil 522. The cooling medium is in direct contact with the coil 522, and the heat dissipation effect is significant. The protective cover is provided with an inlet and an outlet for the cooling medium to ensure that the cooling medium can circulate. For ease of understanding, please refer to Figure 15 , Figure 15 A schematic diagram of a coil immersed in a cooling medium is provided in an embodiment of the present application. As another possible implementation method, a hollow copper tube is used to wind the coil 522, and water or a coolant can flow through the inner wall of the copper tube. Electric current flows through the copper wall of the copper tube to generate heat. Water or a coolant flows through the hollow part to take away the heat generated by the copper tube. The heat generated by the copper tube is transferred to the coolant in the hollow part through the copper wall. The coolant circulates continuously to take away the heat. For ease of understanding, please refer toFigure 16 and Figure 17 , Figure 16 is a schematic structural view of a hollow copper tube provided by an embodiment of the present application; Figure 17 is a schematic structural view of a winding manner in which a coil is a hollow copper tube provided by an embodiment of the present application.

[0116] The cooling water jacket 523 generally includes two spiral water channels, and these two water channels are spirally covered on the water jacket main body to form a double spiral structure. The two spiral water channels are independent of each other, receive cooling water from different water inlets, the cooling water flows in opposite directions, and relatively flows out from the water outlet after flowing through the spiral water channels to complete cooling. The inner and outer layers of spiral tubes are connected in an eddy line manner at the end, and the water outlet pipe and the water inlet pipe can be on the same layer, ensuring that the flow path of the cooling water during inlet and outlet is smoother, reducing the resistance of the water flow, improving the cooling efficiency, and facilitating installation and maintenance. The cooling water jacket 523 wraps the coil 522 inside, and can take away the excess heat generated by the coil 522 through circulating cooling water, ensuring the stable operation of the electromagnet 52 under high current. For easy understanding, reference can be specifically made to Figure 18 、 Figure 19 and Figure 20 , Figure 18 is a structural cross-sectional view of a spiral water channel provided by an embodiment of the present application; Figure 19 is a schematic top view structure of a cooling water jacket provided by an embodiment of the present application; Figure 20 is a structural cross-sectional view of a cooling water jacket provided by an embodiment of the present application.

[0117] In the embodiment of the present application, the pusher device 60 includes a driving device 61. The control terminal 10 is communicatively connected to the driving device 61. The driving device 61 is arranged on the catheter bed device 30. The catheter can be arranged on the driving device 61, and the guide wire can be arranged on the driving device 61.

[0118] Specifically, the pusher device 60 may further include a coiling device 62. The coiling device 62 may include a catheter coiling device 621 and / or a guide wire coiling device 622. The driving device 61 may include a catheter driving device 611 and / or a guide wire driving device 612. The control terminal 10 may further be communicatively connected to the coiling device 62. The coiling device 62 may be arranged on the catheter bed device 30. The catheter can be arranged on the catheter driving device 611, and the guide wire is arranged on the guide wire driving device 612. The catheter can also be arranged on the catheter coiling device 621, and the guide wire can also be arranged on the guide wire coiling device 622.

[0119] Among them, the catheter coiling device 621 may be physically connected to the catheter driving device 611, and the guide wire coiling device 622 may be physically connected to the guide wire driving device 612. For easy understanding, reference can be specifically made to Figure 21 , Figure 21Schematic structural diagram of a derivation device provided by an embodiment of the present application.

[0120] It should be noted that the derivation device 60 is a key device in the vascular intervention system for controlling the advancement or retraction of the catheter / wire. The driving device 61 can use a motor to provide power, use gears as transmission components, drive the roller to rotate, and drive the catheter / wire to advance or retract. The coiling device 62 can prevent slack or entanglement during the advancement or retraction of the catheter / wire. The catheter driving device 611 is used to push the catheter. The wire driving device 612 is used to push the wire. The catheter coiling device 621 is used to store the excess catheter. The wire coiling device 622 is used to store the excess wire. The control terminal 10 is communicatively connected to the catheter driving device 611, the wire driving device 612, the catheter coiling device 621, and the wire coiling device 622 respectively, and can achieve precise control of the derivation device 60.

[0121] In summary, a vascular intervention system provided by the present application includes: a control terminal 10, an angiography device 20, a catheter bed device 30, an intervention device 40, an electromagnet device 50, and a derivation device 60. The control terminal 10 is communicatively connected to the imaging device 21, each electromagnet 52, the catheter bed device 30, and the driving device 61 respectively. At least two imaging devices 21 are distributed on the annular structure of the angiography device 20. The catheter bed device 30 can move radially along the annular structure of the angiography device 20 so that the catheter bed device 30 is within the action range of the imaging device 21, and the blood vessels of the patient on the catheter bed device 30 can be imaged from different angles simultaneously. Compared with manually rotating a single imaging device by a doctor, more comprehensive blood vessel information can be obtained, which is convenient for the control terminal 10 to construct a more complete and accurate three-dimensional blood vessel model. The head of the intervention device 40 is provided with a magnetic material. The electromagnet device 50 includes at least one electromagnetic ring 51, and a plurality of electromagnets 52 are evenly distributed on each electromagnetic ring 51. The intervention device 40 can move spirally along the axial direction of the driving device 61 so that the magnetic material is within the action range of the plurality of electromagnets 52. By controlling the electromagnets 52 through the control terminal 10, a precise magnetic field can be generated, which is beneficial for the control terminal to precisely control the movement of the intervention device provided with the magnetic material in the blood vessel by controlling the magnetic field generated by the electromagnets. The derivation device 60 includes a driving device 61. The intervention device 40 is arranged on the driving device 61, and the driving device 61 is arranged on the catheter bed device 30, which is beneficial for the control terminal 10 to control the driving device to further precisely control the movement of the intervention device in the blood vessel. Compared with manually controlling the intervention device by a doctor, the accuracy of the intervention operation is improved.

[0122] In an embodiment of the present application, further, the system may further include a power device 70. The power device 70 includes a first cable tension sensor 71, a first servo motor 72, and a first lead screw 73. The control terminal 10 may also be communicatively connected to the first cable tension sensor 71 and the first servo motor 72 respectively, enabling precise control of the angiography device 20 and the electromagnet device 50.

[0123] Among them, the first cable tension sensor 71 may include a first sub-cable tension sensor, a second sub-cable tension sensor, and a third sub-cable tension sensor. The first sub-cable tension sensor is communicatively connected to the angiography device 20, the second sub-cable tension sensor is communicatively connected to one electromagnetic ring 51, and the third sub-cable tension sensor is communicatively connected to the other electromagnetic ring 51, enabling precise control of the angiography device 20 and the electromagnet device 50.

[0124] The first servo motor 72 may include a first sub-servo motor, a second sub-servo motor, and a third sub-servo motor. The first lead screw 73 may include a first sub-lead screw, a second sub-lead screw, and a third sub-lead screw. The first sub-servo motor may be physically connected to the angiography device 20 through the first sub-lead screw, enabling the angiography device 20 to move horizontally; the second sub-servo motor may be physically connected to one electromagnetic ring 51 through the second sub-lead screw, enabling the electromagnetic ring 51 to move horizontally; the third sub-servo motor may be physically connected to the other electromagnetic ring 51 through the third sub-lead screw, enabling the other electromagnetic ring 51 to move horizontally.

[0125] It should be noted that the first cable tension sensor 71 is used to obtain the real-time position information of the angiography device 20 and the electromagnet device 50. The angiography device 20 and the electromagnet device 50 can move synchronously or independently, facilitating flexible adjustment of the relative positions of the two according to needs to ensure the smooth progress of the interventional operation. By controlling the first servo motor 72 to control the first lead screw 73 to drive the angiography device 20 and the electromagnet device 50 to move on the guide rail, ensuring the smoothness and accuracy of the movement. Among them, the motor encoder in the first servo motor 72 can also perform position positioning. The motor encoder in the first servo motor 72 is on the power input side, and the first cable tension sensor 71 is on the execution side. It can be judged whether the transmission is in place by comparing the difference between the execution side and the power input side.

[0126] Further, in order to ensure that no collision occurs during the mutual movement, a limit block 74 may be added to protect the angiography device 20 and the electromagnet device 50 from damage. For easy understanding, reference may specifically be made to Figure 22 , Figure 22 which is a schematic structural diagram of a power device provided in an embodiment of the present application.

[0127] In summary, a power device provided by the present application enables the control terminal to precisely control the movement of the angiography device and the electromagnet device, ensuring flexible adjustment of the relative position as needed during the operation. Moreover, a dual-position feedback mechanism is adopted to ensure the accuracy of the movement. Meanwhile, a limit block is designed to protect the device from damage. This is conducive to further improving the accuracy and safety of interventional operations.

[0128] In the above-described embodiments publicly disclosed in the present application, the system has been described in detail. There are various forms of methods applicable to the system of the present application. Therefore, the angiography method provided by the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0129] Please refer to the attached Figure 23 , Figure 23 which is a schematic flowchart of an angiography method provided by an embodiment of the present application. The method may include the following steps:

[0130] Step S101: The control terminal 10 controls the imaging device 21 to collect multiple two-dimensional vascular images of the patient on the catheter bed device 30, and performs three-dimensional reconstruction on the multiple two-dimensional vascular images of the patient to obtain a three-dimensional vascular model of the patient.

[0131] In the present application, the patient needs to undergo angiography examination or treatment on the catheter bed device 30. The control terminal 10, as the control center of the angiography system, conducts data interaction with the imaging device 21 through a communication connection. The control terminal 10 first sends real-time instructions to multiple imaging devices 21 to control each imaging device 21 to expose in sequence, so as to collect two-dimensional images of the blood vessels from different angles. The detector 211 in the imaging device 21 is used to receive X-ray signals and convert them into digital images, and the X-ray tube 212 in the imaging device 21 is used to emit X-rays.

[0132] Furthermore, the blood vessel images can be extracted from the collected two-dimensional images through digital subtraction technology. It should be noted that digital subtraction technology can remove background noise, enhance the contrast of blood vessels, and improve the clarity of images.

[0133] Finally, the two-dimensional vascular images from multiple angles are processed through the inverse operation of three-dimensional projection to construct a three-dimensional vascular model. It should be noted that the inverse operation of three-dimensional projection is a mathematical method for converting two-dimensional images into three-dimensional models. The three-dimensional vascular model obtained through three-dimensional reconstruction can provide more intuitive and accurate vascular information.

[0134] Step S102: The control terminal 10 obtains the current position and target position of the interventional device 40 in the patient's blood vessels, as well as the vascular position of the patient's blood vessels in the patient's three-dimensional vascular model, and determines the current moving direction, current moving speed and current intervention depth of the interventional device 40 based on the current position, target position and vascular position.

[0135] In the present application, the control terminal 10 determines the current position of the interventional device 40 in the patient's blood vessels through a real-time three-dimensional vascular model, which can be located by combining the image data collected in real time by the imaging device 21 with the three-dimensional vascular model. The doctor can select the target position on the three-dimensional vascular model, which is usually the lesion point or the area that needs treatment. The control terminal 10 can directly determine the patient's vascular position through the three-dimensional vascular model, including information such as the direction, branches and diameter of the blood vessels. The accuracy and safety of the interventional operation are ensured by determining the current moving direction, current moving speed and current intervention depth in real time. For ease of understanding, please refer to the specific Figure 24 , Figure 24 A schematic diagram of a current position, a target position and a blood vessel position provided in an embodiment of the present application.

[0136] Specifically, in the three-dimensional blood vessel model, the control terminal 10 plans the path of the interventional device 40 according to the current position and the target position. Path planning can use a path search algorithm to ensure that the path is optimal. According to the planned path, the control terminal 10 calculates the current moving direction of the interventional device 40 at the current position. The current moving direction is usually in the direction of the target position, but the direction and branches of the blood vessels need to be considered to avoid collisions. The control terminal 10 calculates the current moving speed of the interventional device 40 according to the distance between the current position and the target position, as well as the needs of the operation. The current moving speed is usually adjusted according to the distance and time. The control terminal 10 calculates the current intervention depth of the interventional device 40 according to the depth of the current position, the depth of the target position and the diameter of the blood vessel. Depth usually refers to the insertion depth of the interventional device 40 in the blood vessel.

[0137] Step S103: The control terminal 10 controls the magnetic field direction of the magnetic field generated by the multiple electromagnets 52 on each electromagnetic ring 51, so that the interventional device 40 provided with magnetic material moves in the patient's blood vessel according to the current moving direction in the magnetic field, and controls the magnetic field strength of the magnetic field, so that the interventional device 40 provided with magnetic material turns in the patient's blood vessel according to the current intervention depth in the magnetic field.

[0138] It should be noted that the magnetic field direction of the electromagnet 52 can be determined by Ampere's rule (right-hand screw rule). Hold the current-carrying solenoid with the right hand, let the four fingers point in the direction of the current, and the direction pointed by the thumb is the direction of the magnetic induction line inside the solenoid, that is, the thumb points to the N pole of the current-carrying solenoid. Under the condition of a constant current, the magnetic field direction of the circular current is perpendicular to the circular plane and follows the right-hand rule. If the current flows in the clockwise direction, the magnetic field direction is perpendicular to the circular plane and outward; if the current flows in the counterclockwise direction, the magnetic field direction is perpendicular to the circular plane and inward.

[0139] In this application, the control terminal 10 performs data interaction with each electromagnet 52 on each electromagnetic ring 51 through a communication connection, and sends instructions in real time to control the current direction and magnitude of the electromagnet 52, thereby changing the direction and intensity of the magnetic field. During the movement of the intervention device 40, the control terminal 10 continuously adjusts the magnetic field direction and intensity according to the currently determined current movement direction and current intervention depth, ensuring that the intervention device 40 always moves along the planned path and does not deviate from the central axis of the blood vessel. Among them, the intensity of the magnetic field can be controlled by adjusting the magnitude of the current in the electromagnet 52. The larger the current, the stronger the magnetic field.

[0140] Step S104: The control terminal 10 controls the speed of the driving device 61 so that the intervention device 40 moves in the patient's blood vessel at the current movement speed.

[0141] In this application, the control terminal 10 performs data interaction with the driving device 61 through a communication connection. The control terminal 10 sends instructions to the driving device 61 in real time to control its speed. The driving device 61 drives the roller to rotate through a motor and a gear transmission, driving the intervention device 40 to move forward or backward. During the movement of the intervention device 40, the control terminal 10 continuously adjusts the speed of the driving device 61 according to the currently determined current movement direction, ensuring that the intervention device 40 always moves along the planned path.

[0142] In summary, a blood vessel intervention method provided by this application accurately controls an imaging device by a control terminal to collect multiple two-dimensional blood vessel images of a patient and perform three-dimensional reconstruction to obtain a detailed three-dimensional blood vessel model. Based on this three-dimensional blood vessel model, the control terminal can accurately obtain the current position and target position of the intervention device in the blood vessel, as well as the specific position information of the blood vessel, so as to accurately determine the movement direction, speed and intervention depth of the intervention device. By controlling the direction and intensity of the magnetic field generated by the electromagnet and the speed of the driving device, it is ensured that the intervention device turns and moves precisely along the planned path in the blood vessel and does not deviate from the central axis of the blood vessel. The accuracy and safety of blood vessel intervention operations are improved, and the risks of blood vessel intervention surgeries are reduced.

[0143] Based on the above-described embodiments disclosed in the present application, in another embodiment of the present application, the vascular intervention system further includes a power device 70. The power device 70 includes a first cable sensor 71, a first servo motor 72, and a first lead screw 73. The control terminal 10 is also communicatively connected to the first cable sensor 71 and the first servo motor 72 respectively. The first cable sensor 71 is communicatively connected to the angiography device 20 and the electromagnet device 50 respectively, so that both the angiography device 20 and the electromagnet device 50 can move horizontally. The first servo motor 72 is physically connected to the angiography device 20 and the electromagnet device 50 respectively through the first lead screw 73. A detailed description is given of the specific implementation manner before step S101, where the control terminal 10 controls the imaging device 21 to acquire a plurality of two-dimensional vascular images of the patient on the catheter bed device 30 and performs three-dimensional reconstruction on the plurality of two-dimensional vascular images of the patient to obtain a three-dimensional vascular model of the patient.

[0144] As an implementable manner, please refer to the attached Figure 25 , which is a schematic flowchart of a method for a control terminal to control the movement of an angiography device and an electromagnet device through a power device disclosed in the present application. The method may include the following steps:

[0145] Step S201: The control terminal 10 controls the first cable sensor 71 to obtain a first distance and a second distance between the patient and the angiography device 20 and the electromagnet device 50 respectively, and calculates a first distance difference between the first distance and a first preset distance, and a second distance difference between the second distance and a second preset distance.

[0146] It should be noted that the first preset distance is an ideal distance between the patient and the angiography device 20 set in advance. The second preset distance is an ideal distance between the patient and the electromagnet device 50 set in advance.

[0147] In the present application, the control terminal 10 performs data interaction with the first cable sensor 71 through a communication connection. The control terminal 10 sends instructions to the first cable sensor 71 in real time to control it to perform distance measurement. The first cable sensor 71 is used to measure the distances between the patient and the angiography device 20 and the electromagnet device 50. The first cable sensor 71 is communicatively connected to the angiography device 20 and the electromagnet device 50 respectively, so that both the angiography device 20 and the electromagnet device 50 can move horizontally and can obtain distance information in real time. The control terminal 10 calculates the difference between the first distance and the first preset distance as the first distance difference in real time, and calculates the difference between the second distance and the second preset distance as the second distance difference in real time. The distance measurement method can use various distance measurement methods, such as Euclidean distance, Mahalanobis distance, etc.

[0148] Step S202: The control terminal 10 controls the first servo motor 72 to provide power to the angiography device 20 and the electromagnet device 50 through the first lead screw 73, so that the angiography device 20 moves a first distance difference, and the electromagnet device 50 moves a second distance difference.

[0149] In this application, the control terminal 10 performs data interaction with the first servo motor 72 through a communication connection. The control terminal 10 sends instructions to the first servo motor 72 in real time to control its operation. The first servo motor 72 serves as a power source and converts rotational motion into linear motion through the first lead screw 73 to drive the angiography device 20 and the electromagnet device 50 to move.

[0150] Specifically, the first servo motor 72 drives the angiography device 20 to move a first distance difference through the first lead screw 73. During the movement, the first cable tension sensor 71 monitors the position of the angiography device 20 in real time and feeds back the data to the control terminal 10. The control terminal 10 adjusts the operation of the first servo motor 72 according to the feedback data to ensure that the angiography device 20 accurately moves the first distance difference. The first servo motor 72 drives the electromagnet device 50 to move a second distance difference through the first lead screw 73. During the movement, the first cable tension sensor 71 monitors the position of the electromagnet device 50 in real time and feeds back the data to the control terminal 10. The control terminal 10 adjusts the operation of the first servo motor 72 according to the feedback data to ensure that the electromagnet device 50 accurately moves the second distance difference.

[0151] In summary, in the embodiment of this application, the control terminal controls the first servo motor to provide power to the angiography device and the electromagnet device through the first lead screw, so that the angiography device and the electromagnet device move the required distances. This process ensures the position accuracy of the angiography device and the electromagnet device during the vascular intervention surgery, and improves the safety and effectiveness of the vascular intervention surgery.

[0152] Based on the above-described embodiments disclosed in the present application, in another embodiment of the present application, the catheter bed device 30 includes a second cable sensor 31, a second servo motor 32, a second lead screw 33, a vertical movement device 34, a cable encoder 35, a third servo motor 36, a third lead screw 37, and a lateral movement device 38. The control terminal 10 is communicatively connected to the second cable sensor 31, the second servo motor 32, the cable encoder 35, and the third servo motor 36 respectively. The second cable sensor 31 is communicatively connected to the vertical movement device 34. The second servo motor 32 is physically connected to the vertical movement device 34 through the second lead screw 33. The cable encoder 35 is communicatively connected to the lateral movement device 38. The third servo motor 36 is physically connected to the lateral movement device 38 through the third lead screw 37. The vertical movement device 34 is physically connected to the lateral movement device 38. The lateral movement device 38 can move radially along the annular structure of the angiography device 20 so that the lateral movement device 38 is within the range of action of the imaging device 21. The driving device 61 is disposed on the lateral movement device 38. The specific implementation manner before step S201 where the control terminal 10 controls the first cable sensor 71 to obtain the first distance and the second distance between the patient and the angiography device 20 and the electromagnet device 50 respectively, and calculates the first distance difference between the first distance and the first preset distance, and the second distance difference between the second distance and the second preset distance is described in detail.

[0153] As an implementable manner, please refer to the attached Figure 26 , which is a schematic flowchart of a method for a control terminal to control the movement of a catheter bed device disclosed in the present application. The method may include the following steps:

[0154] Step S301: The control terminal 10 controls the second cable sensor 31 to obtain the third distance between the patient and the vertical movement device 34, and calculates the third distance difference between the third distance and the third preset distance.

[0155] It should be noted that the third preset distance is the ideal distance between the patient and the vertical movement device 34 set in advance.

[0156] In the present application, the control terminal 10 performs data interaction with the second cable sensor 31 through the communication connection. The control terminal 10 sends instructions to the second cable sensor 31 in real time to control it to perform distance measurement. The second cable sensor 31 is used to measure the distance between the patient and the vertical movement device 34. The second cable sensor 31 is communicatively connected to the vertical movement device 34 and can obtain distance information in real time. The control terminal 10 calculates the third distance difference between the third distance and the third preset distance in real time. The distance measurement method can use various distance measurement methods, such as Euclidean distance, Mahalanobis distance, etc.

[0157] Step S302: The control terminal 10 controls the second servo motor 32 to provide power to the vertical movement device 34 through the second lead screw 33, so that the vertical movement device 34 moves by a third distance difference.

[0158] In this application, the control terminal 10 performs data interaction with the second servo motor 32 through a communication connection. The control terminal 10 sends instructions to the second servo motor 32 in real time to control its operation. The second servo motor 32 serves as a power source, converts the rotational motion into a linear motion through the second lead screw 33, and drives the vertical movement device 34 to move by a third distance difference in real time. During the movement, the second cable tension sensor 31 monitors the position of the vertical movement device 34 in real time and feeds back the data to the control terminal 10. The control terminal 10 adjusts the operation of the second servo motor 32 in real time according to the feedback data to ensure that the distance between the vertical movement device 34 and the patient reaches the preset ideal distance.

[0159] Step S303: The control terminal 10 controls the cable encoder 35 to obtain the fourth distance between the preset position and the left-right movement device 38.

[0160] It should be noted that the preset position is the ideal position of the left-right movement device 38 set in advance.

[0161] In this application, the control terminal 10 performs data interaction with the cable encoder 35 through a communication connection. The control terminal 10 sends instructions to the cable encoder 35 in real time to control its distance measurement. The cable encoder 35 is used to measure the distance between the preset position and the left-right movement device 38. The cable encoder 35 is communicatively connected to the left-right movement device 38 and can obtain the distance information in real time. The control terminal 10 calculates the difference between the fourth distance and the preset position in real time. The distance measurement method can use various distance measurement methods, such as Euclidean distance, Mahalanobis distance, etc.

[0162] Step S304: The control terminal 10 controls the third servo motor 36 to provide power to the left-right movement device 38 through the third lead screw 37, so that the left-right movement device 38 moves by a fourth distance.

[0163] In this application, the control terminal 10 performs data interaction with the third servo motor 36 through a communication connection. The control terminal 10 sends instructions to the third servo motor 36 in real time to control its operation. The third servo motor 36 serves as a power source, converts the rotational motion into a linear motion through the third lead screw 37, and drives the left-right movement device 38 to move by a fourth distance difference in real time. During the movement, the cable encoder 35 monitors the position of the left-right movement device 38 in real time and feeds back the data to the control terminal 10. The control terminal 10 adjusts the operation of the third servo motor 36 in real time according to the feedback data to ensure that the left-right movement device 38 accurately moves by a fourth distance difference.

[0164] In summary, in the embodiment of the present application, the control terminal 10 controls the third servo motor 36 to provide power to the left - right moving device 38 through the third lead screw 37, so that the left - right moving device 38 moves by a fourth distance difference. This process ensures the position accuracy of the left - right moving device 38 during the vascular intervention surgery, and improves the safety and effect of the vascular intervention surgery.

[0165] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description of the method part.

[0166] In addition, it should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the attached drawings of the device embodiments provided in the present application, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines.

[0167] Through the description of the above - mentioned implementation manners, those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary general - purpose hardware. Of course, it can also be implemented by means of special hardware, including application - specific integrated circuits, dedicated CPUs, dedicated memories, dedicated components, etc. Generally, functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structures for implementing the same function can also be various, such as analog circuits, digital circuits or dedicated circuits. However, for the present application, in more cases, software program implementation is a better implementation manner. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a floppy disk, a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disc of a computer, etc., and includes several instructions for causing a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0168] In the above - mentioned embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product.

[0169] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (such as coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a training device or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

Claims

1. A vascular intervention system, characterized in that: include: A control terminal (10), an angiography device (20), a catheter bed device (30), an intervention device (40), an electromagnet device (50) and a derivation device (60), wherein at least two imaging devices (21) are distributed on the annular structure of the angiography device (20), a head of the intervention device (40) is provided with a magnetic material, the electromagnet device (50) comprises at least one electromagnetic ring (51), each of the electromagnetic rings (51) is evenly distributed with a plurality of electromagnets (52), and the derivation device (60) comprises a driving device (61), The control terminal (10) is respectively connected to the imaging device (21), each of the electromagnets (52), the catheter bed device (30), and the driving device (61) for communication; The catheter bed device (30) can move radially along the annular structure of the angiography device (20) so that the catheter bed device (30) is located within the action range of the imaging device (21); The intervention device (40) can be spirally moved along the axial direction of the driving device (61) so that the magnetic material is located within the action range of the plurality of electromagnets (52); The intervention device (40) is arranged on the driving device (61); The driving device (61) is arranged on the catheter bed device (30).

2. The vascular intervention system according to claim 1, characterized in that: The system further comprises a power device (70), wherein the power device (70) comprises a first pull-wire sensor (71), a first servo motor (72) and a first lead screw (73). The control terminal (10) is also respectively connected to the first rope sensor (71) and the first servo motor (72) for communication; The first pull-wire sensor (71) is respectively connected to the angiography device (20) and the electromagnet device (50) in communication, so that the angiography device (20) and the electromagnet device (50) can both move horizontally; The first servo motor (72) is physically connected to the angiography device (20) and the electromagnet device (50) respectively through the first lead screw (73).

3. The vascular intervention system according to claim 1, characterized in that: Three imaging devices (21) are evenly distributed on the annular structure of the angiography device (20), and each imaging device (21) includes a detector (211) and a tube (212). The control terminal (10) is respectively connected to the detector (211) and the tube (212) for communication; The catheter bed device (30) can move radially along the annular structure of the angiography device (20) so that the catheter bed device (30) is located within the action range of the detector (211) and the ball tube (212).

4. The vascular intervention system according to claim 1, characterized in that: The electromagnet device (50) comprises two electromagnetic rings (51), each of the electromagnetic rings (51) is evenly distributed with a plurality of electromagnets (52), each of the electromagnets (52) comprises an iron core (521), a coil (522) and a cooling water jacket (523), the coil (522) is a rectangular wire, The electromagnetic rings (51) are distributed symmetrically with respect to the angiography device (20), and the central axis of each electromagnetic ring (51) coincides with the central axis of the angiography device (20); The control terminal (10) is respectively connected to each of the electromagnets (52) for communication; The intervention device (40) can be spirally moved along the axial direction of the driving device (61) so that the magnetic material is located within the action range of the plurality of electromagnets (52); The rectangular conductive wire is spirally wound on the iron core (521), and the cooling water jacket (523) is spirally wrapped around the outside of the coil (522).

5. The vascular intervention system according to claim 1, characterized in that: The interventional device (40) comprises a catheter and / or a guide wire, The head of the catheter is provided with the magnetic material, and the head of the guide wire is provided with the magnetic material; The catheter is arranged on the driving device (61), and the guide wire is arranged on the driving device (61).

6. The vascular intervention system according to claim 5, characterized in that: The introducer device (60) further comprises a winding device (62), wherein the winding device (62) comprises a catheter winding device (621) and / or a guide wire winding device (622), and the driving device (61) comprises a catheter driving device (611) and / or a guide wire driving device (612). The control terminal (10) is also in communication connection with the winding device (62); The coiling device (62) is disposed on the catheter bed device (30); The catheter winding device (621) is physically connected to the catheter driving device (611), and the guide wire winding device (622) is physically connected to the guide wire driving device (612); The catheter is arranged on the catheter driving device (611), and the guide wire is arranged on the guide wire driving device (612); The catheter is arranged on the catheter winding device (621), and the guide wire is arranged on the guide wire winding device (622).

7. The vascular intervention system according to claim 1, characterized in that: The catheter bed device (30) comprises a second draw wire sensor (31), a second servo motor (32), a second lead screw (33), an up-and-down moving device (34), a draw wire encoder (35), a third servo motor (36), a third lead screw (37) and a left-and-right moving device (38). The control terminal (10) is respectively connected to the second pull-wire sensor (31), the second servo motor (32), the pull-wire encoder (35) and the third servo motor (36) for communication; The second pull rope sensor (31) is communicatively connected to the up-and-down moving device (34); The second servo motor (32) is physically connected to the up-and-down moving device (34) via the second lead screw (33); The draw-wire encoder (35) is communicatively connected to the left-right moving device (38); The third servo motor (36) is physically connected to the left-right moving device (38) via the third lead screw (37); The up-and-down moving device (34) is physically connected to the left-and-right moving device (38); The left-right moving device (38) can move radially along the annular structure of the angiography device (20), so that the left-right moving device (38) is located within the action range of the imaging device (21); The driving device (61) is arranged on the left-right moving device (38).

8. A vascular intervention method, characterized in that: The vascular intervention system according to any one of claims 1 to 7, wherein the method comprises: The control terminal (10) controls the imaging device (21) to collect a plurality of two-dimensional blood vessel images of a patient on the catheter bed device (30), and performs three-dimensional reconstruction on the plurality of two-dimensional blood vessel images of the patient to obtain a three-dimensional blood vessel model of the patient; The control terminal (10) obtains the current position and target position of the intervention device (40) in the patient's blood vessel in the three-dimensional blood vessel model of the patient, as well as the vascular position of the patient's blood vessel, and determines the current moving direction, current moving speed and current intervention depth of the intervention device (40) based on the current position, the target position and the vascular position; The control terminal (10) controls the magnetic field direction of the magnetic field generated by the plurality of electromagnets (52) on each electromagnetic ring (51) so that the intervention device (40) provided with the magnetic material moves in the patient's blood vessel in the magnetic field according to the current moving direction, and controls the magnetic field strength of the magnetic field so that the intervention device (40) provided with the magnetic material moves in the patient's blood vessel in the magnetic field according to the current intervention depth; The control terminal (10) controls the speed of the driving device (61) so that the intervention device (40) moves in the patient's blood vessel at the current moving speed.

9. The vascular intervention method according to claim 8, characterized in that: The system further comprises a power device (70), wherein the power device (70) comprises a first pull-wire sensor (71), a first servo motor (72) and a first lead screw (73); the control terminal (10) is also respectively connected to the first pull-wire sensor (71) and the first servo motor (72) in communication; the first pull-wire sensor (71) is respectively connected to the angiography device (20) and the electromagnet device (50) in communication, so that the angiography device (20) and the electromagnet device (50) can both move horizontally; the first servo motor (72) is respectively physically connected to the angiography device (20) and the electromagnet device (50) through the first lead screw (73); Before the control terminal (10) controls the imaging device (21) to collect a plurality of two-dimensional vascular images of a patient on the catheter bed device (30), and performs three-dimensional reconstruction on the plurality of two-dimensional vascular images of the patient to obtain a three-dimensional vascular model of the patient, the method further comprises: The control terminal (10) controls the first pull-wire sensor (71) to obtain a first distance and a second distance between the patient and the angiography device (20) and the electromagnet device (50), respectively, and calculates a first distance difference between the first distance and a first preset distance, and a second distance difference between the second distance and a second preset distance; The control terminal (10) controls the first servo motor (72) to provide power to the angiography device (20) and the electromagnet device (50) through the first lead screw (73), so that the angiography device (20) moves the first distance difference, and the electromagnet device (50) moves the second distance difference.

10. The vascular intervention method according to claim 9, characterized in that: The catheter bed device (30) comprises a second draw-wire sensor (31), a second servo motor (32), a second lead screw (33), an up-and-down moving device (34), a draw-wire encoder (35), a third servo motor (36), a third lead screw (37) and a left-and-right moving device (38); the control terminal (10) is respectively connected to the second draw-wire sensor (31), the second servo motor (32), the draw-wire encoder (35) and the third servo motor (36); the second draw-wire sensor (31) is connected to the up-and-down moving device (34); the second servo motor (32) is connected to the up-and-down moving device (34) via the second lead screw (33); ) is physically connected to the up-down moving device (34), the draw wire encoder (35) is communicatively connected to the left-right moving device (38), the third servo motor (36) is physically connected to the left-right moving device (38) via the third lead screw (37), the up-down moving device (34) is physically connected to the left-right moving device (38), the left-right moving device (38) can move radially along the annular structure of the angiography device (20) so that the left-right moving device (38) is located within the action range of the imaging device (21), and the driving device (61) is arranged on the left-right moving device (38), Before the control terminal (10) controls the first pull-wire sensor (71) to obtain the first distance and the second distance between the patient and the angiography device (20) and the electromagnet device (50), respectively, and calculates a first distance difference between the first distance and a first preset distance, and a second distance difference between the second distance and a second preset distance, the method further comprises: The control terminal (10) controls the second pull-wire sensor (31) to obtain a third distance between the patient and the up-and-down moving device (34), and calculates a third distance difference between the third distance and a third preset distance; The control terminal (10) controls the second servo motor (32) to provide power to the up-and-down moving device (34) through the second lead screw (33), so that the up-and-down moving device (34) moves the third distance difference; The control terminal (10) controls the rope encoder (35) to obtain a fourth distance between a preset position and the left-right moving device (38); The control terminal (10) controls the third servo motor (36) to provide power to the left-right moving device (38) through the third lead screw (37), so that the left-right moving device (38) moves the fourth distance.

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