Multi-card distributing device and method based on magnetic induction navigation

Abstract

The invention belongs to the technical field of medical equipment, and discloses a multi-card needle arrangement device and method based on magnetic induction navigation, the multi-card needle arrangement device comprises a puncture needle, a magnetic excitation controller, a body surface electrode slice and an electromagnetic navigation host, the puncture needle comprises a main needle and at least one slave needle, the needle tips of the main needle and the slave needle are provided with ablation electrodes, and the needle tails are provided with electrode caps. Intermittent weak alternating current is injected into a loop formed by the main needle and the body surface electrode plate through the magnetic excitation controller, and a positioning magnetic field is generated in the object body; the slave needle detects the magnetic field intensity through the built-in MEMS magnetic sensor, and realizes accurate positioning by combining the angle data of the tilt angle sensor. The device is reasonable in structural design, convenient to operate, safe, reliable and suitable for a multi-needle collaborative ablation operation in tumor minimally invasive therapy, the problems of external interference and sensor drifting in traditional multi-needle navigation are solved, and the precision and stability of multi-needle needle arrangement are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a multi-needle needle placement device and method based on magnetic induction navigation. Background Art

[0002] In minimally invasive tumor treatment, multi-needle collaborative ablation is an important treatment method. For example, irreversible electroporation requires that the multi-needle electrodes must be strictly parallel or nearly parallel (such as the angle between needles ≤ 5°). Radiofrequency multi-needle ablation requires multiple needles to be accumulated at a certain angle to cover the lesion, so as to avoid missing the lesion area. Especially when dealing with irregular tumors, it is necessary to cover the three-dimensional shape of the tumor with multiple needles and ensure a safety margin, which requires extremely high positioning accuracy of the puncture needles. A small deviation will result in insufficient ablation range or damage to surrounding tissues. Common percutaneous puncture surgical navigation systems or freehand punctures are relatively effective for single-needle navigation. For multi-needle navigation, due to the interference of the already placed needles, multi-needle needle placement is relatively difficult. For multi-needle ablation, even if the actual puncture pose of the first main needle has a slight deviation from the plan, after the puncture is in place, the pose of the follow-up needles can be slightly adjusted according to the actual pose of the main needle. Therefore, the navigation accuracy and difficulty of the follow-up needles are higher than those of the main needle. Most of the existing multi-needle navigation technologies adopt external magnetic field or pure MEMS navigation technologies. External magnetic field navigation is easily affected by the environment and requires additional arrangement of magnetic field generating devices; pure MEMS navigation has problems of sensor drift, resulting in large errors and low navigation accuracy. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-needle needle placement device and method based on magnetic induction navigation to solve the above technical problems.

[0004] To solve the above technical problems, the specific technical solutions of a multi-needle needle placement device and method based on magnetic induction navigation of the present invention are as follows: A multi-needle needle placement device based on magnetic induction navigation includes a puncture needle, a magnetic excitation controller, a body surface electrode patch, and an electromagnetic navigation host. The puncture needle includes a main needle and one or more follow-up needles. The tips of the main needle and the follow-up needles have ablation electrodes, and the needle tails have electrode caps. The ablation electrodes are connected to the electrode caps by wires. The body surface electrode patch is in contact connection with the surface of the object body. The electrode cap at the tail of the main needle is connected to the body surface electrode patch through the magnetic excitation controller. The magnetic excitation controller is in communication connection with the electromagnetic navigation host. By controlling the magnetic excitation controller to output an intermittent weak alternating current through the electromagnetic navigation host, an intermittent positioning magnetic field is generated inside the object body in the current loop formed by the main needle and the body surface electrode patch. The follow-up needles determine the needle insertion position by detecting the magnetic field intensity information when approaching the main needle.

[0005] Further, an MEMS magnetic sensor is built into the tip of the slave needle. The MEMS magnetic sensor is communicatively connected to the electromagnetic navigation host. The electromagnetic navigation host obtains the magnetic field intensity information detected by the MEMS magnetic sensor at the tip of the slave needle, calculates the distance of the slave needle relative to the master needle, and thus controls the needle insertion position of the slave needle.

[0006] Further, an inclination sensor is integrated on the electrode cap at the tail of the slave needle. The inclination sensor is communicatively connected to the electromagnetic navigation host. The electromagnetic navigation host determines the needle insertion angle of the slave needle based on the data fed back by the inclination sensor.

[0007] Further, the magnetic excitation controller includes a communication module, an excitation power supply, a first switch, a second switch, a first ablation electrode interface, a first body surface electrode patch interface, a second ablation electrode interface, and a second body surface electrode patch interface. The first ablation electrode interface and the first body surface electrode patch interface are respectively connected to the first switch and the second switch. The positive and negative electrode interfaces of the excitation power supply are respectively connected to one contact of the first switch and the second switch. The second ablation electrode interface and the second body surface electrode patch interface are respectively connected to the other contact of the first switch and the second switch. The communication module is connected to the excitation power supply. The electromagnetic navigation host controls the excitation power supply, the first switch, and the second switch through the communication module. The first ablation electrode interface is used to connect to the electrode cap of the master needle, and the ablation electrode of the master needle is connected through the electrode cap of the master needle. The first body surface electrode patch interface is used to connect to the body surface electrode patch. The second ablation electrode interface and the second body surface electrode patch interface are used to connect to the ablation host. The first switch and the second switch work together to select the magnetic field generation path or the ablation path.

[0008] Further, the electrode cap at the tail of the master needle includes a current interface, a power supply interface, and an indicator light module. The inside of the current interface is connected to the ablation electrode at the tip of the needle. The first ablation electrode interface of the magnetic excitation controller is connected to the current interface. The first body surface electrode patch interface of the magnetic excitation controller is connected to the body surface electrode patch. The indicator light module is electrically connected to the current interface. The power supply interface is connected to an external power supply or a battery to supply power to the indicator light module.

[0009] Further, the electrode cap at the tail of the slave needle includes a current interface, a power supply interface, a communication module, and an inclination sensor. The inside of the current interface is connected to the ablation electrode at the tip of the needle. The current interface is used to connect to the ablation electrode interface on the ablation host, and the ablation current is input through the ablation host. The electromagnetic navigation host is communicatively connected to the inclination sensor at the tail of the slave needle and the MEMS magnetic sensor built into the tip of the slave needle through the communication module. The power supply interface is electrically connected to the communication module to supply power to the communication module.

[0010] Further, the structures of the main needle and the secondary needles are the same. The needle tips all include MEMS magnetic sensors, and the electrode caps all include a current interface, a power supply interface, an indicator light module, a communication module, and an inclination sensor.

[0011] Further, the intermittent weak alternating current output by the magnetic excitation controller is a pulsed current of 0.3 - 0.5 A.

[0012] The present invention also discloses a multi-needle placement method for a multi-needle placement device based on magnetic induction navigation, including the following steps: Step 1: Main needle magnetic field generation: Connect the first ablation electrode interface and the first body surface electrode patch interface of the magnetic excitation controller to the current interface on the electrode cap of the main needle and the body surface electrode patch respectively. The electromagnetic navigation host controls the first switch and the second switch to connect the excitation power supply, and controls the magnetic excitation controller to inject a weak alternating current into the loop. Using a pulsed power supply method, an intermittent pulsed power supply current closed loop is formed to generate an intermittent stable magnetic field on the main needle. Step 2: Secondary needle positioning: During the process of the secondary needle approaching the main needle, the magnetic field intensity signal is acquired through the MEMS magnetic sensor built into the needle tip and uploaded to the electromagnetic navigation host. The electromagnetic navigation host calculates the relative position between the secondary needle and the main needle, thereby determining the needle insertion position of the secondary needle; the inclination sensor acquires the inclination angle of the secondary needle and uploads it to the electromagnetic navigation host. The electromagnetic navigation host determines the needle insertion angle of the secondary needle according to the data collected by the inclination sensor. Step 3: Dynamic compensation: The magnetic excitation controller real-time acquires the impedance value feedback in the current return, adjusts the magnitude of the output magnetic field current, thereby performing dynamic compensation; at the same time, by establishing a calibration database of current - magnetic field intensity - distance, the positioning accuracy is improved.

[0013] The multi-needle placement device and method based on magnetic induction navigation of the present invention have the following advantages: 1. High-precision navigation An intermittent positioning magnetic field is generated in the object body through the navigation intermittent excitation current loop formed by the main needle and the body surface electrode patch with a power lower than the ablation power. The electromagnetic navigation host calculates the relative position and angle between the secondary needle and the main needle in real time through the MEMS magnetic sensor and the inclination sensor built into the tip of the secondary needle, ensuring the accuracy of multi-needle placement and effectively avoiding the error problems caused by external interference or sensor drift in traditional multi-needle navigation.

[0014] 2. Dynamic compensation and stability The magnetic excitation controller can real-time acquire the impedance value of the current loop, dynamically adjust the magnitude of the output magnetic field current, and ensure the stability of the magnetic field intensity. By establishing a calibration database of current - magnetic field intensity - distance, the stability and positioning accuracy of the system are further improved.

[0015] 3. Simplified Structure and Convenient Operation The structures of the master needle and the slave needle can be designed to be the same. During use, they can be randomly selected as the master needle or the slave needle according to requirements, simplifying the operation process. The electrode cap integrates functional components such as current interfaces, power interfaces, and communication modules, reducing the dependence on external devices and enhancing the convenience of use.

[0016] 4. Safe and Reliable The magnetic field current (0.3 - 0.5A) is a weak alternating current, which is less than the ablation current, has a short navigation time, and uses intermittent pulse power supply. The generated heat is very low and can be absorbed by the human body, without causing additional damage to tissues. At the same time, the indicator light module real-time indicates the status of the current loop, further ensuring the safety of the operation.

[0017] 5. Wide Applicability It is applicable to multi-needle collaborative ablation in minimally invasive tumor treatment, such as scenarios like irreversible electroporation and radiofrequency ablation. It can meet the requirements of strict parallel or specific-angle needle placement for multiple needles, especially suitable for treating irregular tumors, ensuring that the ablation range covers the lesion and protects the surrounding healthy tissues.

[0018] 6. Advanced Technology Compared with traditional external magnetic field navigation or pure MEMS navigation technology, the present invention combines the advantages of magnetic induction and MEMS sensors, avoiding environmental interference and sensor drift problems, and significantly improving the navigation accuracy and reliability of the slave needle.

[0019] 7. Efficient Ablation Through precise multi-needle placement and dynamic compensation technology, it can quickly complete the three-dimensional coverage of the lesion, improve the ablation efficiency, reduce the operation time, and enhance the treatment effect.

[0020] In summary, the present invention has significant advantages in terms of accuracy, stability, safety, operation convenience, and application scope, providing an efficient and reliable technical means for minimally invasive tumor treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall structural schematic diagram of the multi-needle placement device based on magnetic induction navigation of the present invention; Figure 2 is the structural block diagram of the multi-needle placement device based on magnetic induction navigation of the present invention; Figure 3 is the structural schematic diagram of the master needle of the present invention; Figure 4 is the structural schematic diagram of the slave needle of the present invention; Figure 5 is the structural schematic diagram of the magnetic excitation controller of the present invention; Figure 6 is the structural schematic diagram of the electrode cap of the master needle of the present invention; Figure 7 Schematic diagram of the secondary needle electrode cap structure of the present invention; Figure 8 Schematic diagram of the unified structure of the puncture needle electrode cap of the present invention; Figure 9 Curved graph of the precision test data of the present invention; Description of the markings in the figure: 1. Puncture needle; 11. Main needle; 12. Secondary needle; 13. Electrode cap; 131. Current interface; 132. Power supply interface; 133. Indicator light module; 134. Communication module; 135. Tilt sensor; 14. Ablation electrode; 15. MEMS magnetic sensor; 2. Magnetic excitation controller; 21. Communication module 1; 22. Excitation power supply; 23. One - of - two switch 1; 24. One - of - two switch 2; 25. Ablation electrode interface 1; 26. Body surface electrode patch interface 1; 27. Ablation electrode interface 2; 28. Body surface electrode patch interface 2; 3. Body surface electrode patch; 4. Electromagnetic navigation host; 5. Ablation host. Detailed implementation manners

[0022] In order to better understand the purpose, structure and function of the present invention, the following further describes in detail a multi - needle placement device and method based on magnetic induction navigation of the present invention with reference to the accompanying drawings.

[0023] As Figures 1-4As shown in the figure, a multi-needle cloth needle device based on magnetic induction navigation of the present invention includes a puncture needle 1, a magnetic excitation controller 2, a body surface electrode patch 3, and an electromagnetic navigation host 4. The puncture needle 1 includes a main needle 11 and one or more than one secondary needle 12. The tips of the main needle 11 and the secondary needles 12 are provided with ablation electrodes 14, and the needle tails are provided with electrode caps 13. The ablation electrodes 14 and the electrode caps 13 are wired-connected through contacts similar to SIM cards. The body surface electrode patch 3 is in contact connection with the surface of the object body (human body or animal body). The electrode cap 13 at the needle tail of the main needle 11 is connected to the body surface electrode patch 3 through the magnetic excitation controller 2. The magnetic excitation controller 2 is communicatively connected to the electromagnetic navigation host 4. By controlling the magnetic excitation controller 2 through the electromagnetic navigation host 4 to output an intermittent weak alternating current, a positioning magnetic field is generated inside the object body in the current loop formed by the main needle 11 and the body surface electrode patch 3. An MEMS magnetic sensor 15 is built into the tip of the secondary needle 12. The MEMS magnetic sensor 15 is communicatively connected to the electromagnetic navigation host 4 through a communication module two 134 inside the electrode cap 13. The electromagnetic navigation host 4 obtains the magnetic field intensity information detected by the MEMS magnetic sensor 15 at the tip of the secondary needle 12, calculates the distance of the secondary needle 12 relative to the main needle 11, and thus controls the needle insertion position of the secondary needle 12. An inclination sensor 135 is integrated on the electrode cap 13 at the needle tail of the secondary needle 12. The inclination sensor 135 is communicatively connected to the electromagnetic navigation host 4 through a communication module two 134 inside the electrode cap 13. The electromagnetic navigation host 4 determines the needle insertion angle of the secondary needle 12 based on the data fed back by the inclination sensor 135.

[0024] In a conventional ablation operation, an ablation current is formed by connecting an electrode patch at the tip of the puncture needle and an external electrode patch to an ablation host 5 respectively. In the present invention, a magnetic excitation controller 2 is added between the ablation host 5 and the puncture needle. Through a two-way switch selection, one path is used to generate an internal magnetic field, and the other path is connected to the ablation host for ablation. As Figure 4As shown in the figure, the magnetic excitation controller 2 includes a communication module 21, an excitation power supply 22, a first two-way switch 23, a second two-way switch 24, a first ablation electrode interface 25, a first body surface electrode patch interface 26, a second ablation electrode interface 27, and a second body surface electrode patch interface 28. The first ablation electrode interface 25 and the first body surface electrode patch interface 26 are respectively connected to the first two-way switch 23 and the second two-way switch 24. The positive and negative electrode interfaces of the excitation power supply 22 are respectively connected to one contact of the first two-way switch 23 and the second two-way switch 24. The second ablation electrode interface 27 and the second body surface electrode patch interface 28 are respectively connected to the other contact of the first two-way switch 23 and the second two-way switch 24. The communication module 21 is connected to the excitation power supply 22. The electromagnetic navigation host 4 controls the excitation power supply and the first two-way switch 23 and the second two-way switch 24 through the communication module 21. The first ablation electrode interface 25 is used to connect the electrode cap 13 of the main needle 11, and the ablation electrode of the main needle 11 is connected through the electrode cap 13 of the main needle 11. The first body surface electrode patch interface 26 is used to connect the body surface electrode patch 3. The second ablation electrode interface 27 and the second body surface electrode patch interface 28 are used to connect the ablation host 5. The first two-way switch 23 and the second two-way switch 24 work together to select the magnetic field generation path or the ablation path. During navigation, the electromagnetic navigation host 4 controls the first two-way switch 23 and the second two-way switch 24 to connect the excitation power supply 22, and controls the current magnitude and duty cycle of the excitation power supply 22 to form an intermittent weak alternating current loop between the ablation electrode of the main needle 11 and the body surface electrode patch 3, generating an intermittent positioning magnetic field. During ablation, the electromagnetic navigation host 4 controls the first two-way switch 23 and the second two-way switch 24 to connect the second ablation electrode interface 27 and the second body surface electrode patch interface 28, and turns on the ablation host 5 for ablation.

[0025] As Figure 6 shown, the electrode cap 13 at the tail of the main needle 11 includes a current interface 131, a power supply interface 132, and an indicator light module 133. The inside of the current interface 131 is connected to the ablation electrode 14 at the tip of the needle. The first ablation electrode interface 25 of the magnetic excitation controller 2 is connected to the current interface 131 through a cable. The first body surface electrode patch interface 26 of the magnetic excitation controller 2 is connected to the body surface electrode patch 3 through a cable. The indicator light module 133 is electrically connected to the current interface 131 and is used to indicate whether the current is connected. If the current is connected, the light is on. The power supply interface 132 is connected to an external power supply or a battery and is used to supply power to the indicator light module 133.

[0026] As Figure 7As shown in the figure, the electrode cap 13 at the tail of the needle 12 includes a current interface 131, a power supply interface 132, a communication module II 134, and an inclination sensor 135. The inside of the current interface 131 is connected to the ablation electrode 14 at the tip of the needle. The current interface 131 is used to connect to the ablation electrode interface on the ablation host 5, and the ablation current is input through the ablation host 5. The electromagnetic navigation host 4 is communicatively connected to the inclination sensor 135 at the tail of the slave needle 12 and the MEMS magnetic sensor 15 built into the tip of the slave needle 12 through the communication module II 134. The communication module II 134 is preferably a Bluetooth communication module. The power supply interface 132 is electrically connected to the communication module II 134 and is used to supply power to the communication module II 134.

[0027] As Figure 8 shown, for convenience of use, the structures of the master needle 11 and the slave needle 12 can be designed to be the same. The tips of both needles include MEMS magnetic sensors 15, and the electrode caps 13 both include a current interface 131, a power supply interface 132, an indicator light module 133, a communication module II 134, and an inclination sensor 135. When in use, one of them can be randomly selected as the master needle, and the corresponding hardware connection can be made according to the function used.

[0028] A multi-needle placement method based on magnetic induction navigation according to the present invention includes the following steps: Step 1: Generation of the master needle magnetic field: Connect the ablation electrode interface I 25 and the body surface electrode patch interface I 26 of the magnetic excitation controller 2 to the current interface 131 on the electrode cap 13 of the master needle 11 and the body surface electrode patch 3 respectively. The electromagnetic navigation host 4 controls the two-way switch I 23 and the two-way switch II 24 to connect to the excitation power supply 22, and controls the magnetic excitation controller 2 to inject a weak alternating current with an amplitude of 0.3 - 0.5 A into the loop. A pulse power supply method with a duty cycle of one-tenth is adopted, that is, a 1 KHz sine wave is supplied for 10 ms and power supply is stopped for 90 ms to form an intermittent pulse power supply current closed loop, and an intermittent stable magnetic field is generated on the master needle 11.

[0029] Step 2: Positioning of the slave needle: During the process of the slave needle 12 approaching the master needle 11, the magnetic field intensity signal is obtained through the MEMS magnetic sensor 15 built into the tip of the needle and uploaded to the electromagnetic navigation host 4 through the communication module II 134. The electromagnetic navigation host 4 calculates the relative position between the slave needle 12 and the master needle 11, so as to determine the needle insertion position of the slave needle 12. The inclination sensor 135 obtains the inclination angle of the slave needle 12 and uploads it to the electromagnetic navigation host 4 through the communication module II 134. The electromagnetic navigation host 4 determines the needle insertion angle of the slave needle 12 according to the data collected by the inclination sensor 135.

[0030] Step 3: Dynamic compensation: The magnetic excitation controller 2 obtains the impedance value feedback in the current return in real time, adjusts the magnitude of the output magnetic field current, so as to perform dynamic compensation. At the same time, by establishing a calibration database of current - magnetic field intensity - distance, the positioning accuracy is further improved.

[0031] Usage process of this device: First, determine the needle placement plan and the entry point and puncture angle of the main needle 11 on the body surface according to the CT scan image. The user inserts the needle at the entry point of the main needle 11 determined on the CT image (for the main needle 11 integrated with the MEMS magnetic sensor, the puncture angle can be further determined through the MEMS magnetic sensor). After the main needle 11 completes the puncture, the position and angle of the main needle 12 can be determined through the CT scan image. Then, fix the body surface electrode patch 3 on the body surface of the subject (it can be the thigh or the back). Then, connect the ablation electrode interface one 25 of the magnetic excitation controller 2 and the body surface electrode patch interface one 26 to the current interface 131 on the electrode cap 13 of the main needle 11 and the body surface electrode patch 3 respectively. The electromagnetic navigation host 4 controls the one - of - two switch one 23 and the one - of - two switch two 24 to connect the excitation power supply 22, and controls the magnetic excitation controller 2 to inject an intermittent weak alternating current of 0.3 - 0.5A into the loop, forming a current closed loop, generating an intermittent stable magnetic field on the main needle 11, and the indicator light module 133 lights up, indicating that the magnetic field loop has been generated.

[0032] Next, during the process of the secondary needle 12 approaching the main needle 11, determine the entry position and angle of the secondary needle 12 through the magnetic field intensity signal obtained by the MEMS magnetic sensor 15 built into the tip of the secondary needle 12 and the data collected by the inclination sensor 135 of the secondary needle 12. After the puncture of the secondary needle is completed, the position and posture of the secondary needle 12 can be adjusted in real time according to the CT image. Multiple secondary needles 12 repeat the above operations to complete multi - needle puncture.

[0033] Finally, the electromagnetic navigation host 4 controls the one - of - two switch one 23 and the one - of - two switch two 24 of the magnetic excitation controller 2 to connect the ablation electrode interface two 27 and the body surface electrode patch interface two 28, and turn on the ablation host 5 for ablation. Input the ablation current through the current interface 131 of the main needle 11 and the secondary needles 12 to ablate the diseased tissue.

[0034] The magnitude of the magnetic field current (0.3 - 0.5A) generated by this device in the subject loop is less than the magnitude of the ablation current, which is a safe current. The magnetic field navigation current has low power, short navigation time, and is powered intermittently, generating extremely low heat that can be absorbed by the human body, which is safe and reliable.

[0035] Accuracy test: The present invention respectively uses current excitations of 0.3A, 0.4A, and 0.5A, and conducts a comparison accuracy test with two existing in vitro magnetic navigations (Magnetic Navigation One and Magnetic Navigation Two). Magnetic Navigation One: A commercial navigation system using the working mode of a commercially available induction coil. Magnetic Navigation Two: A pure MEMS navigation. The test results are as Figure 9 shown, indicating that the present invention has higher positioning accuracy and more stable error fluctuations.

[0036] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent substitutions can be made to these features and embodiments. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A multi-needle cloth needle device based on magnetic induction navigation, characterized in that, It includes a puncture needle (1), a magnetic excitation controller (2), body surface electrode patches (3), and an electromagnetic navigation mainframe (4). The puncture needle (1) includes a main needle (11) and one or more secondary needles (12). The tips of the main needle (11) and the secondary needles (12) are provided with ablation electrodes (14), and the needle tails are provided with electrode caps (13). The ablation electrodes (14) are connected to the electrode caps (13) by wires. The body surface electrode patches (3) are in contact connection with the body surface of the subject. The electrode cap (13) at the needle tail of the main needle (11) is connected to the body surface electrode patches (3) through the magnetic excitation controller (2). The magnetic excitation controller (2) is in communication connection with the electromagnetic navigation mainframe (4). The electromagnetic navigation mainframe (4) controls the magnetic excitation controller (2) to output an intermittent weak alternating current. The current loop formed by the main needle (11) and the body surface electrode patches (3) generates an intermittent positioning magnetic field inside the subject. The secondary needle (12) determines the needle insertion position based on the magnetic field intensity information detected when it approaches the main needle (11).

2. The multi-needle arranging device based on magnetic induction navigation according to claim 1, characterized in that The tip of the secondary needle (12) is internally provided with a MEMS magnetic sensor (15). The MEMS magnetic sensor (15) is in communication connection with the electromagnetic navigation mainframe (4). The electromagnetic navigation mainframe (4) obtains the magnetic field intensity information detected by the MEMS magnetic sensor (15) at the tip of the secondary needle (12), calculates the distance between the secondary needle (12) and the main needle (11), and thus controls the needle insertion position of the secondary needle (12).

3. The multi-needle cloth needle device based on magnetic induction navigation according to claim 1, wherein An inclination sensor (135) is integrated on the electrode cap (13) at the needle tail of the secondary needle (12). The inclination sensor (135) is in communication connection with the electromagnetic navigation mainframe (4). The electromagnetic navigation mainframe (4) determines the needle insertion angle of the secondary needle (12) based on the data fed back by the inclination sensor (135).

4. The multi-needle cloth needle device based on magnetic induction navigation according to claim 1, characterized in that, The magnetic excitation controller (2) includes a first communication module (21), an excitation power supply (22), a first two-way switch (23), a second two-way switch (24), a first ablation electrode interface (25), a first body surface electrode patch interface (26), a second ablation electrode interface (27), and a second body surface electrode patch interface (28). The first ablation electrode interface (25) and the first body surface electrode patch interface (26) are respectively connected to the first two-way switch (23) and the second two-way switch (24). The positive and negative electrode interfaces of the excitation power supply (22) are respectively connected to one contact of the first two-way switch (23) and the second two-way switch (24). The second ablation electrode interface (27) and the second body surface electrode patch interface (28) are respectively connected to the other contact of the first two-way switch (23) and the second two-way switch (24). The first communication module (21) is connected to the excitation power supply (22). The electromagnetic navigation host (4) controls the excitation power supply, the first two-way switch (23), and the second two-way switch (24) through the first communication module (21). The first ablation electrode interface (25) is used to connect the electrode cap (13) of the main needle (11), and the ablation electrode (14) of the main needle (11) is connected through the electrode cap (13) of the main needle (11). The first body surface electrode patch interface (26) is used to connect the body surface electrode patch (3). The second ablation electrode interface (27) and the second body surface electrode patch interface (28) are used to connect the ablation host (5). The first two-way switch (23) and the second two-way switch (24) work together to select the magnetic field generation path or the ablation path.

5. The multi-needle cloth needle device based on magnetic induction navigation according to claim 4, characterized in that, The electrode cap (13) at the tail of the main needle (11) includes a current interface (131), a power supply interface (132), and an indicator light module (133). The inside of the current interface (131) is connected to the ablation electrode (14) at the tip of the needle. The first ablation electrode interface (25) of the magnetic excitation controller (2) is connected to the current interface (131). The first body surface electrode patch interface (26) of the magnetic excitation controller (2) is connected to the body surface electrode patch (3). The indicator light module (133) is electrically connected to the current interface (131). The power supply interface (132) is connected to an external power supply or a battery to supply power to the indicator light module (133).

6. The multi-needle arranging device based on magnetic induction navigation according to claim 5, characterized in that The electrode cap (13) at the tail of the secondary needle (12) includes a current interface (131), a power supply interface (132), a second communication module (134), and an inclination sensor (135). The inside of the current interface (131) is connected to the ablation electrode (14) at the tip of the needle. The current interface (131) is used to connect to the ablation electrode interface on the ablation host (5), and the ablation current is input through the ablation host (5). The electromagnetic navigation host (4) is communicatively connected to the inclination sensor (135) at the tail of the secondary needle (12) and the MEMS magnetic sensor (15) built into the tip of the secondary needle (12) through the second communication module (134). The power supply interface (132) is electrically connected to the second communication module (134) to supply power to the second communication module (134).

7. The multi-needle arranging device based on magnetic induction navigation according to claim 6, characterized in that The structures of the main needle (11) and the auxiliary needle (12) are the same. The needle tips both include MEMS magnetic sensors (15), and the electrode caps (13) both include current interfaces (131), power supply interfaces (132), indicator light modules (133), communication modules II (134), and inclination sensors (135).

8. The multi-needle arranging device based on magnetic induction navigation according to claim 1, characterized in that The intermittent weak alternating current output by the magnetic excitation controller (2) is a pulsed current of 0.3 - 0.5 A.

9. A multi-needle cloth-inserting method for a multi-needle cloth-inserting device based on magnetic induction navigation according to any one of claims 1-8, characterized in that, It includes the following steps: Step 1: Generation of the main needle magnetic field: Connect the ablation electrode interface I (25) of the magnetic excitation controller (2) and the body surface electrode patch interface I (26) to the current interface (131) on the electrode cap (13) of the main needle (11) and the body surface electrode patch (3) respectively. The electromagnetic navigation host (4) controls the one - of - two switches I (23) and the one - of - two switches II (24) to connect to the excitation power supply (22), and controls the magnetic excitation controller (2) to inject a weak alternating current into the loop. Adopting a pulsed power supply mode, an intermittent pulsed power supply current closed loop is formed to generate an intermittent stable magnetic field on the main needle (11). Step 2: Auxiliary needle positioning: During the process of the auxiliary needle (12) approaching the main needle (11), the magnetic field intensity signal is obtained through the MEMS magnetic sensor (15) built in the needle tip and uploaded to the electromagnetic navigation host (4). The electromagnetic navigation host (4) calculates the relative position between the auxiliary needle (12) and the main needle (11), thereby determining the insertion position of the auxiliary needle (12); the inclination sensor (135) obtains the inclination angle of the auxiliary needle (12) and uploads it to the electromagnetic navigation host (4). The electromagnetic navigation host (4) determines the insertion angle of the auxiliary needle (12) according to the data collected by the inclination sensor (135). Step 3: Dynamic compensation: The magnetic excitation controller (2) obtains the impedance value fed back in the current return in real time and adjusts the magnitude of the output magnetic field current, thereby performing dynamic compensation; at the same time, by establishing a calibration database of current - magnetic field intensity - distance, the positioning accuracy is improved.

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