Three-dimensional magnetic control navigation system

Abstract

The invention discloses a three-dimensional magnetic control navigation system which comprises a support, a multi-magnetic-pole device arranged on the support, a pose driving device, a magnetic pole magnetic field control device and a main control device. The main control device is used for outputting an import control signal based on three-dimensional blood vessel path parameters of an operator and a pre-constructed magnetic field control model when receiving an intervention control instruction of a user; the pose driving device is connected with the main control device and is used for driving the multi-magnetic-pole device to change the pose based on the imported control signal, so that the spatial distribution state of a magnetic field generated by the multi-magnetic-pole device is changed; and the magnetic pole magnetic field control device is connected with the main control device and is used for driving one or more single magnetic poles in the multi-magnetic-pole device to change the magnetic field intensity based on the imported control signal. By means of the system, space distribution and field intensity of the magnetic field can be conveniently adjusted, the magnetic guide wire can accurately penetrate through the blood vessel under driving of the magnetic field, manual operation of a doctor is not needed, and therefore interventional therapy can be completed within a short time.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more particularly, to a three-dimensional magnetic control navigation system. Background Art

[0002] Vascular interventional surgery is a minimally invasive treatment method for treating various vascular diseases such as atherosclerosis, thrombosis, etc. In vascular interventional surgery, doctors need to accurately navigate interventional devices such as catheters and guidewires to the target position. Traditional surgical methods rely on manual manipulation by doctors, which have certain limitations. For example, the operation accuracy is limited, resulting in poor accuracy of the travel route of the guidewire in the body, thus making the operation time longer, which is a burden for both doctors and patients. Summary of the Invention

[0003] In view of this, this application provides a three-dimensional magnetic control navigation system for controlling the precise passage of magnetic interventional devices in the body so as to complete interventional treatment in a shorter time.

[0004] To achieve the above object, the following solutions are proposed:

[0005] A three-dimensional magnetic control navigation system includes a stent, a multi-pole device arranged on the stent, a pose driving device, a pole magnetic field control device, and a main control device, wherein:

[0006] The main control device is configured to output an import control signal based on the three-dimensional blood vessel path parameters of the operator and a pre-constructed magnetic field control model when receiving an interventional control instruction from the user;

[0007] The pose driving device is connected to the main control device and is configured to drive the multi-pole device to change its pose based on the import control signal, so as to change the spatial distribution state of the magnetic field generated by the multi-pole device;

[0008] The pole magnetic field control device is connected to the main control device and is configured to drive one or more single poles in the multi-pole device to change the magnetic field intensity based on the import control signal.

[0009] Optionally, the stent includes a first stent and a second stent, and the multi-pole device includes a first group of magnetic poles and a second group of magnetic poles, wherein:

[0010] The first group of magnetic poles is arranged on the first stent, and the second group of magnetic poles is arranged on the second stent.

[0011] Optionally, the pose driving device includes a displacement adjustment structure and a single pole direction adjustment structure, wherein:

[0012] The displacement adjustment structure is used to adjust the relative positions of the first bracket and the second bracket;

[0013] The single magnetic pole direction adjustment structure is used to adjust the direction of the single magnetic pole in the multi-magnetic pole device.

[0014] Optionally, each single magnetic pole is configured with one of the single magnetic pole direction adjustment structures.

[0015] Optionally, the main control device is a local workstation or a remote workstation, and is configured with a user interaction interface for receiving intervention control instructions input by the user.

[0016] Optionally, the single magnetic pole is configured with a permanent magnet and / or an electromagnet.

[0017] As can be seen from the above technical solutions, the present application discloses a three-dimensional magnetic control navigation system, including a bracket, a multi-magnetic pole device arranged on the bracket, a pose driving device, a magnetic pole magnetic field control device, and a main control device. The main control device is configured to output an import control signal based on the three-dimensional blood vessel path parameters of the operator and a pre-constructed magnetic field control model when receiving an intervention control instruction from the user; the pose driving device is connected to the main control device and is configured to drive the multi-magnetic pole device to change its pose based on the import control signal, so that the spatial distribution state of the magnetic field generated by the multi-magnetic pole device changes; the magnetic pole magnetic field control device is connected to the main control device and is configured to drive one or more single magnetic poles in the multi-magnetic pole device to change the magnetic field intensity based on the import control signal. Through this system, the spatial distribution and field strength of the magnetic field can be conveniently adjusted, enabling the magnetic guide wire to accurately penetrate within the blood vessel under the drive of the magnetic field without manual manipulation by the doctor, thereby enabling the intervention treatment to be completed in a relatively short time. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a block diagram of a three-dimensional magnetic control navigation system according to an embodiment of the present application;

[0020] Figure 2 It is a partial schematic diagram of a three-dimensional magnetic control navigation system according to an embodiment of the present application;

[0021] Figure 3 It is a partial schematic diagram of a three-dimensional magnetic control navigation system according to an embodiment of the present application. Detailed Embodiments

[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0023] Figure 1 It is a block diagram of a three-dimensional magnetic control navigation system according to an embodiment of the present application.

[0024] As Figure 1 shown, the three-dimensional magnetic control navigation system provided in this embodiment includes a bracket 100 and a multi-pole device 200 disposed on the bracket, and further includes a pose driving device 300, a magnetic pole magnetic field control device 400, and a main control device 500. The main control device is respectively connected to the multi-pole device, the pose driving device, and the magnetic pole magnetic field control device.

[0025] The main control device is configured to receive an intervention control instruction input by a user. The intervention control instruction refers to an instruction input by the user into the system for controlling the three-dimensional magnetic control navigation system to change the spatial distribution and magnetic field intensity of the magnetic field, so as to drive a magnetic guide wire to efficiently pass through a blood vessel channel in the human body and reach a treatment location. The magnetic guide wire refers to an interventional treatment guide wire with a magnetic object, which is a treatment instrument for treating thrombus at certain positions.

[0026] After the main control device receives the intervention control instruction, import control signals are respectively output to the multi-pole device, the pose driving device, and the magnetic pole magnetic field control device based on the three-dimensional blood vessel path parameters of the operator and a pre-constructed magnetic field control model. The import control signal is used to control the spatial distribution state and intensity of the magnetic field constructed by the multi-pole device in space, so as to drive the magnetic guide wire to move in the blood vessel. The import control signal can also separately control the spatial distribution state or separately control the intensity.

[0027] The bracket in this embodiment includes a first bracket 101 and a second bracket 102 located on the same base as the first bracket. The two can change the distance and direction between each other, as Figure 2 shown. The multi-pole device includes a first group of magnetic poles and a second group of magnetic poles, both of which include a plurality of single magnetic poles. The first group of magnetic poles is disposed on the first bracket, and the second group of magnetic poles is disposed on the second bracket. In this way, when the first bracket and the second bracket move separately or simultaneously, the spatial distribution state of the magnetic field of the multi-pole device can be changed.

[0028] The single magnetic pole in this application can be composed of a permanent magnet, an electromagnet, or a combination of a permanent magnet and an electromagnet. The disadvantage of a permanent magnet is that its magnetic field strength cannot be changed. Therefore, when it is necessary to change the spatial distribution state of the magnetic field of a multi-magnetic-pole device, it can only be achieved by adjusting the distance and pose between the single magnets; an electromagnet can not only maintain a certain magnetic field strength but also change the magnetic field strength. Therefore, when using an electromagnet, if you want to change the spatial distribution state of the magnetic field of a multi-magnetic-pole device, it can be achieved either by changing the pose and distance of the single magnetic poles or by adjusting some or all of the single magnets without adjusting the pose and distance.

[0029] The pose driving device in this application includes a displacement adjustment structure 30 and a single magnetic pole direction adjustment structure 20, as Figure 3 shown. The displacement adjustment structure can adjust the distance between the first bracket and the second bracket, and each single magnetic pole is fixed to the corresponding bracket through a single magnetic pole direction adjustment structure. When the single magnetic pole direction adjustment structure moves, it can drive the single magnetic pole to adjust its orientation.

[0030] The magnetic pole magnetic field control device can be directly connected to each single magnetic pole and is used to adjust the orientation and magnetic field strength of the single magnetic pole based on the above-introduced control signal. Here, adjusting the magnetic field strength means achieving it by controlling the current of the electromagnet when the single magnetic pole uses an electromagnet or a combination of an electromagnet and a permanent magnet. When adjusting the strength, the magnetic field strength of one or more single magnets can be adjusted.

[0031] The main control device of this application is a local workstation or a remote workstation, or both a local workstation and a remote workstation are configured. Whether it is a local workstation or a remote workstation, a user interaction interface is configured. The user interaction interface enables the user to control the three-dimensional magnetic control navigation system in a visual manner. In addition, both the local workstation and the remote workstation can be configured with a manual controller to facilitate the user to directly manually input the corresponding intervention control instructions.

[0032] As can be seen from the above technical solution, this embodiment provides a three-dimensional magnetic control navigation system, including a bracket, a multi-pole device arranged on the bracket, a pose driving device, a magnetic pole magnetic field control device, and a main control device. The main control device is configured to output an import control signal based on the three-dimensional blood vessel path parameters of the surgeon and a pre-constructed magnetic field control model when receiving an intervention control instruction from the user; the pose driving device is connected to the main control device and is configured to drive the multi-pole device to change its pose based on the import control signal, so that the spatial distribution state of the magnetic field generated by the multi-pole device changes; the magnetic pole magnetic field control device is connected to the main control device and is configured to drive one or more single magnetic poles in the multi-pole device to change the magnetic field intensity based on the import control signal. Through this system, the spatial distribution and field strength of the magnetic field can be conveniently adjusted, enabling the magnetic guide wire to accurately travel within the blood vessel under the drive of the magnetic field without manual manipulation by the doctor, thereby enabling the intervention treatment to be completed in a relatively short time.

[0033] The magnetic field control model in this application is obtained by collecting parameters through a constructed physical model and training the model based on the parameters. The collected parameters can be the magnetic pole position, magnetic field intensity, and the position of the magnetic guide wire, etc. When performing model training, the neural network model can be trained based on the collected parameters. The neural network model can be a feedforward neural network, a recurrent neural network, etc. When implementing the training, algorithms such as Backpropagation are used to train the neural network to obtain a better approximation effect. At the same time, the network performance can be further optimized by adjusting the parameters of the neural network, such as the learning rate, the number of iterations, etc.

[0034] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0035] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0036] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the said element.

[0037] The technical solutions provided by the present invention have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A three-dimensional magnetic control navigation system, characterized in that, It includes a bracket, a multi-pole device arranged on the bracket, a pose driving device, a magnetic pole magnetic field control device, and a main control device, where: The main control device is used to output an import control signal based on the three-dimensional blood vessel path parameters of the surgeon and a pre-constructed magnetic field control model when receiving an intervention control instruction from the user; The pose driving device is connected to the main control device and is used to drive the multi-pole device to change its pose based on the import control signal, so that the spatial distribution state of the magnetic field generated by the multi-pole device changes; The magnetic pole magnetic field control device is connected to the main control device and is used to drive one or more single magnetic poles in the multi-pole device to change the magnetic field intensity based on the import control signal.

2. The three-dimensional magnetic control navigation system according to claim 1, wherein The bracket includes a first bracket and a second bracket, and the multi-pole device includes a first group of magnetic poles and a second group of magnetic poles, where: The first group of magnetic poles is arranged on the first bracket, and the second group of magnetic poles is arranged on the second bracket.

3. The three-dimensional magnetic control navigation system according to claim 1, characterized in that The pose driving device includes a displacement adjustment structure and a single magnetic pole direction adjustment structure, where: The displacement adjustment structure is used to adjust the relative position between the first bracket and the second bracket; The single magnetic pole direction adjustment structure is used to adjust the direction of the single magnetic pole in the multi-pole device.

4. The three-dimensional touch navigation system according to claim 3, wherein Each single magnetic pole is configured with one such single magnetic pole direction adjustment structure.

5. The three-dimensional touch navigation system according to claim 1, characterized in that The main control device is a local workstation or a remote workstation and is configured with a user interaction interface, and the user interaction interface is used to receive the intervention control instruction input by the user.

6. The three-dimensional touch navigation system according to claim 1, wherein, The single magnetic pole is configured with a permanent magnet and / or an electromagnet.

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