Convection-enhanced intracranial drug delivery method and device combining magnetic resonance and robot

Abstract

The embodiment of the invention relates to a convection-enhanced intracranial drug delivery method and device combining magnetic resonance and a robot. The method comprises the steps that to-be-registered three-dimensional structure image data including the brain of a target user are obtained through magnetic resonance equipment; wherein the three-dimensional structure image data comprises a target user mark point; and after the to-be-registered three-dimensional structure image data is registered, the surgical robot is controlled to move to a target position based on a planned path in a pre-generated injection plan, and an injector is controlled through an injection pump to perform injection processing according to injection information in the injection plan. Therefore, the planned injection path is determined in combination with the pre-operative personalized multi-mode image of the user, and intracranial precise micro-administration under magnetic resonance monitoring is realized under the assistance of the surgical robot.

Description

Technical Field

[0001] The present disclosure relates to the field of computer-aided therapy technologies, and particularly to a convective enhanced intracranial drug delivery method and device combining magnetic resonance and a robot. Background Art

[0002] Traditional intracranial drug delivery methods usually require craniotomy. This method has high invasiveness and risks, and may lead to postoperative complications and prolonged recovery time. In order to reduce invasiveness and improve the treatment effect, researchers have been exploring new intracranial drug delivery methods. The intracranial injection technology assisted by a surgical robot under magnetic resonance monitoring is a treatment means that directly delivers drugs, gene carriers or cells to the brain, can bypass the blood-brain barrier, and achieve precise treatment of central nervous system diseases. The main current clinical applications include: 1. Delivering chemotherapeutic drugs, oncolytic viruses or gene therapy vectors or CAR-T cells through intracranial injection when treating intracranial tumors; 2. Delivering stem cell drugs, gene therapy vectors or neurotrophic factors through intracranial injection when treating Parkinson's disease to restore the function of dopaminergic neurons; 3. Injecting stem cells (such as neural stem cells or mesenchymal stem cells) when treating stroke patients to promote the regeneration and functional recovery of brain tissue; 4. Delivering gene therapy vectors or neuromodulatory drugs through intracranial injection when treating epilepsy to inhibit the abnormal discharge of epileptic foci, etc.

[0003] The intracranial technology has the following deficiencies and challenges: 1. The traditional intracranial injection technology has low accuracy and cannot accurately locate deep brain regions or brain regions with a small area; 2. It is impossible to directly observe the real-time situation of drug injection, including the drug diffusion and infiltration range, etc.; 3. The injection speed control and the accuracy of the injected drug volume of ordinary clinical injection systems need to be improved; 4. There is a lack of precision intracranial injection devices dedicated to clinical use, and the risks of contusion, bleeding, infection, etc. caused by intracranial injection are relatively high.

[0004] Therefore, a new intracranial injection technology with high-precision positioning, capable of synchronously observing the intracranial injection progress, high-precision speed and dose control, and low risk of brain injury is needed to solve the current clinical needs. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a convective enhanced intracranial drug delivery method, device, equipment and medium combining magnetic resonance and a robot.

[0006] An embodiment of the present disclosure provides a method for intracranial convection-enhanced drug delivery combining magnetic resonance and a robot, including: acquiring three-dimensional structural image data including the brain of a target user through a magnetic resonance device; wherein the three-dimensional structural image data includes landmark points of the target user; after registering the three-dimensional structural image data to be registered, controlling a surgical robot to move to a target position based on a planned path in a pre-generated injection plan, and controlling a syringe through an injection pump to perform an injection process according to injection information in the injection plan.

[0007] Optionally, the method further includes: acquiring three-dimensional structural image data including the brain of the target user through the magnetic resonance device; performing three-dimensional reconstruction based on the three-dimensional structural image data to obtain a three-dimensional anatomical model; determining a target point in the three-dimensional anatomical model, and generating a planned path based on a preset path planning algorithm and the target point; acquiring injection information, and generating the injection plan based on the injection information and the planned path.

[0008] Optionally, during the process of controlling the syringe through the injection pump to perform an injection process according to injection information in the injection plan, the method further includes: acquiring image data to be analyzed including the brain of the target user at a target time point through the magnetic resonance device; acquiring a drug diffusion range based on the image data to be analyzed; and adjusting the injection information based on the drug diffusion range and a preset target diffusion range.

[0009] Optionally, after controlling the syringe through the injection pump to perform an injection process according to injection information in the injection plan, the method further includes: acquiring injection image data including the brain of the target user through the magnetic resonance device; acquiring injection result information based on the injection image data; and generating an injection evaluation result based on a preset injection evaluation index and the injection result information.

[0010] Optionally, the method further includes: inputting the injection image data into a pre-trained analysis model to obtain analysis information; generating and displaying a prompt information based on the analysis information and preset standard information.

[0011] Optionally, the method further includes: acquiring an actual diffusion range and a planned coverage range; calculating a coverage rate based on the actual diffusion range and the planned coverage range; and determining that the expected requirements are met if the coverage rate is greater than or equal to a preset coverage rate threshold.

[0012] Optionally, the method further includes: acquiring an expected covered brain region volume, a diffusion rate, and an expected diffusion time; calculating a planned injection drug volume as the injection information based on a preset injection drug volume formula and the covered brain region volume, the diffusion rate, and the expected diffusion time.

[0013] Optionally, the mixing ratio of the drug and gadolinium is 500:1.

[0014] Optionally, during the entire injection process, the injection speed includes: an acceleration stage in the time interval 0 ≤ t < t1, with an injection speed v(t) = (v / t1)t; a constant speed stage in the time interval t1 ≤ t < t1 + t2, with an injection speed v(t) = v; a deceleration stage in the time interval t1 + t2 ≤ t < t1 + t2 + t, with an injection speed Calculate the total injection volume as And stop when V total reaches the injection drug volume.

[0015] An embodiment of the present disclosure also provides a convection-enhanced intracranial drug delivery device combining magnetic resonance and a robot, including: a first acquisition module for acquiring three-dimensional structural image data of a to-be-registered area including the brain of a target user through a magnetic resonance device; wherein the three-dimensional structural image data includes target user landmark points; a processing module for, after registering the to-be-registered three-dimensional structural image data, controlling the surgical robot to move to a target position based on a planned path in a pre-generated injection plan, and controlling a syringe through an injection pump to perform injection processing according to injection information in the injection plan.

[0016] An embodiment of the present disclosure also provides an electronic device, the electronic device includes: a processor; a memory for storing executable instructions of the processor; the processor for reading the executable instructions from the memory and executing the instructions to implement the convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot as provided in the embodiments of the present disclosure.

[0017] An embodiment of the present disclosure also provides a computer-readable storage medium, the storage medium stores a computer program, and the computer program is used to execute the convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot as provided in the embodiments of the present disclosure.

[0018] An embodiment of the present disclosure also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor, implements the convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot as described in the foregoing aspect.

[0019] The technical solutions provided by the embodiments of the present disclosure have the following advantages compared with the prior art: The convection-enhanced intracranial drug delivery solution combining magnetic resonance and a robot provided by the embodiments of the present disclosure includes: acquiring three-dimensional structural image data including the brain of the target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes the fiducial points of the target user; after registering the three-dimensional structural image data to be registered, controlling the surgical robot to move to the target position based on the planned path in the pre-generated injection plan, and controlling the syringe through an injection pump to perform injection processing according to the injection information in the injection plan. Thus, by combining the preoperative personalized multimodal images of the user to determine the planned injection path, with the assistance of the surgical robot, precise and micro intracranial drug delivery under magnetic resonance monitoring is achieved; in addition, three-dimensional reconstruction is performed by combining high-resolution image data to generate an individualized three-dimensional anatomical model, and precise target positioning can be provided, as well as applying a path optimization algorithm to design the shortest and safest intracranial injection path to avoid important anatomical structures. Thus, the surgical robot is combined with the navigation system to achieve high-precision registration of the image data and the actual position of the user, and a magnetically compatible device is used for injection operations to ensure safety and accuracy, with automated injection path execution and instrument calibration functions to improve the surgical efficiency and precision; and during the injection process, real-time magnetic resonance scanning is used to monitor the diffusion of the drug to ensure that the drug distribution conforms to the expected target area, and the ability to adjust the injection parameters in real time is provided to avoid mechanical damage to brain tissue or excessive drug diffusion; finally, the injection effect can also be verified through the image data, including indicators such as target accuracy and drug distribution uniformity, further improving the efficiency and effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages, and aspects of the embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference signs denote the same or similar elements. It should be understood that the drawings are schematic, and the original elements and elements are not necessarily drawn to scale.

[0021] Figure 1 It is a schematic flowchart of a convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot provided by an embodiment of the present disclosure;

[0022] Figure 2 It is a schematic flowchart of another convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot provided by an embodiment of the present disclosure;

[0023] Figure 3 It is a schematic structural diagram of a convection-enhanced intracranial drug delivery device combining magnetic resonance and a robot provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Instead, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0025] It should be understood that the various steps recited in the method embodiments of the present disclosure can be executed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0026] As used herein, the term "including" and its variations are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0027] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence relationship of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "plural" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0029] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0030] Currently, existing intracranial drug delivery technologies still need to be improved in terms of accuracy, safety and effectiveness. In addition, for some special intracranial diseases, such as brain tumors and neurodegenerative diseases, more personalized and precise treatment methods are needed.

[0031] The embodiments of the present disclosure aim to solve the deficiencies of existing intracranial drug delivery techniques in terms of accuracy, safety, and effectiveness, as well as the problem of difficulty in meeting the personalized and precise treatment needs of special intracranial diseases. Specifically, it includes the following aspects: 1. Difficulty in precisely controlling the drug delivery range and dose; 2. May be affected by vascular structures and cerebrospinal fluid circulation; 3. Existing intracranial drug delivery techniques still need to be improved in terms of accuracy, safety, and effectiveness; 4. For some special intracranial diseases, such as brain tumors and neurodegenerative diseases, more personalized and precise treatment methods are required.

[0032] The purpose of the embodiments of the present disclosure is to design the planned injection path by combining the preoperative personalized multimodal images of the user, and with the assistance of a surgical robot, achieve precise micro drug delivery in the brain under magnetic resonance monitoring.

[0033] Figure 1 FIG. is a schematic flow chart of a convective enhanced intracranial drug delivery method combining magnetic resonance and a robot provided by the embodiments of the present disclosure. This method can be executed by a convective enhanced intracranial drug delivery device combining magnetic resonance and a robot, where the device can be implemented by software and / or hardware and is generally integrated in an electronic device. As Figure 1 shown, this method includes:

[0034] Step 101: Obtain the three-dimensional structural image data to be registered including the brain of the target user through a magnetic resonance device; among them, the three-dimensional structural image data includes the fiducial points of the target user.

[0035] After registering the three-dimensional structural image data to be registered, control the surgical robot to move to the target position based on the planned path in the pre-generated injection plan, and control the syringe through an injection pump to perform injection processing according to the injection information in the injection plan.

[0036] In the embodiments of the present disclosure, the magnetic resonance device is, for example, a magnetic resonance imaging (MRI for short) device, a computed tomography (CT) device, etc. Specifically, high-resolution MRI or CT technology is used to obtain the three-dimensional structural image data of the user's brain. In a specific embodiment of the present disclosure, the image data acquisition uses high-field MRI (≥3T) or 64-slice or more high-resolution CT. The MRI at least includes T1-weighted (MPRAGE / SPGR), T2-weighted, DWI (b value ≥ 1000 s / mm 2 ), and when necessary, susceptibility-weighted imaging (SWI) is combined to evaluate microbleeds to further improve the image accuracy and thus improve the accuracy of subsequent processing.

[0037] To further improve the processing effect and flexibility, functional MRI (functional Magnetic Resonance Imaging, fMRI) or diffusion tensor imaging (DTI, Diffusion Tensor Imaging) can also be combined for functional area and fiber bundle localization to provide a reference for path design. Specifically, DTI (≥32 directions) is used in combination with a spherical decoupling model (spherical harmonics SH (Spherical Harmonics)) to optimize white matter fiber tracking (such as the ICBM-DTI-81 standard template).

[0038] It can be understood that an injection plan is pre-generated, including injection information, the planned path of injection, etc. Specifically, three-dimensional structural image data of the target user's brain is obtained through a magnetic resonance device, three-dimensional reconstruction is performed based on the three-dimensional structural image data to obtain a three-dimensional anatomical model, the target points in the three-dimensional anatomical model are determined, and a planned path is generated based on a preset path planning algorithm and the target points. Injection information is obtained, and an injection plan is generated based on the injection information and the planned path.

[0039] Specifically, through image data post-processing software, the collected MRI or CT images are imported into the navigation system of the surgical robot. The navigation system of the surgical robot performs three-dimensional reconstruction on the MRI or CT image data to generate a high-resolution three-dimensional anatomical model of the target user's brain. More specifically, the U-Net deep learning algorithm is used for automatic brain tissue segmentation, combined with FreeSurfer or ANTs for cortical parcellation; the vascular structure is based on ToF MRA (3D time-of-flight imaging) and a T2-weighted enhanced vascular segmentation algorithm (such as Frangi filtering combined with morphological skeleton extraction); the three-dimensional anatomical model includes gray matter, white matter, ventricles, vascular network, key functional areas (Broca area, motor area, sensory area, etc.), and target areas (tumors or lesions).

[0040] Specifically, the U-Net deep learning algorithm includes: Convolutional layer: x’ = σ(W * x + b); where x is the input feature map, W is the convolutional kernel, * represents the convolution operation, b is the bias term, and σ is the activation function (ReLU); Pooling layer (Max Pooling): y = max(x ij ); where x ij is the pixel value within the pooling window, and Max Pooling reduces the feature map size by retaining the maximum value; Skip connection: F up = f decode (F down ) + F skip ; where F down is the downsampled feature map, f decode is the upsampling operation (transposed convolution or interpolation), Fskip It is the corresponding layer feature in the encoding stage.

[0041] The U-Net deep learning algorithm also includes: Dice loss function (used to optimize U-Net segmentation): where y true is the ground truth label, and ŷ pred is the predicted segmentation result.

[0042] Specifically, U-Net combines with FreeSurfer or ANTs for cortical parcellation. FreeSurfer uses surface reconstruction algorithm for brain cortical parcellation: Cortical parcellation is usually based on GraphCut or Markov Random Field (MRF) method:

[0043] E(S) = ∑ p∈P D(p, S p ) + λ∑ (p,q)∈N V(S p , S q ).

[0044] where D(p, S p ) is the data term that pixel p belongs to class S p , and V(S p , S q ) is the neighborhood term, which is used to encourage class consistency of adjacent pixels, and λ is the smoothness parameter.

[0045] Specifically, ToF MRA (3D Time-of-Flight imaging) is used to non-invasively obtain vascular imaging, and vascular tissues are separated by enhancing blood flow signals, while T2-weighted enhancement combines with Frangi filtering and morphology-based skeleton extraction to optimize vascular segmentation.

[0046] Frangi filtering (enhancing vascular structures), Frangi filtering is based on eigenvalue analysis of the Hessian matrix (HHH), and defines a vascular enhancement function:

[0047]

[0048] measures the columnar property of blood vessels, measures the overall structural strength, and β, c are balance parameters.

[0049] Morphology-based skeleton extraction, Morphological Opening: is the erosion operation, is the dilation operation, and B is the structuring element; Skeleton extraction: Calculate the Distance Transform: p is a pixel point in the blood vessel region, and B is the background region; the thinning algorithm is used to extract the blood vessel skeleton: S = {p ∈ I | meeting the skeleton preservation condition}; the three-dimensional reconstruction model includes gray matter, white matter, ventricles, blood vessel network, key functional areas (such as Broca area, motor area, sensory area, etc.) and target areas (tumors or lesions).

[0050] Among them, the surgical robot can be a neurosurgical robot, which is a high-precision surgical assistance device designed specifically for neurosurgery and is mainly used for precise positioning and operation in brain surgery. It combines robot technology, image navigation and minimally invasive surgery concepts, and can significantly improve the safety, precision and efficiency of surgery.

[0051] Specifically, it can combine clinical diagnosis and imaging data to clarify the intracranial injection target in the navigation system of the surgical robot manually, such as inside the tumor, deep brain nuclei or the area around the lesion, so as to determine the target in the three-dimensional anatomical model. In addition, for multi-target injection, each target needs to be marked in turn to ensure the independence and optimality of the planned injection path.

[0052] Furthermore, use the path planning function of the navigation system of the surgical robot to simulate the planned injection path on the three-dimensional anatomical model. The planned path needs to avoid important blood vessels, nerve fiber bundles and functional areas. Specifically, a path optimization algorithm is adopted to ensure that the injection path is the shortest, safe and convenient for the surgical robot to execute.

[0053] In the embodiments of the present disclosure, the optimized path algorithm can perform risk assessment through a path cost function: C total = C distance + λ1C vessel + λ2C fiber ; C distance is the length of the planned path; C vessel is the minimum distance between the path and the blood vessel; C fiber is the minimum distance between the path and the key nerve fibers; λ1 and λ2 are adjustment parameters (usually the empirical values 0.5 - 1.5) are selected. Through the path cost function for risk assessment, it further ensures the efficiency and safety of the injection path, and further improves the safety, precision and efficiency of the convection-enhanced intracranial drug delivery combining magnetic resonance and the robot.

[0054] Thus, after the planned path design is completed, an injection plan is generated, including injection information such as the planned path, injection angle, injection depth, injection volume (diffusion range), etc.

[0055] Among them, the injection volume calculation can be understood as that the injection volume is estimated according to the diffusion coefficient of the drug in the human brain. Specifically, the diffusion volume can be estimated using the Gaussian diffusion model: V f =(4πDt) 3 / 2; where, V f is the final diffusion volume (mm 3 ); D is the diffusion coefficient of the drug in the brain tissue (mm 2 / s); t is the diffusion time (s); in addition, considering that the diffusion of the drug in the skull can be approximated by a first-order kinetic model, the drug diffusion volume can be calculated approximately as V f = V0×(1 + k1·t); k1 reflects the diffusion growth rate per unit time for a unit initial volume.

[0056] In the embodiments of the present disclosure, if the volume of the brain region to be covered is expected to be A, the volume of the drug to be injected is V0 = A / (1 + k2·t); where, V0 is the volume of the drug to be injected (cm 3 ); A is the target diffusion volume (i.e., the volume of the brain region expected to be covered) (cm 3 ); k2 is the empirical diffusion rate (cm 3 / s), for small molecule drugs in the brain tissue, k2≈5.56×10 -4 ; t is the expected diffusion time (seconds).

[0057] Specifically, in the process of convective enhanced intracranial drug delivery by combining magnetic resonance and a robot, three-dimensional structural image data including the brain of the target user is obtained in real time through a magnetic resonance device. The three-dimensional structural image data includes fiducial points of the target user. After registering the three-dimensional structural image data to be registered, the surgical robot is controlled to move to the target position based on the planned path in the pre-generated injection plan, and the syringe is controlled by an injection pump to perform injection processing according to the injection information in the injection plan; where, the target position refers to the injection position.

[0058] Specifically, the head of the target user is fixed, using a stereotactic frame or a frameless fixation system (such as a head clamp, a vacuum pillow) to ensure that the head of the target user remains stationary during the operation. The skin of the target user needs to be protected during the fixation process to avoid pressure sores or discomfort; for the injection of the surgical robot and image registration, the preoperative image data is imported into the navigation system of the surgical robot to perform spatial registration of the actual head position of the target user and the image data, that is, registration is completed through the anatomical fiducial points (such as the nasion, the external auditory canals, etc.) of the target user's head or preoperative implanted markers (such as titanium nails or metal markers), and the registration accuracy is confirmed, and the error needs to be controlled at the sub-millimeter level.

[0059] Among them, fiducial point calibration can be understood as the surgical robot further precisely locating the anatomical fiducial points through a robotic arm or a laser calibrator. The navigation system of the surgical robot prompts and records the calibration status of each fiducial point to ensure the accuracy of the positioning.

[0060] It is understandable that drug preparation is required before injection. Specifically, according to the injection requirements, the drug to be used (such as chemotherapy drugs, antibiotics, or neurotrophic factors) is mixed with an appropriate amount of Gd (gadolinium) contrast agent in a certain proportion, and air bubbles are avoided during the mixing process. Exemplarily, the mixing ratio of the drug to gadolinium is 500:1. The mixed solution is aspirated using a high-precision syringe to ensure accurate dosage. The syringe is installed into a convection-enhanced delivery (CED) system to remove the air in the injection catheter. Injection pump preparation is also required. Specifically, the syringe is installed into a magnetic resonance-compatible automatic injection pump to ensure that the size of the syringe slot matches the syringe. The injection parameters, including injection speed, injection pressure, and injection dose, are set, and the injection parameters need to be adjusted individually according to the user's condition information and the characteristics of the target area.

[0061] Among them, the magnetic-compatible ultra-micro intracranial injection pump is a device specifically designed for high-precision intracranial drug delivery in a magnetic resonance (MRI) environment. It combines magnetic compatibility, ultra-micro injection ability, and high-precision control technology, and can accurately deliver drugs, gene vectors, or cells to the target brain area under the real-time monitoring of intraoperative magnetic resonance imaging.

[0062] Surgical robot-assisted operation is also required. Specifically, positioning and drilling: The surgical robot automatically positions the drill bit to the cranial drilling point according to the planned path, and the navigation system displays the position of the drill bit in real time. After manual confirmation, drilling is started. A special cranial drill is used to drill at the positioning point. The drilling diameter matches the guide screw, and the depth is precisely controlled to only penetrate the surface layer of the skull. The guide screw is fixed by inserting the guide screw into the drilled hole and screwing it into the skull through the surgical robot or manual tools to ensure that its angle is consistent with the path planning.

[0063] The intracranial drug delivery device also needs to be set up. The injection needle or catheter of the CED system is installed on the robotic arm to ensure stable installation of the device. The length, angle, and position of the injection instrument are calibrated through the navigation system to make its parameters consistent with the injection plan. The surgical robot guides the injection needle or catheter to slowly advance to the target area and tightens the limit screw for fixation.

[0064] Furthermore, the target user is transferred to a magnetic resonance-compatible operating room. During the operation, the magnetic resonance device enters the position of the target user through the slide rail. According to the injection plan, the injection dose, injection speed, and injection pressure are set to ensure uniform drug diffusion and avoid mechanical damage to the brain tissue.

[0065] In some embodiments, during the process of controlling the syringe by the injection pump to perform injection processing according to the injection information in the injection plan, the method further includes: acquiring, through the magnetic resonance device, the image data to be analyzed including the brain of the target user at the target time point, obtaining the drug diffusion range based on the image data to be analyzed, and adjusting the injection information based on the drug diffusion range and the preset target diffusion range.

[0066] Specifically, during magnetic resonance scanning, the drug diffusion range is monitored in real time, and injection parameters (injection dose, injection speed, etc.) are adjusted.

[0067] Specifically, during the entire injection process, the change of injection speed with time can be divided into three stages: an acceleration stage (time interval 0 ≤ t < t1), within the first t1 minutes, the injection speed gradually increases from 0 to v with a constant acceleration; during this stage, the injection speed v(t) increases linearly with time and conforms to the following relationship: v(t) = (v / t1)t; a uniform speed stage (time interval t1 ≤ t < t1 + t2), within the next t2 minutes, the injection speed remains constant at v, that is: v(t) = v; a deceleration stage (time interval t1 + t2 ≤ t < t1 + t2 + t3), within the last t3 minutes, the injection speed gradually decreases from v to 0 with a constant deceleration; during this stage, the speed v(t) decreases linearly and conforms to the following relationship: The total injection volume is: Make V total reach the injection volume planned before surgery and stop.

[0068] In some embodiments, after the injection pump is used to control the syringe to perform injection processing according to the injection information in the injection plan, the method further includes: acquiring injection image data including the brain of the target user through a magnetic resonance device; acquiring injection result information based on the injection image data; generating an injection evaluation result based on a preset injection evaluation index and the injection result information.

[0069] Specifically, at different time points after the injection is completed, CT or MRI scans are performed to evaluate the success rate and safety of the injection process; check whether the injection device reaches the target accurately and whether the drug or cell delivery is successfully distributed to the target area.

[0070] Specifically, it can be evaluated whether the injection meets the expectations through thin-slice scanning MRI. Thin-slice MRI scans are performed at preset time intervals such as 1 day and 7 days after the injection is completed, with a slice thickness of 1 mm, and the sequence includes at least T1 and T2Flair. The gadolinium agent imaging range is outlined layer by layer, and the actual diffusion range V 注射 and the planned coverage range V 计划 are compared, and the coverage rate is calculated, that is, the coverage rate = V 注射 / V 计划 * 100%, if the coverage rate reaches a preset coverage rate threshold, such as the preset percentage is above 95%, then the expected requirements are met.

[0071] Therefore, intraoperative magnetic resonance has significant advantages in monitoring the intracranial drug injection process, can provide high-resolution image information in real time, help accurately control the injection process, and ensure the safety and effectiveness of drug delivery.

[0072] In some embodiments, the injection image data is input into a pre-trained analysis model to obtain analysis information, and based on the analysis information and preset standard information, prompt information is generated and displayed.

[0073] Specifically, the imaging results are analyzed to check for complications such as bleeding, edema, or infection; if an abnormality is found, treatment measures are taken in a timely manner, such as drug intervention or surgical repair.

[0074] It should be noted that the surgical process and postoperative imaging data can also be archived for subsequent treatment evaluation or academic research; a postoperative follow-up plan for the target user is formulated, including functional evaluation and repeated injection regimens.

[0075] Specifically, a big data model combining preoperative images, postoperative images, and clinical outcomes is established, and the random forest or XGBoost algorithm is used to predict the postoperative efficacy: P 成功 = f(V 注射 , CBF, ADC, t, D); where ADC (apparent diffusion coefficient), CBF (cerebral blood flow), t (time), and D (diffusion coefficient) are used as input features to optimize the injection parameters.

[0076] Thus, the convection-enhanced intracranial drug delivery system, the convection-enhanced intracranial drug delivery system (Convection-Enhanced Delivery, CED) is an innovative drug delivery technology that directly injects drugs into the brain tissue through continuous pressure drive to achieve efficient and uniform drug distribution.

[0077] The convection-enhanced intracranial drug delivery solution combining magnetic resonance and a robot provided by the embodiments of the present disclosure acquires three-dimensional structural image data including the brain of a target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes the fiducial points of the target user; after registering the three-dimensional structural image data to be registered, the surgical robot is controlled to move to the target position based on the planned path in the pre-generated injection plan, and the syringe is controlled by an injection pump to perform an injection process according to the injection information in the injection plan. Thus, by combining the preoperative personalized multimodal images of the user to determine the planned injection path, with the assistance of the surgical robot, precise and micro intracranial drug delivery under magnetic resonance monitoring is achieved; in addition, three-dimensional reconstruction is performed by combining high-resolution image data to generate an individualized three-dimensional anatomical model, and precise target positioning can be provided, and an application path optimization algorithm is used to design the shortest and safest intracranial injection path to avoid important anatomical structures. Therefore, the surgical robot is combined with the navigation system to achieve high-precision registration of the image data and the actual position of the user, and a magnetically compatible device is used for injection operations to ensure safety and accuracy, with automated injection path execution and instrument calibration functions to improve the surgical efficiency and precision; and during the injection process, real-time magnetic resonance scanning is used to monitor the diffusion of the drug to ensure that the drug distribution conforms to the expected target area, and the ability to adjust the injection parameters in real time is provided to avoid mechanical damage to the brain tissue or excessive diffusion of the drug; finally, the injection effect can also be verified through the image data, including indicators such as target accuracy and drug distribution uniformity, further improving the efficiency and effect.

[0078] Based on the description of the foregoing embodiments, the following technical problems need to be solved during the intracranial drug process: the technical problems of precise positioning, real-time monitoring and feedback, high-precision injection speed control and injection volume control, and reducing the damage to brain tissue caused by injection operations. The convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot of the embodiments of the present disclosure can solve the above problems. The following will be described in detail Figure 2 in conjunction with

[0079] Specifically, Figure 2 is a schematic flowchart of another convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot provided by the embodiments of the present disclosure. Based on the above embodiments, the above convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot is further optimized. As Figure 2 shown, the method includes:

[0080] Step 201, acquire three-dimensional structural image data including the brain of a target user through a magnetic resonance device, perform three-dimensional reconstruction based on the three-dimensional structural image data to obtain a three-dimensional anatomical model, determine the target in the three-dimensional anatomical model, generate a planned path based on a preset path planning algorithm and the target, obtain injection information, and generate an injection plan based on the injection information and the planned path.

[0081] Specifically, three-dimensional reconstruction is performed in combination with high-resolution MRI / CT images to generate an individualized three-dimensional anatomical model of the target user's brain. Functional MRI and DTI are used to label key functional areas and nerve fiber bundles, providing accurate target positioning. The path optimization algorithm is applied to design the shortest and safest intracranial injection planning path, avoiding important anatomical structures.

[0082] Step 202: Obtain the three-dimensional structural image data to be registered, including the brain of the target user, through a magnetic resonance device; among them, the three-dimensional structural image data includes the fiducial points of the target user.

[0083] Step 203: After registering the three-dimensional structural image data to be registered, control the surgical robot to move to the target position based on the planning path in the pre-generated injection plan, and control the syringe through an injection pump to perform injection processing according to the injection information in the injection plan.

[0084] Specifically, the surgical robot is combined with the navigation system to achieve high-precision registration of the image data and the actual position of the patient; magnetic compatible devices are used for injection operations, including injection pumps, CED systems, and navigation robots, to ensure safety and accuracy; the automated injection path execution and instrument calibration functions improve the surgical efficiency and precision.

[0085] Step 204: Obtain the image data to be analyzed, including the brain of the target user at the target time point, through a magnetic resonance device, obtain the drug diffusion range based on the image data to be analyzed, and adjust the injection information based on the drug diffusion range and the preset target diffusion range.

[0086] Specifically, during the injection process, real-time magnetic resonance scanning is used to monitor the drug diffusion situation to ensure that the drug distribution conforms to the expected target area; the ability to adjust injection parameters (dose, speed, pressure) in real time is provided to avoid mechanical damage to brain tissue or excessive drug diffusion.

[0087] Step 205: Obtain the injection image data, including the brain of the target user, through a magnetic resonance device, obtain the injection result information based on the injection image data, and generate an injection evaluation result based on the preset injection evaluation index and the injection result information.

[0088] Step 206: Input the injection image data into a pre-trained analysis model to obtain analysis information, and generate and display a prompt message based on the analysis information and the preset standard information.

[0089] Specifically, after the operation, the injection effect is verified through CT / MRI images, including indicators such as target accuracy and drug distribution uniformity; postoperative complications (such as bleeding, edema, infection, etc.) are evaluated, and a standardized follow-up plan is provided.

[0090] Therefore, the embodiments of the present disclosure include a full-process solution from preoperative image acquisition to postoperative verification, including the systematic integration of steps such as path design, robotic operation, drug injection, and real-time monitoring, the combination technology of a robotic navigation system and real-time magnetic resonance monitoring, the technical solution of the collaborative operation of a surgical robot and an intraoperative magnetic resonance imaging device, especially the closed-loop control mechanism of real-time monitoring and dynamic adjustment, high-precision intracranial injection path planning and execution, the comprehensive solution of path planning algorithms, guide screw positioning and installation, CED injection device fixation and calibration, a magnetic resonance-compatible CED injection system and injection pump, including the design of the CED device, the setting and adjustment of injection parameters, and the mixing ratio technology of drugs and contrast agents, the postoperative drug diffusion distribution verification technology, and the real-time monitoring and management solution for complications, so as to achieve precise positioning, real-time monitoring and feedback, high-precision injection speed control and injection volume control, and reduce the damage of injection operations to brain tissue.

[0091] Therefore, traditional intracranial injection relies on experience and simple imaging data, making it difficult to ensure the safety and accuracy of the path. The embodiments of the present disclosure combine multi-modal imaging technologies such as high-resolution MRI / CT, fMRI, and DTI. Through three-dimensional reconstruction and path optimization algorithms, precise individualized path design can be achieved, significantly reducing the risk of damage to important anatomical structures during injection and improving the safety and target hit rate of the surgery. For the high-precision operation assisted by the robot, during the operation, the positioning and drilling accuracy of the intracranial path by manual operation are limited, and injection failure or complications are likely to occur due to deviation. Through the high-precision registration and path execution of the surgical robot navigation system in the present disclosure, sub-millimeter-level precise operation can be achieved, reducing human error and improving the consistency and stability of the surgery. For the real-time monitoring by magnetic resonance and dynamic adjustment, during the traditional injection process, there is a lack of real-time imaging guidance, and it is difficult to control the diffusion range and targeting of the drug, easily resulting in uneven drug distribution or off-target diffusion. The embodiments of the present disclosure monitor the diffusion of the drug in real time by intraoperative magnetic resonance and dynamically adjust the injection parameters (dose, speed, pressure) according to the monitoring results to ensure that the drug accurately reaches the target area and avoid damage to the brain tissue caused by over-injection. For the integrated application of the convection-enhanced delivery (CED) system, intracranial drug injection needs to overcome the diffusion barrier of brain tissue, and it is difficult for traditional injection to achieve effective diffusion coverage. The combination of CED technology and the magnetic resonance-compatible device of the present invention can achieve uniform diffusion of the drug through continuous low-pressure injection, break through the barrier of drug delivery, and improve the treatment effect. For the postoperative imaging verification and complication management, the target accuracy, drug distribution, and complication risk after intracranial injection have always been challenges that are difficult to quantify. The embodiments of the present disclosure can not only evaluate the injection effect (such as distribution uniformity, target hit rate) through postoperative imaging verification (MRI / CT) means, but also detect complications (such as bleeding, edema) in a timely manner, providing a scientific basis for subsequent treatment. For the optimization and integration of the systematic surgical process, in traditional surgery, each link is independent, lacking integration and systematic management, easily leading to low efficiency and errors. The embodiments of the present disclosure integrate preoperative image acquisition, path planning, robot operation, drug injection, and postoperative verification into a closed-loop process, not only improving the surgical efficiency, but also ensuring the standardization and traceability of each operation step.

[0092] Figure 3 FIG. 4 is a schematic structural diagram of a convection-enhanced intracranial drug delivery device combining magnetic resonance and a robot provided by an embodiment of the present disclosure. The device can be implemented by software and / or hardware and is generally integrated in an electronic device. As Figure 3 shown, the device includes:

[0093] A first acquisition module 301, configured to acquire three-dimensional structural image data to be registered including the brain of a target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes landmark points of the target user;

[0094] The processing module 302 is configured to register the to-be-registered three-dimensional structural image data, and then control the surgical robot to move to the target position based on the planned path in the pre-generated injection plan, and control the syringe to perform injection processing according to the injection information in the injection plan through an injection pump.

[0095] Optionally, the device further includes: a second acquisition module, configured to acquire three-dimensional structural image data including the brain of the target user through the magnetic resonance device; a reconstruction module, configured to perform three-dimensional reconstruction based on the three-dimensional structural image data to obtain a three-dimensional anatomical model; a determination and generation module, configured to determine the target point in the three-dimensional anatomical model, and generate a planned path based on a preset path planning algorithm and the target point; an acquisition and generation module, configured to acquire injection information, and generate the injection plan based on the injection information and the planned path.

[0096] Optionally, during the process of controlling the syringe to perform injection processing according to the injection information in the injection plan through the injection pump, the device further includes: a third acquisition module, configured to acquire to-be-analyzed image data including the brain of the target user at a target time point through the magnetic resonance device; a fourth acquisition module, configured to acquire the drug diffusion range based on the to-be-analyzed image data; an adjustment module, configured to adjust the injection information based on the drug diffusion range and a preset target diffusion range.

[0097] Optionally, after controlling the syringe to perform injection processing according to the injection information in the injection plan through the injection pump, the device further includes: a fifth acquisition module, configured to acquire injection image data including the brain of the target user through the magnetic resonance device; a sixth acquisition module, configured to acquire injection result information based on the injection image data; a first generation module, configured to generate an injection evaluation result based on a preset injection evaluation index and the injection result information.

[0098] Optionally, the device further includes: an input module, configured to input the injection image data into a pre-trained analysis model to obtain analysis information; a second generation module, configured to generate a prompt information and display it based on the analysis information and preset standard information.

[0099] The convection-enhanced intracranial drug delivery device combining magnetic resonance and robot provided by the embodiments of the present disclosure can execute the convection-enhanced intracranial drug delivery method combining magnetic resonance and robot provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects for executing the method.

[0100] The embodiments of the present disclosure also provide a computer program product, including computer programs / instructions, which when executed by a processor, implement the convection-enhanced intracranial drug delivery method combining magnetic resonance and robot provided by any embodiment of the present disclosure.

[0101] It should be noted that the above-mentioned computer-readable medium in the present disclosure may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable signal medium may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0102] In some embodiments, the client and the server may communicate using any currently known or future-developed network protocol such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0103] The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; or it may exist separately and not be assembled into the electronic device.

[0104] The above computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: obtain three-dimensional structural image data including the brain of the target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes fiducial points of the target user; after registering the three-dimensional structural image data to be registered, control the surgical robot to move to the target position based on the planned path in the pre-generated injection plan, and control the syringe through an injection pump to perform injection processing according to the injection information in the injection plan.

[0105] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] The units described in the embodiments of the present disclosure may be implemented in software or in hardware. In some cases, the name of the unit does not constitute a limitation on the unit itself.

[0108] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chip (SOCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0109] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include electrical connections based on one or more wires, portable computer disks, hard disks, Random Access Memory (RAM), Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM or Flash Memory), optical fibers, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0110] According to one or more embodiments of the present disclosure, the present disclosure provides an electronic device, including:

[0111] a processor;

[0112] a memory for storing executable instructions of the processor;

[0113] The processor is configured to read the executable instructions from the memory and execute the instructions to implement any one of the methods for convective enhanced intracranial drug delivery by combining magnetic resonance and a robot provided by the present disclosure.

[0114] According to one or more embodiments of the present disclosure, the present disclosure provides a computer-readable storage medium storing a computer program for executing any one of the methods for convective enhanced intracranial drug delivery by combining magnetic resonance and a robot provided by the present disclosure.

[0115] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, technical solutions formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the present disclosure.

[0116] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the foregoing discussion, these should not be construed as limitations on the scope of the present disclosure. Certain features that are described in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, the various features that are described in the context of a single embodiment may also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0117] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A convection-enhanced intracranial drug delivery method combining magnetic resonance and a robot, characterized in that The method includes: Obtaining three-dimensional structural image data to be registered including the brain of the target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes fiducial points of the target user; After registering the three-dimensional structural image data to be registered, controlling the surgical robot to move to the target position based on the planned path in the pre-generated injection plan, and controlling the syringe through an injection pump to perform injection processing according to the injection information in the injection plan.

2. The method according to claim 1, wherein The method further includes: Obtaining three-dimensional structural image data including the brain of the target user through the magnetic resonance device; Performing three-dimensional reconstruction based on the three-dimensional structural image data to obtain a three-dimensional anatomical model; Determining the target point in the three-dimensional anatomical model, and generating a planned path based on a preset path planning algorithm and the target point; Obtaining injection information, and generating the injection plan based on the injection information and the planned path.

3. The method according to claim 1, wherein During the process of controlling the syringe through the injection pump to perform injection processing according to the injection information in the injection plan, the method further includes: Obtaining image data to be analyzed including the brain of the target user at the target time point through the magnetic resonance device; Obtaining the drug diffusion range based on the image data to be analyzed; Adjusting the injection information based on the drug diffusion range and a preset target diffusion range.

4. The method according to claim 1, characterized in that After controlling the syringe through the injection pump to perform injection processing according to the injection information in the injection plan, the method further includes: Obtaining injection image data including the brain of the target user through the magnetic resonance device; Obtaining injection result information based on the injection image data; Generating an injection evaluation result based on a preset injection evaluation index and the injection result information.

5. The method according to claim 4, characterized in that, The method further includes: Inputting the injection image data into a pre-trained analysis model to obtain analysis information; Generating a prompt message and displaying it based on the analysis information and preset standard information.

6. The method according to claim 4, characterized in that The method further includes: Obtaining the actual diffusion range and the planned coverage range; Calculating the coverage rate based on the actual diffusion range and the planned coverage range; If the coverage rate is greater than or equal to a preset coverage rate threshold, it is determined that the expected requirements are met.

7. The method according to claim 1, wherein The method further includes: Obtaining the expected covered brain region volume, diffusion rate, and expected diffusion time; Calculating the planned injection drug volume as the injection information based on a preset injection drug volume formula and the covered brain region volume, the diffusion rate, and the expected diffusion time.

8. The method according to claim 7, wherein The mixing ratio of the drug and gadolinium is 500:

1.

9. The method according to claim 8, wherein During the entire injection process, the injection speed includes: An acceleration stage with a time interval of 0 ≤ t < t1, and the injection speed V1 = (v / t1)t; A constant speed stage with a time interval of t1 ≤ t < t1 + t2, and the injection speed V2 = v; During the deceleration phase where the time interval is t1 + t2 ≤ t < t1 + t2 + t, the injection speed Calculate the total injection volume to be and stop when V total reaches the injection drug volume.

10. A convection-enhanced intracranial drug delivery device combining magnetic resonance and a robot, characterized in that, Including: A first acquisition module for obtaining three-dimensional structural image data to be registered including the brain of the target user through a magnetic resonance device; wherein, the three-dimensional structural image data includes fiducial points of the target user; A processing module, which is configured to, after registering the to-be-registered three-dimensional structural image data, control the surgical robot to move to a target position based on a planned path in a pre-generated injection plan, and control a syringe through an injection pump to perform an injection process according to injection information in the injection plan.

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