Movable ultra-low field magnetic resonance equipment suitable for operating room

Abstract

The invention provides movable ultra-low field magnetic resonance equipment suitable for an operating room, and the equipment comprises a scanning device which comprises an ultra-low field permanent magnet, a gradient coil and a radio frequency coil, the intensity of the magnetic field generated by the ultra-low field permanent magnet is not higher than 100 mT, and the radio frequency coil employs a receiving and transmitting integrated coil; the motion executing mechanism comprises a driving motor and wheels and is used for bearing the scanning device to move to a target position; the sensor device comprises at least one of a camera, a laser radar and an ultrasonic distance sensor, and is configured to sense the surrounding environment of the movable ultra-low field magnetic resonance equipment and the position information of the movable ultra-low field magnetic resonance equipment in the environment; and the motion control unit is configured to send a control instruction to the motion execution mechanism according to a path plan obtained by the sensing information of the sensor device. According to the invention, the moving path of the magnetic resonance equipment is automatically adjusted according to the moving distance and the target position of the magnetic resonance equipment, the automatic and intelligent control of the magnetic resonance equipment is realized, the workload of operators is reduced, and the convenience and safety of the equipment are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical imaging devices, and more particularly, to a movable ultra-low field magnetic resonance device applicable in an operating room. Background Art

[0002] Stroke is a major health problem globally. The incidence of stroke is quite high, especially in the middle-aged and elderly populations. For hemorrhagic stroke, surgery is required to relieve intracerebral hemorrhage or repair ruptured blood vessels. For ischemic stroke, arterial thrombectomy may be needed, that is, removing the occluded thrombus in the blood vessel through a catheter. Therefore, accurately displaying the structural changes and pathological features in the brain to help doctors make timely diagnoses is an urgent problem to be solved.

[0003] In current hybrid operating rooms, CT (Computed Tomography) devices and DSA (Digital Subtraction Angiography) devices are usually equipped to guide DSA interventional surgeries through the imaging results of CT devices. For the diagnosis of stroke, compared with CT, magnetic resonance devices have more advantages in soft tissue imaging, can display structures such as brain tissue, blood vessels, and nerves more clearly. In addition, magnetic resonance devices have the advantage of being radiation-free and can be used multiple times during the operation. Some current hospitals are also equipped with operating rooms with magnetic resonance devices with a magnetic field strength of 1.5T or 3T and DSA devices. Usually, an independent magnetic shielding space is set up separately for the magnetic resonance device or a magnetic shielding baffle is set between the operation area and the magnetic resonance device. However, such operating rooms require a large amount of space, and the interconnectivity between devices is low, lacking an intelligent device scheduling scheme, resulting in a complex workflow.

[0004] In recent years, portable magnetic resonance devices have become popular in the medical field due to the flexibility brought by low magnetic fields and play an important role in medical diagnosis. Traditional high-field magnetic resonance devices also have problems such as large volume, difficult movement, and insufficient positioning accuracy. Especially in installation, debugging, and daily use, they have extremely high technical requirements for operators and the operation process is cumbersome. Therefore, developing an ultra-low field magnetic resonance device that can automatically navigate and be intelligently regulated is of great significance for improving imaging efficiency and reducing operation difficulty.

[0005] In addition, at present, the application of low-field magnetic resonance devices in the scanning of patients in some emergency and ICU scenarios is being explored. However, there is still no relevant research and examples on how to intelligently combine ultra-low field magnetic resonance devices with surgical application devices such as DSA devices to provide a complete stroke hybrid operating room. Summary of the Invention

[0006] Aiming at the defects in the prior art, the purpose of the present disclosure is to provide a stroke hybrid operating room system.

[0007] To achieve the above object, the present invention provides a movable ultra-low field magnetic resonance device applicable to an operating room, characterized in that it includes: a scanning device, including an ultra-low field permanent magnet, a gradient coil and a radio frequency coil, wherein the magnetic field intensity generated by the ultra-low field permanent magnet is not higher than 100 mT, and the radio frequency coil adopts a transceiver integrated coil; a motion execution mechanism, including a driving motor and wheels, for carrying the scanning device and driving the scanning device to move to a target position; a sensor device, including at least one of a camera, a lidar, and an ultrasonic distance sensor, configured to sense the surrounding environment of the movable ultra-low field magnetic resonance device and its position information in the environment where it is located; A motion control unit, configured to send a control instruction to the motion execution mechanism according to the path planning obtained from the sensing information of the sensor device.

[0008] Optionally, the motion control unit is configured to control the movable ultra-low field magnetic resonance device to move to a preset position, and the preset position is a position where the scannable area of the movable ultra-low field magnetic resonance device is adapted to the headrest position of the operating table.

[0009] Optionally, when the scanning of the patient by the movable ultra-low field magnetic resonance device is completed, the motion control unit controls the movable ultra-low field magnetic resonance to move to a preset standby position, and the standby position is a position far from the surgical operation area in the operating room.

[0010] Optionally, the sensor device includes an ultrasonic distance sensor. During the movement of the movable ultra-low field magnetic resonance device, the ultrasonic distance sensor senses the distance of nearby objects in real time and sends the sensing information to the motion control unit; the motion control unit controls the movable ultra-low field magnetic resonance device to decelerate, stop moving or change the moving direction according to the distance of nearby objects sensed by the ultrasonic distance sensor in real time and a preset safety threshold to avoid collisions.

[0011] Optionally, the sensor device includes one or more lidars, configured to sense the distance of surrounding objects by emitting laser beams and receiving the reflected signals, and the motion control unit sends a control instruction to the motion execution mechanism according to the distance of surrounding objects sensed by the lidar.

[0012] Optionally, it further includes a SLAM algorithm module, and the SLAM algorithm module is configured to determine its own position and construct a surrounding environment map according to the sensing information received by the one or more lidars, and perform path planning according to the own position and the surrounding environment map.

[0013] Optionally, when the movable ultra-low field magnetic resonance device approaches the target position, the SLAM algorithm module generates a fine-tuning instruction to fine-tune the position of the movable ultra-low field magnetic resonance device according to the deviation between the real-time position information and the target position; after the fine-tuning is completed, the current position is verified through the sensing information of the sensor device to ensure accurate arrival at the target position.

[0014] Optionally, the motion control unit is further configured to automatically control the moving speed according to the current position, target position and planned path of the movable ultra-low field magnetic resonance device.

[0015] Optionally, the movable ultra-low field magnetic resonance device is further equipped with a remote control terminal, which is wirelessly communicatively connected to the movable ultra-low field magnetic resonance device for an operator to control the movable ultra-low field magnetic resonance device.

[0016] Optionally, the movable ultra-low field magnetic resonance device is further configured with a radio frequency interference detection probe for detecting radio frequency interference signals in the environment before the magnetic resonance scan starts; when the radio frequency interference signals in the environment detected exceed a preset threshold, the movable ultra-low field magnetic resonance device gives an audible prompt.

[0017] On the other hand, the present invention also provides a stroke hybrid operating room system, including: a DSA device configured as a single C-arm or double C-arm structure for performing real-time angiography on a patient during surgery and displaying the blood vessel information of the patient's brain; a movable ultra-low field magnetic resonance device configured as a miniaturized structure only applicable to scanning the patient's head, with a magnetic field strength not higher than 100 mT, and configured to move to a specified position within the operating room space according to a received control signal; an operating table configured to be height-adjustable and angle-rotatable, and configured with a headrest compatible with the movable ultra-low field magnetic resonance device; a control center configured to be communicatively connected to the DSA device, the movable ultra-low field magnetic resonance device, and the operating table, sending control signals to the DSA device, the movable ultra-low field magnetic resonance device, and the operating table, and receiving feedback signals sent by the DSA device, the movable ultra-low field magnetic resonance device, and the operating table.

[0018] Optionally, the movable ultra-low field magnetic resonance device includes: a scanning device including a permanent magnet with a magnetic field strength not higher than 100 mT, gradient coils and radio frequency coils; a motion execution mechanism including a drive motor and wheels for carrying the scanning device and driving the scanning device to move to a target position; a sensor device including at least one of a camera, a lidar, and an ultrasonic distance sensor, configured to sense the surrounding environment of the movable ultra-low field magnetic resonance device and its position in the environment where it is located, and send the sensing information to the control center.

[0019] Optionally, the radio frequency coil is a transceiver integrated coil.

[0020] Optionally, the control center receives the sensing information of the sensor device, performs path planning and generates control instructions.

[0021] Optionally, the system is preset with a scanning position and / or a standby position; the control center is configured to control the system to adjust to the scanning position or the standby position according to an instruction input by an operator.

[0022] Optionally, the process of controlling the system to adjust to the scanning position includes: controlling the operating table to adjust to a preset height and angle, where the preset height is such that the headrest of the operating table is adapted to the scannable area of the movable ultra-low field magnetic resonance device, and the preset angle is such that there is sufficient space near the position of the headrest of the operating table for the movable ultra-low field magnetic resonance device to drive in; controlling the movable ultra-low field magnetic resonance device to move to a preset position, where the preset position is a position where the scannable area of the movable ultra-low field magnetic resonance device is adapted to the position of the headrest of the operating table.

[0023] Optionally, when the scanning of the patient by the movable ultra-low field magnetic resonance device is completed, the control center controls the operating table to return to the height and angle before scanning, and controls the movable ultra-low field magnetic resonance to move to a preset standby position, where the standby position is a position in the operating room far from the surgical operation area.

[0024] Optionally, the sensor device includes an ultrasonic distance sensor. During the movement of the movable ultra-low field magnetic resonance device, the ultrasonic distance sensor senses the distance of nearby objects in real time and sends the sensing information to the control center; when the control center determines that the distance is less than a safety threshold, it controls the movable ultra-low field magnetic resonance device to decelerate, stop moving or change the moving direction to avoid collision.

[0025] Optionally, the movable ultra-low field magnetic resonance device is further equipped with a radio frequency interference detection probe for detecting radio frequency interference signals in the environment before the start of magnetic resonance scanning and sending the detection information to the control center.

[0026] Optionally, the control center turns off the detected interference source before the start of magnetic resonance scanning and restarts the interference source after the completion of magnetic resonance scanning.

[0027] Compared with the prior art, the embodiments of the present disclosure have at least one of the following beneficial effects: The movable ultra-low field magnetic resonance device is small in size and suitable for the stroke hybrid operating room with a small space.

[0028] In the embodiments of the present disclosure, through an automatic positioning technology, without moving the patient, it is possible to efficiently and accurately move the patient to the scanning position of the ultra-low field magnetic resonance, thereby improving the efficiency.

[0029] The control center in the embodiments of the present disclosure intelligently regulates the working states of the operating table, DSA device, and movable ultra-low field magnetic resonance device. When entering the magnetic resonance scanning mode, it automatically shuts off the interference sources, provides a collaborative workflow for the equipment rooms in a hybrid operating room, and ensures high-quality images are obtained in a non-shielded room state.

[0030] The movable ultra-low field magnetic resonance device in the embodiments of the present disclosure integrates an automatic tracking system and a speed control system, which can detect the movement trajectory and the surrounding environment of the device in real time, automatically adjust the movement path of the magnetic resonance device, and automatically adjust the movement speed of the magnetic resonance device according to the movement distance and target position of the magnetic resonance device, realizing the automation, intelligence, and remote control of the device, reducing the workload of the operator, and improving the convenience and safety of the device.

[0031] The movable ultra-low field magnetic resonance device in the embodiments of the present disclosure integrates a fine-tuning positioning system, which automatically adjusts the positioning accuracy of the device by real-time monitoring the displacement change of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present disclosure will become more apparent: Figure 1 FIG. is a system architecture diagram of a stroke hybrid operating room shown according to an exemplary embodiment.

[0033] Figure 2 FIG. is a schematic diagram of a movable ultra-low field magnetic resonance device shown according to an exemplary embodiment.

[0034] Figure 3 FIG. is an automatic positioning flowchart of a movable ultra-low field magnetic resonance device shown according to an exemplary embodiment.

[0035] Figure 4 FIG. is a device collaborative workflow of a stroke hybrid operating room shown according to an exemplary embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The present disclosure will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present disclosure, but do not limit the present disclosure in any form. It should be noted that those of ordinary skill in the art can make several modifications and improvements without departing from the concept of the present disclosure. These all fall within the protection scope of the present disclosure.

[0037] Figure 1 It is a system architecture diagram of a stroke hybrid operating room shown according to an exemplary embodiment.

[0038] As Figure 1 shown, the equipment cabinet includes a magnetic resonance spectrometer, gradient power amplifier, radio frequency power amplifier, transceiver switch, workstation, etc. This part is the electronic equipment of the whole system, and a shielded cabinet design is adopted to ensure no electromagnetic interference leakage. The magnetic resonance spectrometer generates a radio frequency excitation signal, which is amplified by the radio frequency power amplifier and enters the transceiver coil through the transceiver switch to excite the magnetic resonance signal. After the magnetic resonance signal is received by the transceiver coil, it enters the magnetic resonance spectrometer through the transceiver switch, is converted into a digital signal by the magnetic resonance spectrometer and sent to the workstation to complete image reconstruction.

[0039] The scanning device is the scanner shown in the figure. The scanner is the part of a movable ultra-low field magnetic resonance device for scanning patients, and is composed of a permanent magnet with a magnetic field strength not higher than 100 mT, gradient coils, transceiver coils, radio frequency interference probes, sensors, motion control units, motion actuators, etc. The permanent magnet with a magnetic field strength not higher than 100 mT can effectively reduce the magnetic interference with other equipment in the operating room and reduce the weight and volume of the scanner.

[0040] The connection lines between the equipment cabinet and the scanner include radio frequency transmission lines, gradient lines, receiving signal lines, sensor wires, motion control communication lines, etc.

[0041] This system is designed to be used in a hybrid operating room, so it needs to cooperate with the operating table. The operating table is equipped with a magnetic resonance compatible headrest. The patient's head is placed on the headrest for surgery. Without moving the patient, the patient is sent into the scannable area of the scanner by moving the scanner.

[0042] This system also needs to be equipped with a DSA device (not shown in the figure), configured as a single C-arm or double C-arm structure, and is used to perform real-time angiography on the patient during the operation and display the blood vessels in the patient's brain.

[0043] The workstation, that is, the control center, is configured to be communicatively connected to the movable ultra-low field magnetic resonance device, and can be used to receive signals from sensors for functions such as position sensing, path planning, and automatic positioning. The workstation is also configured to be communicatively connected to the DSA device and the operating table, and controls the coordinated work among the devices in the operating room by sending control signals to the DSA device, the movable ultra-low field magnetic resonance device, and the operating table, and receiving feedback signals sent by the DSA device, the movable ultra-low field magnetic resonance device, and the operating table.

[0044] The workstation can send motion control instructions to the motion control unit to drive the motion execution mechanism to move, so that the scanner reaches the preset position. The workstation can be the central server of this system, a dedicated workstation in the operating room, or a remote control terminal. The workstation can be integrated in the equipment cabinet, set in a fixed area in the operating room, set as a mobile terminal, or set in a fixed area outside the operating room, as long as it can communicate with this system and realize the corresponding control of the equipment of this system.

[0045] The mobile ultra-low field magnetic resonance device is also equipped with a radio frequency interference detection probe for detecting radio frequency interference signals in the environment before the magnetic resonance scan starts; when the detected radio frequency interference signal in the environment exceeds a preset threshold, the mobile ultra-low field magnetic resonance device emits a sound prompt.

[0046] Such as Figure 2 is a schematic diagram of a mobile ultra-low field magnetic resonance device shown according to an exemplary embodiment Such as Figure 1 and 2 As shown, the ultra-low field magnetic resonance device is configured with a motion execution mechanism. The motion execution mechanism includes a driving motor and wheels, and is used to carry the scanning device and drive the scanning device to move to the target position. The ultra-low field magnetic resonance device is also configured with a motion control unit for sending control instructions to the motion execution mechanism according to the path planning obtained from the sensing information of the sensor device. The motion control unit can be integrated in the workstation or set separately. The motion control unit can be used to receive signals from the sensor for functions such as position sensing, path planning, and automatic positioning. The motion control unit can also be communicatively connected to the workstation. The workstation is used to receive signals from the sensor for functions such as position sensing, path planning, and automatic positioning. The motion control unit is used to receive control instructions from the workstation and drive the motion execution mechanism, so that the motion execution mechanism moves according to the speed, direction, etc. required by the control instructions.

[0047] The ultra-low field magnetic resonance device also integrates a sensor device, which can be one or more lidar sensors. By emitting laser beams and receiving the reflected signals, the lidar sensors measure distances and sense directions, thereby realizing the perception of the surrounding environment. In the ultra-low field magnetic resonance imaging device, the lidar sensors can be installed around or on top of the device to form a 360-degree or specific-angle perception range. High-resolution and high-precision lidar sensors need to be selected to ensure the accuracy and reliability of the measurement. In the embodiments of the present disclosure, the lidar sensors are installed on top of the movable ultra-low field magnetic resonance device. The lidar sensors can measure the distance between the device and the surrounding environment in real time, as well as the position of the device in the environment, and convert this data into digital signals and transmit them to the workstation or the motion control unit. By analyzing this data, the workstation or the motion control unit can construct an environmental map around the device and provide key information for path planning. Specifically, the lidar sensors will output distance data in real time, and this data will be transmitted to the image processing algorithm of the workstation for further processing. The embodiments of the present disclosure provide a SLAM algorithm module that can perform simultaneous localization and mapping in an unknown environment. The SLAM (Simultaneous Localization and Mapping) module can be integrated into the workstation or the motion control unit. This algorithm uses the data transmitted by the lidar sensors to estimate the current position of the magnetic resonance device and simultaneously constructs an environmental map around the magnetic resonance device. The SLAM algorithm can be used to achieve precise positioning and path planning of the device, and to realize the automatic tracking function of the ultra-low field magnetic resonance imaging device. Specifically, the data processing process of the SLAM algorithm includes: data preprocessing: preprocessing the distance data output by the lidar sensors, including filtering, denoising, etc., to improve the accuracy of the data; feature extraction: extracting key features from the preprocessed data, such as obstacle contours, road boundaries, etc. These features will be used to construct the environmental map and perform path planning; localization and mapping: using the SLAM algorithm to simultaneously estimate the current position of the magnetic resonance device and construct a map of the surrounding environment. This usually involves advanced statistical methods such as particle filtering and Kalman filtering; path planning: according to the constructed environmental map and the current position of the magnetic resonance device, the SLAM algorithm can generate an optimal moving path. This path will avoid obstacles, and the motion control unit will drive the motion actuator to drive the magnetic resonance device to move according to the optimal moving path, ensuring that the magnetic resonance device can reach the target position safely and accurately.

[0048] The ultra-low field magnetic resonance imaging device is also integrated with ultrasonic distance sensors. In the embodiments of the present disclosure, four ultrasonic distance sensors are installed around the magnetic resonance device to ensure that the ultrasonic distance sensors can comprehensively sense the moving range of the magnetic resonance device without sensing blind spots. The ultrasonic distance sensors continuously emit ultrasonic pulses and receive their reflected echoes, and calculate the distance between the device and the obstacle according to the time difference between transmission and reception. The workstation or the motion control unit receives the distance data of the sensors in real time and processes and analyzes the data to monitor the distance change between the magnetic resonance device and the surrounding environment. The ultrasonic distance sensors continuously monitor the distance between the magnetic resonance device and the surrounding obstacles. When the distance is less than a preset safety threshold, the limit protection function is triggered to prevent the magnetic resonance device from colliding or exceeding the predetermined safety range. The limit logic of the limit protection function includes: presetting a safety threshold as the safety boundary for the movement of the magnetic resonance device. When the distance detected by any one of the ultrasonic distance sensors is less than the safety threshold, the limit protection function is immediately triggered. The limit protection function can be manifested as the magnetic resonance device decelerating, stopping moving or changing the moving direction to avoid collision or exceeding the safety range.

[0049] A speed sensor is also installed on the magnetic resonance device for real-time speed data feedback. The adjustment rules for the workstation or the motion control unit to perform the limit protection function include: Startup phase: When the magnetic resonance device starts to move, the workstation will first drive the device according to a preset initial speed value. The speed in this phase is usually slow to ensure that the magnetic resonance device can start smoothly and avoid impacting the surrounding environment. Acceleration phase: As the magnetic resonance device gradually moves away from the starting position, the workstation will calculate a suitable acceleration value based on the moving distance and the target position of the magnetic resonance device. This acceleration value will gradually decrease as the magnetic resonance device approaches the target position to ensure that the magnetic resonance device will not get out of control due to excessive speed when approaching the target position. Constant speed phase: When the magnetic resonance device moves a certain distance, the workstation will adjust the speed to a relatively stable level to maintain the smooth operation of the magnetic resonance device. The speed in this phase is usually determined according to the moving distance and the target position of the magnetic resonance device to ensure that the device can reach the target position in the shortest time. Deceleration phase: When the magnetic resonance device approaches the target position, the workstation will calculate a suitable deceleration value based on the current speed and the target position of the magnetic resonance device. This deceleration value will gradually increase as the magnetic resonance device approaches the target position to ensure that the magnetic resonance device can stop smoothly at the target position. The steps for the workstation or the motion control unit of the embodiment of the present disclosure to perform speed control based on the fuzzy control algorithm include: Fuzzy controller design: The fuzzy controller is the core part of the fuzzy control algorithm. It outputs a suitable speed control instruction through fuzzy inference based on input information such as the moving distance and the target position of the magnetic resonance device. The design of the fuzzy controller includes steps such as fuzzification of input variables, fuzzy inference rules, and defuzzification of output variables; Fuzzification of input variables: Convert input information such as the moving distance and the target position of the device into fuzzy quantities. This usually involves steps such as quantifying the input information and dividing fuzzy subsets. For example, the moving distance of the magnetic resonance device can be divided into fuzzy subsets such as "far", "medium", and "near", and the target position can be divided into fuzzy subsets such as "left", "right", "front", and "back"; Fuzzy inference rules: Design a set of fuzzy inference rules based on fuzzy input information such as the moving distance and the target position of the magnetic resonance device. These rules describe how to adjust the speed of the magnetic resonance device under different circumstances. For example, when the magnetic resonance device is "far" from the target position and moving "fast", the speed can be increased; when the magnetic resonance device is "near" the target position and moving "fast", the speed should be decreased, etc.; Defuzzification of output variables: Convert the output instruction of the fuzzy controller into a clear speed control signal. This usually involves defuzzifying the output fuzzy quantity to obtain a specific speed value. This speed value will be transmitted to the workstation or the motion control unit to adjust the moving speed of the device. Through this speed control scheme based on the fuzzy control algorithm, precise control of the moving speed of the ultra-low field magnetic resonance imaging device can be achieved.Automatically adjust the moving speed of the magnetic resonance device according to real-time information such as the moving distance and target position of the magnetic resonance device to ensure that the magnetic resonance device remains stable and efficient during movement.

[0050] The embodiments of the present disclosure also provide a limit protection system. By installing limit switches and sensors, the moving range of the magnetic resonance device is monitored in real time to ensure that the magnetic resonance device does not exceed the predetermined safe range during movement, preventing collisions and damage. When any ultrasonic distance sensor monitors the distance between the magnetic resonance device and surrounding obstacles in real time, when the distance is less than the preset safety threshold, the limit protection function is triggered to prevent the magnetic resonance device from colliding or exceeding the predetermined safe range.

[0051] The present invention realizes the fine-tuning positioning function of the magnetic resonance device by introducing precise sensor devices and fine-tuning mechanisms. By monitoring the displacement changes of the magnetic resonance device in real time, the positioning accuracy of the device is automatically adjusted to ensure that the magnetic resonance device can maintain stable imaging quality during imaging. The SLAM algorithm is responsible for real-time positioning and map construction, guiding the device to move to the target area, while the position fine-tuning mechanism is responsible for precisely adjusting the position of the device when it approaches the target position. Position fine-tuning mechanism: Under the guidance of the SLAM algorithm, the position of the ultra-low field magnetic resonance imaging unit is fine-tuned. The SLAM algorithm obtains the position information of the magnetic resonance device in real time through the sensor group, constructs an environmental map, and determines the current position of the magnetic resonance device in the map. According to the preset target position or imaging area, the SLAM algorithm identifies the target position that the magnetic resonance device needs to reach and plans the optimal moving path. When the magnetic resonance device approaches the target position, the SLAM algorithm calculates the adjustment amount and direction required by the position fine-tuning mechanism based on the deviation between the real-time position information and the target position, and generates a fine-tuning instruction. After receiving the fine-tuning instruction, the position fine-tuning mechanism fine-tunes the position of the ultra-low field magnetic resonance imaging unit. After the fine-tuning is completed, the SLAM algorithm verifies the adjustment effect through the position sensor group to ensure that the device accurately reaches the target position. The position fine-tuning mechanism uses a stepper motor as the driving element to achieve the fine-tuning function. Control strategy: The position fine-tuning mechanism integrates a closed-loop control system. According to the fine-tuning instruction generated by the SLAM algorithm, the position of the magnetic resonance device is precisely adjusted. At the same time, through the real-time position information fed back by the sensor group, closed-loop control is performed to ensure the adjustment accuracy.

[0052] By introducing wireless communication technology, the present invention realizes the remote control function of magnetic resonance equipment. Operators can remotely monitor and operate the equipment at a location far from the magnetic resonance equipment through devices such as mobile devices or computers, improving the flexibility and safety of the equipment. The system supports precise movement control of the equipment, including basic movement actions such as forward, backward, left turn, and right turn. Operators can intuitively control the movement direction and distance of the equipment through the interface of the terminal device to achieve precise control. Therefore, the workstation can also be a mobile terminal, such as a mobile device or a computer.

[0053] Figure 3 It is a flowchart of the automatic positioning of a mobile ultra-low field magnetic resonance equipment shown according to an exemplary embodiment.

[0054] As Figure 3 shown, for the mobile ultra-low field magnetic resonance equipment provided by the present invention, without moving the patient, the present invention designs an automatic positioning method to intelligently and accurately move the scanner to the position of the patient's head. The automatic positioning function needs to use sensors to detect the relative position between the scanner and the headrest. The sensors are high-precision ranging sensors, such as lidar, ultrasonic distance sensors, cameras, etc. In this embodiment, three high-precision sensors are used. One is used to measure the distance from the lower surface of the headrest to the scanner, another is used to measure the distance from the side of the headrest to the scanner, and the third is used to measure the distance from the top edge of the headrest to the scanner. The relative position of the headrest and the scanner is determined by these three distances, and the height and angle of the operating table are adjusted so that there is sufficient space near the headrest position of the operating table for the mobile ultra-low field magnetic resonance equipment to drive in; control the mobile ultra-low field magnetic resonance equipment to move to a preset position, and the preset position is a position where the scannable area of the mobile ultra-low field magnetic resonance equipment is adapted to the headrest position of the operating table, that is, the position where the patient's head can be scanned. When the magnetic resonance equipment moves to the preset position, turn off the power of the motion control unit of the magnetic resonance equipment and prepare for scanning.

[0055] Figure 4 It is a workflow of equipment cooperation in a stroke hybrid operating room shown according to an exemplary embodiment.

[0056] As Figure 4As shown in the figure, the present invention provides a collaborative working mode. The control collaborative device can be a DSA or an operating table. When the device to be collaborated moves to the specified position, and then the scanner is controlled to move into the range of the headrest, the automatic positioning function can be activated, and the scanner is controlled to automatically position to the preset position of the head. Specifically, the collaborative workflow includes: communication connection between the ultra-low field magnetic resonance device and the collaborative device. The magnetic resonance device sends a scanning request to the collaborative device, and the collaborative device saves the current working state. For example, the operating table saves the current coordinate position. When the current working state of the collaborative device is saved, it responds to the scanning request instruction and notifies that the working state has been saved. The magnetic resonance device sends a collaborative execution instruction to the collaborative device. The collaborative device, such as the operating table, automatically runs to the specified height and rotation angle according to the collaborative instruction. The collaborative device, such as the DSA device, enters the idle mode, that is, the collaborative device turns off the interference source (such as the motor), and the collaborative device notifies the magnetic resonance device that the scanning is ready. The magnetic resonance device activates the automatic positioning function and controls the movable ultra-low field magnetic resonance device to move to the preset position. The preset position is a position where the scannable area of the movable ultra-low field magnetic resonance device is adapted to the headrest position of the operating table. When the scanning is completed, the magnetic resonance device notifies the collaborative device. The collaborative device resumes work. For example, the operating table resumes the working state and returns to the previously saved working state, that is, returns to the height and rotation angle before scanning. The DSA device resumes the working mode, such as turning on the motor. When all the collaborative devices resume work and notify the magnetic resonance device, the magnetic resonance device moves to the preset position away from the surgical operation area in the operating room and enters the standby working mode, and this collaborative workflow is completed. Through the collaborative working protocol and workflow, the interference source of the collaborative device is intelligently turned off before entering magnetic resonance scanning, ensuring high image quality in the state without a shielding room. By the collaborative working protocol and workflow, the cooperation problems between various devices are ensured, improving the efficiency and also enhancing the safety.

[0057] The movable ultra-low field magnetic resonance device of the present invention is also configured with a radio frequency interference detection probe, which is used to detect the radio frequency interference signal in the environment before the magnetic resonance scanning starts and send the detection information to the control center. The control center turns off the detected interference source before the magnetic resonance scanning starts and restarts the interference source after the magnetic resonance scanning is completed. Further ensuring the safety and intelligence of the collaborative work between devices and improving the work efficiency.

[0058] The specific embodiments of the present disclosure have been described above. It should be understood that the present disclosure is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present disclosure. The above preferred features can be used in any combination without conflict.

Claims

1. A movable ultra-low field magnetic resonance device applicable to an operating room, characterized in that, Comprising: A scanning device, including an ultra-low-field permanent magnet, gradient coils and RF coils, wherein the magnetic field intensity generated by the ultra-low-field permanent magnet is not higher than 100 mT, and the RF coil adopts a transceiver integrated coil; A motion execution mechanism, including a driving motor and wheels, for carrying the scanning device to move to a target position; A sensor device, including at least one of a camera, a lidar, and an ultrasonic distance sensor, configured to sense the surrounding environment of the movable ultra-low-field magnetic resonance device and its position information in the environment where it is located; A motion control unit, configured to send control instructions to the motion execution mechanism according to the path planning obtained from the sensing information of the sensor device.

2. The movable ultra-low field magnetic resonance device according to claim 1, characterized in that The motion control unit is configured to control the movable ultra-low-field magnetic resonance device to move to a preset scanning position, and the preset scanning position is a position where the scannable area of the movable ultra-low-field magnetic resonance device is adapted to the headrest position of the operating table.

3. The movable ultra-low field magnetic resonance device according to claim 2, wherein When the scanning of the patient by the movable ultra-low-field magnetic resonance device is completed, the motion control unit controls the movable ultra-low-field magnetic resonance to move to a preset standby position, and the standby position is a position in the operating room far from the surgical operation area.

4. The movable ultra-low field magnetic resonance device according to claim 1, characterized in that, The sensor device includes an ultrasonic distance sensor. During the movement of the movable ultra-low-field magnetic resonance device, the ultrasonic distance sensor senses the distance of nearby objects in real time, and the motion control unit controls the movable ultra-low-field magnetic resonance device to decelerate, stop moving or change the moving direction according to the distance of nearby objects sensed by the ultrasonic distance sensor in real time and a preset safety threshold to avoid collisions.

5. The movable ultra-low field magnetic resonance device according to claim 2, wherein, The sensor device includes one or more lidars, configured to sense the distance of surrounding objects by emitting laser beams and receiving the reflected signals, and the motion control unit sends control instructions to the motion execution mechanism according to the distance of surrounding objects sensed by the lidar.

6. The movable ultra-low field magnetic resonance device according to claim 5, wherein, It further includes a SLAM algorithm module, which is configured to determine its own position and construct a surrounding environment map according to the sensing information of the received one or more lidars, and perform path planning according to the own position and the surrounding environment map.

7. The movable ultra-low field magnetic resonance device according to claim 6, characterized in that, When the movable ultra-low-field magnetic resonance device approaches the target position, the SLAM algorithm module generates a fine-tuning instruction to fine-tune the position of the movable ultra-low-field magnetic resonance device according to the deviation between the real-time position information and the target position; After the fine-tuning is completed, the current position is verified through the sensing information of the sensor device to ensure accurate arrival at the target position.

8. The movable ultra-low field magnetic resonance device according to claim 7, characterized in that, The motion control unit is further configured to automatically control the moving speed according to the current position, target position and planned path of the movable ultra-low-field magnetic resonance device.

9. The movable ultra-low field magnetic resonance device according to claim 1, wherein The movable ultra-low-field magnetic resonance device is further equipped with a remote control terminal, which is wirelessly communicatively connected to the movable ultra-low-field magnetic resonance device for an operator to control the movable ultra-low-field magnetic resonance device.

10. The movable ultra-low field magnetic resonance device according to claim 1, wherein The movable ultra-low field magnetic resonance device is also configured with a radio frequency interference detection probe for detecting radio frequency interference signals in the environment before the start of magnetic resonance scanning; when the radio frequency interference signals detected in the environment exceed a preset threshold, the movable ultra-low field magnetic resonance device gives an audible prompt.

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