Medical device for intravascular embolism treatment and control system thereof

Abstract

The invention relates to the technical field of new material detection, in particular to a medical device for intravascular embolism treatment and a control system thereof.The medical device comprises a miniature pressure sensor, a temperature sensor, a magnetic sensor, an LED lamp, a resistance-type heating piece, a catheter, a display screen, an embolism agent storage tank, an embolism agent conveying pipeline, a carrier, a magnetic field generator, the control system and a spiral CT scanner; the high-precision blood vessel 3D model is constructed through the medical image data, the injection speed and the injection amount of the embolic agent are planned, a reasonable injection scheme of the embolic agent and the complete patient blood vessel 3D model are obtained, embolic agent injection can be conveniently conducted on a patient subsequently, and by accurately controlling the intensity and the direction of the magnetic field, the blood vessel 3D model can be obtained. Real-time and accurate positioning of the position and direction of the catheter in a blood vessel is achieved, and accurate release of an embolic agent is achieved through an embolic agent release system integrating temperature control and light curing functions.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a medical device for treating intravascular embolism and a control system thereof. Background Art

[0002] Tumor growth depends on the nutrient supply from blood vessels. If the blood vessels supplying the tumor are blocked, the tumor tissue will undergo ischemic necrosis and shrink in size, a phenomenon clinically known as tumor cell starvation. Currently used vascular embolic materials are primarily divided into solid embolic agents (such as blood clots, absorbable gelatin sponges, stainless steel coils, platinum microcoils, and detachable balloons); liquid embolic agents (such as cyanoacrylate, anhydrous alcohol, iodized oil emulsion, sodium morrhuate); and various microparticle and microsphere embolic agents. Solid embolic agents require specialized catheters to reach the blood vessels, while liquid embolic agents can be inserted through conventional catheters, but are prone to accidental embolization and are difficult to perform. Microembolic materials are expensive and difficult to prepare and operate.

[0003] Chinese Patent Publication No. CN118680621 B discloses an embolic device and a method for using the same. The embolic device includes an injection mechanism and a catheter assembly. The injection mechanism is equipped with multiple injection units. The catheter assembly consists of a main catheter connected to a first end with multiple branch catheters. The second end of the main catheter is fixed and coated with a metal layer. The multiple branch catheters are detachably connected to the multiple injection units in a one-to-one manner. The embolic device designed in the present invention is used for the embolic agent of the present invention. The catheter of the embolic device adopts a three-channel structure, which can simultaneously deliver three different agents into the tumor blood vessels. The embolic device uses a drive mechanism to control the injection speed, ensuring that different volumes of agents can be evenly injected into the tumor blood vessels in a proportional manner, simplifying the embolic injection process and improving the embolic injection effect. However, the release of the embolic agent in this solution relies on manual operation by the doctor, lacking a precise control mechanism. Manual operation makes it difficult to accurately control the speed, amount, and timing of the embolic agent release, resulting in an unstable and inaccurate release process. Summary of the Invention

[0004] To this end, the present invention provides a medical device for intravascular embolization treatment and a control system thereof, so as to overcome the problem in the prior art that manual operation is difficult to accurately control the speed, amount and release timing of the embolic agent, resulting in an unstable and inaccurate release process.

[0005] To achieve the above objectives, the present invention provides, in one aspect, a medical device for treating intravascular embolism, comprising:

[0006] a control component connected to a control system, wherein the control component includes a spiral CT scanner, an embolic agent transmission pipeline, a magnetic field generator, a carrier, a catheter, a resistive heating sheet, an LED lamp, a magnetic sensor, a temperature sensor, and a micro pressure sensor;

[0007] a miniature pressure sensor connected to the catheter;

[0008] a temperature sensor connected to the catheter;

[0009] a magnetic sensor connected to the catheter;

[0010] LED light, connected to the catheter;

[0011] a resistive heating sheet connected to the catheter;

[0012] The catheter is connected to a micro pressure sensor, a temperature sensor, a magnetic sensor, an LED lamp, a resistive heating sheet, an embolic agent delivery pipeline, and a carrier;

[0013] A display screen connected to a spiral CT scanner;

[0014] an embolic agent storage tank connected to an embolic agent transmission pipeline;

[0015] An embolic agent transmission pipeline connected to the embolic agent storage tank and the catheter;

[0016] a carrier connected to the catheter;

[0017] a magnetic field generator connected to the catheter;

[0018] The control system is connected to the control component, and is used to process the control information, generate a control signal according to the processing result, and control the control component according to the control signal.

[0019] A spiral CT scanner is connected to a display screen.

[0020] In another aspect, the present invention further provides a control system for a medical device for intravascular embolization treatment, the control system comprising:

[0021] A data acquisition module, used to acquire patient data;

[0022] The vascular modeling and injection planning module is used to construct a 3D model of the patient's blood vessels based on the patient's data, calculate the injection volume of the embolic agent, and calculate the injection flow rate;

[0023] a catheter navigation module for evaluating a path, obtaining an optimal path, adjusting the path evaluation based on patient data, and correcting the adjustment of the path evaluation based on the patient data;

[0024] A real-time control module is used to control the movement of the catheter, control the catheter to inject the embolic agent according to the injection volume and injection flow rate of the embolic agent, control the resistive heating plate to heat the embolic agent, and control the LED light to illuminate the embolic agent injected into the target area;

[0025] a control feedback module, configured to adjust the first heating rate according to the patient data, and further configured to adjust the illumination duration of the LED light according to the patient data;

[0026] The vascular pressure feedback module is used to judge the blood pressure situation and correct the injection flow rate based on the judgment result. It also sends a signal to the real-time control module to stop the injection of the embolic agent based on the judgment result, and adjusts the blood pressure situation according to the ambient temperature.

[0027] Furthermore, the vascular modeling and injection planning module performs 3D modeling of the patient's blood vessels using a vascular modeling method according to the patient's CTA image in the patient data to obtain a 3D model of the patient's blood vessels.

[0028] Furthermore, the vascular modeling and injection planning module marks the target area in the patient's vascular 3D model according to the clinical needs in the patient data, calculates the embolic agent injection volume VL according to the vascular volume vt, embolic agent filling rate η and loss rate β of the target area in the patient's vascular 3D model, and sends the calculated embolic agent injection volume VL to the real-time control module.

[0029] Furthermore, the vascular modeling and injection planning module calculates the injection flow rate Q based on the vascular radius r, vascular length L, vascular cross-sectional area S and vascular pressure difference ΔP of the target area in the patient's vascular 3D model, and sends the calculated injection flow rate Q to the real-time control module.

[0030] Furthermore, the catheter navigation module obtains the catheter starting point A and the catheter target point B marked in the patient's vascular 3D model by the vascular modeling and injection planning module, and sets n nodes between the catheter starting point A and the catheter target point B, and calculates the estimated distance dg from the i-th node to the catheter target point B according to the i-th node (xi, yi, zi) and the catheter target point B (xb, yb, zb), and sets n, and calculate the actual distance dj from the starting point to the i-th node based on the blood vessel length dx between the i-th node and the i-1-th node and the actual length ds between the starting point of the catheter and the i-1-th node, setting dj = ds + dx, establish a path evaluation function F(i) based on the actual distance dj from the starting point to the i-th node and the estimated distance dg from the i-th node to the catheter target point, setting F(i) = dj + dg, and evaluate the path of n nodes to obtain an evaluation set M{F1, F2, F3, ..., Fi}, where F1 is the evaluation value of the first node, F2 is the evaluation value of the second node, F3 is the evaluation value of the third node, Fi is the evaluation value of the i-th node, i = 1, 2, 3..., n, and i is the order of the nodes.

[0031] Furthermore, the catheter navigation module calculates the preset catheter arrival time Ty based on the path length L of the optimal path and the average movement speed Vp of the catheter, and also calculates the time difference Tc based on the actual time Ts when the catheter reaches the catheter target point and the preset catheter arrival time Ty, compares the time difference Tc with the preset time difference Tc0, and judges the difference based on the comparison result, and adjusts the path evaluation function F(i) based on the judgment result.

[0032] Furthermore, the catheter navigation module obtains the ambient magnetic field strength Bc in the patient data, compares the ambient magnetic field strength Bc with the preset ambient magnetic field strength Bc0, judges the ambient magnetic field situation based on the comparison result, and calibrates the judgment process of the difference situation based on the judgment result.

[0033] Furthermore, the real-time control module obtains the optimal path, the real-time position of the catheter and the movement direction of the catheter to control the movement of the catheter;

[0034] The real-time control module obtains the embolic agent injection volume VL and injection flow rate Q in the vascular modeling and injection planning module, and controls the catheter to inject the embolic agent into the target area according to the embolic agent injection volume VL and injection flow rate Q. After the embolic agent is injected into the target area, the LED light is controlled to illuminate the embolic agent injected into the target area, and the illumination intensity is set to q1, the illumination time is Tg, and q1 = 55mW / cm 2 , Tg=2.5min.

[0035] Furthermore, the control feedback module compares the embolic agent temperature t1 in the patient data with the preset temperature t0, 30°C≤t0≤37°C, and judges the heating situation according to the comparison result, and adjusts the first heating speed according to the judgment result.

[0036] Compared with the existing technology, the beneficial effect of the present invention lies in constructing a high-precision 3D model of the blood vessels through medical imaging data, and planning the injection speed and injection volume of the embolic agent, thereby obtaining a reasonable injection plan of the embolic agent and a complete 3D model of the patient's blood vessels, so as to facilitate the subsequent injection of the embolic agent into the patient. In addition, through the catheter magnetic navigation positioning technology, a miniature magnetic positioning device is installed at the catheter head end, and a magnetic field generator and a magnetic field sensor are set up around the surgical area. By precisely controlling the intensity and direction of the magnetic field, the position and direction of the catheter in the blood vessel can be accurately positioned in real time. The embolic agent is also accurately released through an embolic agent release system with integrated temperature control and light curing functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of a portion of the structure of a catheter in the medical device for intravascular embolization treatment according to this embodiment;

[0038] Figure 2 This is a schematic structural diagram of the medical device for intravascular embolization treatment according to this embodiment;

[0039] Figure 3 Schematic diagram of the structure of the control system of the medical device for intravascular embolization treatment according to this embodiment. DETAILED DESCRIPTION

[0040] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0041] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0042] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0043] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] See also Figures 1 to 2 FIG. 1 is a schematic structural diagram of a medical device for treating intravascular embolization according to an embodiment of the present invention, wherein the device comprises:

[0045] A control component connected to the control system, comprising a spiral CT scanner 13, an embolic agent delivery pipeline 9, a magnetic field generator 11, a carrier 10, a catheter 6, a resistive heating sheet 5, an LED lamp 4, a magnetic sensor 3, a temperature sensor 2, and a micro pressure sensor 1;

[0046] A micro pressure sensor 1 is connected to the catheter 6 and is used to monitor the real-time embolic agent pressure and the real-time blood vessel pressure;

[0047] a temperature sensor 2 connected to the catheter 6 and used to monitor the temperature of the embolic agent and the ambient temperature;

[0048] The magnetic sensor 3 is connected to the catheter 6 and is used to obtain information about the strength, direction and intensity of the ambient magnetic field;

[0049] an LED light 4 connected to the catheter 6 for illuminating the embolic agent injected into the target area;

[0050] a resistive heating sheet 5 connected to the catheter 6 and used to heat the embolic agent;

[0051] The catheter 6 is connected to the micro pressure sensor 1, the temperature sensor 2, the magnetic sensor 3, the LED lamp 4, the resistive heating plate 5, the embolic agent delivery pipe 9, the carrier 10, and the control system 12, and is used to inject the embolic agent into the target area;

[0052] Display screen 7, connected to the spiral CT scanner 13, for displaying control information;

[0053] An embolic agent storage tank 8, connected to the embolic agent transmission pipeline 9, is used to store the embolic agent;

[0054] The embolic agent delivery pipe 9 is connected to the embolic agent storage tank 8 and the catheter 6 and is used for delivering the embolic agent;

[0055] A carrier 10 is connected to the catheter 6 and is used to place the catheter 6;

[0056] a magnetic field generator 11 connected to the catheter 6 and configured to generate a magnetic field;

[0057] The control system 12 is connected to the control component, and is used to process the control information, generate a control signal according to the processing result, and control the control component according to the control signal.

[0058] The spiral CT scanner 13 is connected to the display screen 7 and is used to obtain CTA images of the patient.

[0059] Specifically, the device of the present invention is used for embolic injection in clinical medicine. The device constructs a high-precision 3D model of the blood vessels through medical imaging data, and plans the injection speed and injection volume of the embolic agent to obtain a reasonable injection plan of the embolic agent and a complete 3D model of the patient's blood vessels, so as to facilitate subsequent embolic injection of the patient. In addition, through the catheter magnetic navigation positioning technology, a miniature magnetic positioning device is installed at the catheter head end, and a magnetic field generator and a magnetic field sensor are set around the surgical area. By precisely controlling the strength and direction of the magnetic field, the position and direction of the catheter in the blood vessel can be accurately positioned in real time. The embolic agent is also accurately released through an embolic agent release system with integrated temperature control and light curing functions.

[0060] Specifically, the control information includes real-time embolic agent pressure, real-time blood vessel pressure, embolic agent temperature, ambient temperature, ambient magnetic field strength, and magnetic field direction and strength information.

[0061] See also Figure 3 FIG. 1 is a schematic diagram of the structure of a control system of a medical device for intravascular embolization treatment according to this embodiment. The system includes:

[0062] A data acquisition module, used to acquire patient data;

[0063] A vascular modeling and injection planning module is used to construct a 3D model of the patient's blood vessels based on the patient data, calculate the injection volume of the embolic agent, and calculate the injection flow rate. The vascular modeling and injection planning module is connected to the data acquisition module;

[0064] a catheter navigation module, configured to evaluate the path, obtain an optimal path, adjust the path evaluation based on patient data, and calibrate the adjustment of the path evaluation based on patient data, the catheter navigation module being connected to the vascular modeling and injection planning module;

[0065] a real-time control module for controlling the movement of the catheter, controlling the catheter to inject the embolic agent according to the injection volume and injection flow rate of the embolic agent, controlling the resistive heating plate to heat the embolic agent, and controlling the LED light to illuminate the embolic agent injected into the target area; the real-time control module is connected to the catheter navigation module;

[0066] a control feedback module, configured to adjust the first heating rate according to the patient data, and further configured to adjust the illumination duration of the LED lamp according to the patient data, the control feedback module being connected to the real-time control module;

[0067] The vascular pressure feedback module is used to judge the blood pressure situation and correct the injection flow rate according to the judgment result. It also sends a signal to the real-time control module to stop the injection of the embolic agent according to the judgment result, and adjusts the judgment of the blood pressure situation according to the ambient temperature. The vascular pressure feedback module is connected to the real-time control module.

[0068] Specifically, the control system of the present invention is applied to a medical device for intravascular embolization therapy. By constructing a 3D model of the patient's blood vessels, it facilitates real-time analysis of the patient's embolic agent injection, thereby achieving precise control of the embolic agent injection. The system acquires patient data through a data acquisition module for subsequent embolic agent injection analysis. The system also constructs a 3D model of the patient's blood vessels through a vascular modeling and injection planning module, calculates the embolic agent injection volume and injection flow rate, and obtains a reasonable injection plan for the patient. The 3D model of the patient's blood vessels can help medical personnel determine the path of the catheter entering the patient's blood vessels during embolic agent injection, thereby achieving path control of the embolic agent injection. The system also determines the optimal path of the catheter through a catheter navigation module and guides the movement of the catheter based on the optimal path. By determining the impact of time difference and ambient magnetic field strength on the determination of the optimal path, the factors determining the optimal path are adjusted to improve the accuracy of the optimal path. The system also injects the embolic agent according to the embolic agent injection volume and injection flow rate through an embolic agent release module, and adjusts the heating temperature of the resistive heater based on the embolic agent temperature. The embolic agent is injected at the optimal injection temperature, which improves the accuracy of the embolic agent release. The lighting time of the LED light is adjusted according to the real-time embolic agent pressure to ensure that the embolic agent can be completely solidified, thereby improving the stability and accuracy of the embolic agent release. The system also uses the vascular pressure feedback module to judge the blood pressure according to the real-time vascular pressure, and reduces the injection flow rate of the embolic agent according to the patient's real-time vascular pressure to avoid the embolic agent injection speed being too fast when the patient's blood pressure is high, which will cause the patient's circulatory system to be overloaded, thereby achieving precise control of the embolic agent release. When the patient's blood pressure is too high, a signal to stop the injection of the embolic agent is sent to the embolic agent release module to avoid adverse reactions in the patient caused by the injection of the embolic agent when the blood pressure is too high. By stopping the injection of the embolic agent to the patient to avoid such situations, precise control of the release of the embolic agent is achieved. The judgment conditions of the vascular pressure value are also adjusted according to the vascular environment temperature. Since the vascular temperature will cause the vascular pressure to change, the judgment conditions of the blood pressure situation are adjusted in real time by monitoring the vascular temperature, thereby improving the accuracy of the judgment of the blood pressure situation and thereby improving the accuracy of the embolic agent release control.

[0069] Specifically, the patient data includes the patient's CTA image, clinical needs, the vascular volume of the target area, the embolic agent filling rate, the vascular radius of the target area, the vascular length, the vascular cross-sectional area, the vascular pressure difference, the ambient magnetic field strength, the embolic agent temperature, the real-time embolic agent pressure, the blood concentration, the real-time vascular pressure and the ambient temperature. The data acquisition module acquires the patient's CTA image through a spiral CT scanner, the data acquisition module acquires the clinical needs and blood concentration through the patient's medical record, the data acquisition module acquires the vascular volume of the target area, the embolic agent filling rate, the vascular radius of the target area, the vascular length, the vascular cross-sectional area and the vascular pressure difference through the patient's vascular 3D model, the data acquisition module acquires the ambient magnetic field strength through a magnetic sensor, the data acquisition module acquires the embolic agent temperature and the ambient temperature through a temperature sensor, and the data acquisition module acquires the real-time embolic agent pressure and the real-time vascular pressure through a micro pressure sensor.

[0070] Specifically, the vascular modeling and injection planning module performs 3D modeling of the patient's blood vessels using a vascular modeling method according to the patient's CTA image in the patient data to obtain a 3D model of the patient's blood vessels.

[0071] Specifically, the patient CTA image refers to a vascular image obtained by scanning the patient's body with a spiral CT scanner, and the vascular model construction method includes:

[0072] Step S1, inputting the patient's CTA image into the CTA segmentation model to obtain the segmented CTA image output by the CTA segmentation model;

[0073] Step S2, using a marching cubes algorithm to perform three-dimensional construction on the segmented CTA image to obtain a three-dimensional surface model of the patient's blood vessels;

[0074] Step S3: Rendering the three-dimensional surface model of the patient's blood vessels using the OpenGL graphics library to obtain a 3D model of the patient's blood vessels for computer display.

[0075] Specifically, the CTA segmentation model refers to a convolutional neural network model that takes the patient's CTA image as input and takes the segmented CTA image as output. The vascular modeling and injection planning module constructs the CTA segmentation model through the CTA segmentation model construction method. This embodiment does not limit the specific implementation method of the CTA segmentation model construction method. Those skilled in the art can set it up according to actual needs, and only need to meet the needs of segmenting and annotating the patient's CTA image. For example, the historical annotation data set can be divided into a 70% segmentation training set, a 15% segmentation validation set, and a 15% segmentation test set, and the segmentation training set, segmentation validation set, and segmentation test set can be used in turn to train, verify, and The convolutional neural network model with a test accuracy of more than 95% is output as the CTA segmentation model. The historical annotation dataset refers to the dataset used to construct the CTA segmentation model. The historical annotation dataset includes historical patient CTA images and historical segmented CTA images corresponding to historical patient CTA images. The segmented CTA image refers to CTA image data with vascular annotations. The vascular annotation refers to the annotation of vascular types. This embodiment does not limit the specific types of vascular types. Those skilled in the art can set them according to actual needs. For example, the vascular type can be set according to the difference between veins and arteries. The moving cube algorithm refers to converting the segmented CTA image into an interactive three-dimensional surface model. A medical imaging rendering method of this type is provided. This embodiment does not limit the specific construction method of the marching cube algorithm for three-dimensional construction of the segmented CTA image. Those skilled in the art can set it according to actual needs. For example, the segmented CTA image can be divided into regularly arranged voxels, each voxel contains 8 vertices, and according to the status of the 8 vertices of the cube, a predefined lookup table is searched to determine the connection method of the triangular facets of the isosurface in the voxel. The triangular facets in all voxels are spliced into a complete three-dimensional grid to obtain a three-dimensional surface model of the patient's blood vessels. The voxel refers to the basic unit of the three-dimensional digital image, and the predefined lookup table refers to a predefined mapping table for quickly determining the connection method of the triangular facets of the isosurface in the voxel according to the status of the voxel vertices. The method is that the isosurface refers to a continuous surface composed of all points in three-dimensional space whose volume data values are equal to a specific threshold. The three-dimensional surface model of the patient's blood vessels refers to a three-dimensional model that represents the external contour and surface morphology of an object through triangular facets within all voxels. The OpenGL graphics library refers to a cross-platform, high-performance open graphics rendering application programming interface for generating 3D graphics on a computer. This embodiment does not limit the specific implementation method of rendering the three-dimensional surface model of the patient's blood vessels using the OpenGL graphics library. Those skilled in the art can set it according to actual needs, such as transferring the coordinate data of the voxel vertices of the three-dimensional surface model of the patient's blood vessels into the graphics processor and performing coordinate transformation through the vertex shader.Group voxel vertices into geometric primitives.

[0076] Specifically, the vascular modeling and injection planning module marks the target area in the patient's vascular 3D model according to the clinical needs in the patient data, and calculates the embolic agent injection volume VL according to the vascular volume vt, embolic agent filling rate η and loss rate β of the target area in the patient's vascular 3D model, and sets The calculated embolic agent injection volume VL is sent to the real-time control module.

[0077] Specifically, the clinical need refers to the treatment plan, source of disease and cause of disease given by medical staff based on the patient's symptoms in the patient's medical record. The target area refers to the vascular area where the patient needs to be injected with an embolic agent. This embodiment marks the target area in the patient's vascular 3D model based on the clinical needs in the patient data and the injection area recommended by the doctor in the clinical needs. The vascular volume of the target area refers to the volume of the blood vessel in the area where the embolic agent needs to be released. The embolic agent filling rate refers to the proportion of the target area that needs to be filled with the embolic agent. The loss rate refers to the proportion of the embolic agent lost during the injection process. This embodiment does not limit the specific value of the loss rate. Those skilled in the art can set it according to actual needs. For example, the loss rate can be limited according to the patient's blood flow rate. The clinical need refers to the patient's pathogen location and treatment plan in the patient's medical record.

[0078] Specifically, the vascular modeling and injection planning module calculates the injection flow rate Q according to the vascular radius r, vascular length L, blood concentration μ, vascular cross-sectional area S and vascular pressure difference ΔP of the target area in the patient's vascular 3D model, and sets The calculated injection flow rate Q is sent to the real-time control module.

[0079] Specifically, the blood concentration refers to the blood viscosity of the blood vessels in the target area, the blood vessel radius of the target area refers to the radius of the blood vessels in the target area, the blood vessel length refers to the blood vessel length value of the target area, the blood vessel cross-sectional area refers to the blood vessel cross-sectional area value of the target area, the blood vessel pressure difference refers to the pressure difference between the two ends of the blood vessels in the target area, the two ends of the blood vessels in the target area refer to the two intersections of the blood vessels in the target area and the blood vessels outside the target area, and the injection flow rate refers to the injection speed of the embolic agent.

[0080] Specifically, the vascular modeling and injection planning module marks the starting point A and the target point B of the catheter in the 3D model of the patient's blood vessels according to the clinical needs in the patient data.

[0081] Specifically, the catheter navigation module obtains the catheter starting point A and the catheter target point B marked in the patient's vascular 3D model by the vascular modeling and injection planning module, and sets n nodes between the catheter starting point A and the catheter target point B, calculates the estimated distance dg from the i-th node to the catheter target point B according to the i-th node (xi, yi, zi) and the catheter target point B (xb, yb, zb), and sets n, and calculate the actual distance dj from the starting point to the i-th node based on the blood vessel length dx between the i-th node and the i-1-th node and the actual length ds between the starting point of the catheter and the i-1-th node, setting dj = ds + dx, establish a path evaluation function F(i) based on the actual distance dj from the starting point to the i-th node and the estimated distance dg from the i-th node to the catheter target point, setting F(i) = dj + dg, and evaluate the path of n nodes to obtain an evaluation set M{F1, F2, F3, ..., Fi}, where F1 is the evaluation value of the first node, F2 is the evaluation value of the second node, F3 is the evaluation value of the third node, Fi is the evaluation value of the i-th node, i = 1, 2, 3..., n, and i is the order of the nodes.

[0082] Specifically, the starting point of the catheter refers to the initial position where the catheter enters the patient's body, the target point of the catheter refers to the terminal position after the catheter enters the patient's body, and the node refers to the midpoint between the starting point and the target point of the catheter. In this embodiment, when setting n nodes, the n nodes are set by setting nodes at positions where the blood vessels change direction. The blood vessel length between the i-th node and the i-1-th node and the actual length between the starting point of the catheter and the i-1-th node are obtained by measuring the distance of the patient's blood vessel 3D model. This embodiment does not limit the specific method of measuring the distance of the patient's blood vessel 3D model. Those skilled in the art can set it according to actual needs. For example, the distance of the patient's blood vessel 3D model can be measured using a model distance measurement tool. The evaluation set refers to the path evaluation set of all nodes.

[0083] Specifically, the catheter navigation module combines the nodes with the smallest evaluation values in the evaluation set into an optimal path, obtains the path length L of the optimal path by measuring the distance of the optimal path in the patient's blood vessel 3D model, and sends the optimal path to the real-time control module.

[0084] Specifically, the node with the smallest evaluation value refers to the node with the smallest evaluation value relative to the evaluation values of other nodes. In this embodiment, the shortest path from the starting point of the catheter to the target point of the catheter is formed by selecting the nodes with the smallest evaluation values and being coherent. The optimal path refers to the path with the shortest distance between the starting point of the catheter and the target point of the catheter.

[0085] Specifically, the catheter navigation module obtains magnetic field direction and intensity information through a magnetic sensor, and converts the sensed magnetic field direction and intensity information into the real-time position of the catheter and the direction of movement of the catheter. The catheter navigation module sends the real-time position of the catheter and the direction of movement of the catheter to the real-time control module.

[0086] Specifically, the magnetic field direction refers to the direction of the magnetic field generated by the magnetic field generator as sensed by the magnetic sensor, and the intensity information refers to the intensity of the magnetic field generated by the magnetic field generator as sensed by the magnetic sensor. This embodiment does not limit the specific implementation method for converting the sensed magnetic field direction and intensity information into the real-time position of the catheter and the direction of movement of the catheter. Those skilled in the art can set it up according to actual needs. For example, the magnetic sensor can be used to convert the magnetic field direction and intensity information into an electric field signal through the interaction of magnetoelectric effect and electromagnetic induction, and the real-time position of the catheter and the direction of movement of the catheter can be obtained by measuring the electric field signal.

[0087] Specifically, the catheter navigation module calculates the preset arrival time Ty of the catheter based on the path length L of the optimal path and the average moving speed Vp of the catheter, setting Ty = L / Vp. It also calculates the time difference Tc based on the actual time Ts when the catheter reaches the catheter target point and the preset arrival time Ty of the catheter, setting Tc = Ty - Ts. The time difference Tc is compared with the preset time difference Tc0, 5s≤Tc0≤10s, and the difference is judged based on the comparison result, and the path evaluation function F(i) is adjusted based on the judgment result, wherein:

[0088] When Tc≤Tc0, the catheter navigation module determines that the difference is small and does not adjust the path evaluation function F(i);

[0089] When Tc>Tc0, the catheter navigation module determines that the difference is large, and adjusts the path evaluation function F(i) by the path adjustment coefficient γ=0.7+0.3×e -0.7×(Tc-Tc0) , e is the base of the natural logarithm, the estimated distance dg from the i-th node to the catheter target point B is adjusted to obtain the adjusted estimated distance dg' from the i-th node to the catheter target point B, dg' is set = dg × γ, and the path evaluation function F(i) is re-established based on the adjusted estimated distance dg' from the i-th node to the catheter target point B.

[0090] Specifically, the path length of the optimal path refers to the overall path length of the path with the shortest distance between the starting point of the catheter and the catheter target point. The average movement speed of the catheter refers to the average speed at which the catheter moves within the patient's body after entering the patient's body. This embodiment does not limit the average movement speed of the catheter, and those skilled in the art may set it according to actual circumstances, such as according to expert experience. The actual time it takes for the catheter to reach the catheter target point refers to the actual time it takes from the catheter entering the patient's body to the catheter reaching the catheter target point in the patient's blood vessel. The preset time difference refers to a preset value for judging a difference condition. The difference condition refers to the size of the time difference judged based on the time difference, and the difference condition includes a small difference condition and a large difference condition.

[0091] Specifically, the catheter navigation module judges the difference by calculating the time difference. When the difference is large, it proves that the path is not the actual optimal path, and the path evaluation function needs to be adjusted so that the path evaluation function decreases as the path adjustment coefficient increases, thereby making the path evaluation function decrease as the time difference increases, so as to improve the evaluation accuracy of each node, and thus re-evaluate the path by adjusting the accuracy of the path evaluation function to obtain a new optimal path.

[0092] Specifically, the catheter navigation module obtains the ambient magnetic field strength Bc in the patient data, compares the ambient magnetic field strength Bc with the preset ambient magnetic field strength Bc0, 5mT≤Bc0≤20mT, and judges the ambient magnetic field situation based on the comparison result, and calibrates the judgment process of the difference situation based on the judgment result, wherein:

[0093] When c≤Bc0, the catheter navigation module determines that the environmental magnetic field is of appropriate magnetic field strength and does not calibrate the judgment process of the difference;

[0094] When Bc>Bc0, the catheter navigation module determines that the environmental magnetic field condition is that the magnetic field strength is inappropriate, and calibrates the judgment process of the difference condition by canceling the adjustment of the path evaluation function F(i).

[0095] Specifically, the ambient magnetic field strength refers to the strength of the magnetic field generated by the magnetic field generator sensed by the magnetic sensor, the preset ambient magnetic field strength refers to a preset value for judging the ambient magnetic field condition, and the ambient magnetic field condition refers to the magnetic field condition of the current environment surrounding the catheter judged based on the ambient magnetic field strength. The ambient magnetic field condition includes an ambient magnetic field condition where the magnetic field strength is appropriate and an ambient magnetic field condition where the magnetic field strength is inappropriate.

[0096] Specifically, the catheter navigation module judges the environmental magnetic field conditions by monitoring the environmental magnetic field strength. When the environmental magnetic field conditions are such that the magnetic field strength is inappropriate, the real-time positioning of the catheter will be inaccurate, thereby causing errors in the calculation of the time difference. By canceling the adjustment of the path evaluation function F(i), the path evaluation function F(i) is prevented from being affected by the erroneous time difference, resulting in a reduction in the evaluation accuracy of the path evaluation function F(i).

[0097] Specifically, the real-time control module obtains the optimal path, the real-time position of the catheter and the moving direction of the catheter, and controls the movement of the catheter.

[0098] Specifically, this embodiment does not limit the specific control method for controlling the movement of the catheter, and those skilled in the art can set it according to actual needs. For example, a PID control algorithm can be used to control the movement of the catheter.

[0099] Specifically, the real-time control module obtains the embolic agent injection volume VL and injection flow rate Q in the vascular modeling and injection planning module, and controls the catheter to inject the embolic agent into the target area according to the embolic agent injection volume VL and injection flow rate Q. After the embolic agent is injected into the target area, the LED light is controlled to illuminate the embolic agent injected into the target area, and the illumination intensity is set to q1, the illumination time is Tg, and q1 = 55mW / cm 2 , Tg=2.5min.

[0100] Specifically, this embodiment does not limit the specific control method for the real-time control module to control the catheter to inject the embolic agent into the target area. Those skilled in the art can set it according to actual conditions, such as using a PID control algorithm to control the catheter to inject the embolic agent into the target area according to the embolic agent injection volume VL and the injection flow rate Q. This embodiment does not limit the specific control method for the real-time control module to control the LED light to illuminate the embolic agent injected into the target area. Those skilled in the art can set it according to actual needs. For example, the real-time control module can send an on signal and an off signal to the LED light to control the turning on and off of the LED light. The light intensity refers to the intensity of the light emitted by the LED light when the LED light is turned on, and the illumination duration refers to the time the LED light illuminates the embolic agent injected into the target area.

[0101] Specifically, before injecting the embolic agent into the target area, the real-time control module sends the embolic agent to be injected as a heating signal to the resistive heating plate, and controls the resistive heating plate to heat the embolic agent at a first heating speed vj.

[0102] Specifically, the embolic agent to be injected refers to an electrical signal indicating that the embolic agent is about to be injected, and the heating signal refers to an electrical signal for controlling the resistive heating plate to heat the embolic agent. This embodiment does not limit the specific control method for controlling the resistive heating plate to heat the embolic agent at the first heating rate vj. Those skilled in the art can set it according to actual conditions. For example, a PID control algorithm can be used to control the resistive heating plate to heat the embolic agent at the first heating rate vj.

[0103] Specifically, the control feedback module compares the embolic agent temperature t1 in the patient data with the preset temperature t0, 30°C ≤ t0 ≤ 37°C, and judges the heating situation according to the comparison result, and adjusts the first heating speed according to the judgment result, wherein:

[0104] When t1<t0, the control feedback module determines that the heating condition is appropriate and does not adjust the first heating speed;

[0105] When t1≥t0, the control feedback module determines that the heating condition is inappropriate, adjusts the first heating rate, replaces the first heating rate vj with the second heating rate vj', and feeds back the second heating rate vj' to the real-time control module.

[0106] Specifically, the first heating rate vj refers to the initial heating rate of the resistive heating plate, which is set to 2°C / min≤vi≤5°C / min. The second heating rate vj' refers to the heating rate adjusted when the heating condition of the resistive heating plate is high, which is set to 0.5°C / min≤vj'≤1°C / min. The embolic agent temperature refers to the real-time temperature of the embolic agent. The preset temperature refers to a preset value used to judge the heating condition. The heating condition refers to whether the heating rate is appropriate at the current embolic agent temperature. The heating condition includes a heating condition of inappropriate heating and a heating condition of appropriate heating. This embodiment does not limit the specific feedback method for feeding back the second heating rate to the real-time control module. Those skilled in the art can set it according to actual needs, such as converting the second heating rate into an electrical signal and sending it to the real-time control module.

[0107] Specifically, the control feedback module monitors the temperature of the embolic agent in real time, regulates the heating rate of the embolic agent, and achieves precise control of the temperature of the embolic agent to achieve the optimal release temperature.

[0108] Specifically, the control feedback module obtains the real-time embolic agent pressure Uj from the patient data, and compares the real-time embolic agent pressure Uj with the preset embolic agent pressure Uj0, 40kPa≤Uj0≤50kPa, judges the embolic agent solidification status based on the comparison result, and adjusts the illumination time based on the judgment result, wherein:

[0109] When Uj≤Uj0, the control feedback module determines that the solidification of the embolic agent is qualified and does not adjust the illumination time;

[0110] When Uj>Uj0, the control feedback module determines that the curing condition of the embolic agent is unqualified, adjusts the curing light, and adjusts the light duration Tg by the curing adjustment coefficient α=1+(Uj-Uj0) / Uj0 to obtain the adjusted light duration Tg`, sets Tg`=α×Tg, replaces the light duration Tg with the adjusted light duration Tg`, and feeds the adjusted light duration Tg` back to the real-time control module.

[0111] Specifically, the real-time embolic agent pressure refers to the pressure value of the embolic agent during solidification, which is measured by a pressure sensor when a slight pressure is applied to the surface of the embolic agent during solidification. The real-time embolic agent pressure refers to the pressure value of the embolic agent during solidification, which is used to reflect the degree of solidification of the embolic agent. The preset embolic agent pressure refers to the preset value for judging the solidification status of the embolic agent. The embolic agent solidification status refers to the degree of solidification of the embolic agent judged by the embolic agent pressure. The embolic agent solidification status includes the embolic agent solidification status of qualified solidification and the embolic agent solidification status of unqualified solidification. This embodiment does not limit the specific feedback method for feeding back the adjusted illumination duration to the real-time control module. Those skilled in the art can set it according to actual needs, such as converting the adjusted illumination duration into an electrical signal and sending it to the real-time control module.

[0112] Specifically, the embolic agent releasing module determines the curing condition of the embolic agent by obtaining the embolic agent pressure in real time. When the curing condition of the embolic agent is unqualified, the illumination time is adjusted to increase it, so as to improve the curing degree of the embolic agent by increasing the illumination time.

[0113] Specifically, the vascular pressure feedback module obtains the real-time vascular pressure Us from the patient data, compares the real-time vascular pressure Us with the preset minimum vascular pressure Umin and the preset maximum vascular pressure Umax, 100 mmHg≤Umin≤150 mmHg, Umax=200 mmHg, and judges the blood pressure situation based on the comparison results, where:

[0114] When Us≤Umin, the vascular pressure feedback module determines that the blood pressure is normal;

[0115] When Umin<Us≤Umax, the vascular pressure feedback module determines that the blood pressure is abnormal and corrects the injection flow rate through the blood pressure correction coefficient. e is the base of the natural logarithm, the injection flow rate Q is corrected to obtain the corrected injection flow rate Qx, Qx = Q × β is set, the injection flow rate Q is replaced by the corrected injection flow rate Qx, and the corrected injection flow rate Qx is fed back to the real-time control module;

[0116] When Us>Umax, the vascular pressure feedback module determines that the blood pressure is severely abnormal and sends a signal to the real-time control module to stop the injection of the embolic agent. When Us≤Umax, the vascular pressure feedback module sends a signal to the real-time control module to continue the injection of the embolic agent.

[0117] Specifically, this embodiment does not limit the specific feedback method for feeding back the corrected injection flow rate to the real-time control module. Those skilled in the art may configure this method based on actual needs. For example, the corrected injection flow rate may be converted into an electrical signal and transmitted to the real-time control module. The real-time vascular pressure refers to the real-time blood pressure of the blood vessels in the target area. The preset minimum vascular pressure refers to the minimum preset value for determining the blood pressure condition. The preset maximum vascular pressure refers to the maximum preset value for determining the blood pressure condition. The blood pressure condition refers to the vascular pressure condition of the target area determined based on the real-time vascular pressure. The blood pressure conditions include normal blood pressure, abnormal blood pressure, and severely abnormal blood pressure. This embodiment does not specifically limit the method for sending the signal to the real-time control module to stop embolic agent injection. Those skilled in the art may configure this method based on actual needs. For example, synchronous transmission may be configured as the method for sending the signal to the real-time control module to stop embolic agent injection. In this embodiment, the method for sending the signal to the real-time control module to continue embolic agent injection is the same as the method for sending the signal to the real-time control module to stop embolic agent injection.

[0118] Specifically, the vascular pressure feedback module judges the blood pressure situation by real-time monitoring of the vascular pressure. When the blood pressure situation is abnormal, the injection flow rate is too fast, which will cause the patient's circulatory system to be overloaded. By reducing the injection flow rate, the patient's circulatory system can be avoided from being overloaded. When the blood pressure situation is severely abnormal, the injection of embolic agents will cause adverse reactions in the patient. Such situations can be avoided by stopping the injection of embolic agents to the patient.

[0119] Specifically, the vascular pressure feedback module obtains the ambient temperature Wh in the patient data, compares the ambient temperature Wh with the preset maximum ambient temperature Whmax and the preset minimum ambient temperature Whmin, Whmin = 35°C, Whmax = 37°C, and judges the vascular ambient temperature based on the comparison results, and adjusts the blood pressure judgment process based on the judgment results, wherein:

[0120] When Whmin<wh≤Whmax, the vascular pressure feedback module determines that the vascular environment temperature is moderate and does not adjust the blood pressure determination process;

[0121] When Wh>Whmax, the vascular pressure feedback module determines that the vascular environment temperature is high, adjusts the blood pressure judgment process, adjusts the preset minimum vascular pressure Umin by a first temperature adjustment coefficient a1=1-(Wh-Wh0), obtains a first adjusted preset minimum vascular pressure Umin', sets Umin'=a1×Umin, replaces the preset minimum vascular pressure Umin with the first adjusted preset minimum vascular pressure Umin', and re-compares the real-time vascular pressure Us with the first adjusted preset minimum vascular pressure Umin';

[0122] When Wh≤Whmin, the vascular pressure feedback module determines that the vascular environment temperature is low, adjusts the blood pressure judgment process, and adjusts the preset minimum vascular pressure Umin through the second temperature adjustment coefficient a2=Wh0 / Wh to obtain the second adjusted preset minimum vascular pressure Umin", sets Umin=a2×Umin, replaces the preset minimum vascular pressure Umin with the second adjusted preset minimum vascular pressure Umin", and re-compares the real-time vascular pressure Us with the second adjusted preset minimum vascular pressure Umin".

[0123] Specifically, the ambient temperature refers to the ambient temperature of the blood vessels in the target area, the preset maximum ambient temperature refers to the maximum preset value for judging the vascular ambient temperature condition, the preset minimum ambient temperature refers to the minimum preset value for judging the vascular ambient temperature condition, the vascular ambient temperature condition refers to the temperature condition of the vascular environment judged according to the ambient temperature, and the vascular ambient temperature condition includes the vascular ambient temperature condition being moderate, the vascular ambient temperature condition being high, and the vascular ambient temperature condition being low.

[0124] Specifically, since the high or low vascular environment temperature will affect the vascular pressure value, the vascular pressure feedback module judges the vascular environment temperature through real-time monitoring of the ambient temperature. When the vascular environment temperature is high, the vascular pressure will be reduced. At this time, the preset minimum vascular pressure is adjusted by the first temperature adjustment coefficient to reduce the value of the preset minimum vascular pressure, making the judgment of the blood pressure situation more accurate. When the vascular environment temperature is low, the vascular pressure will increase. At this time, the preset minimum vascular pressure is adjusted by the second temperature adjustment coefficient to increase the value of the preset minimum vascular pressure, making the judgment of the blood pressure situation more accurate.

[0125] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A medical device for intravascular embolization treatment, characterized in that: include: a control component connected to a control system, wherein the control component includes a spiral CT scanner, an embolic agent transmission pipeline, a magnetic field generator, a carrier, a catheter, a resistive heating sheet, an LED lamp, a magnetic sensor, a temperature sensor, and a micro pressure sensor; a miniature pressure sensor connected to the catheter; a temperature sensor connected to the catheter; a magnetic sensor connected to the catheter; LED light, connected to the catheter; a resistive heating sheet connected to the catheter; The catheter is connected to a micro pressure sensor, a temperature sensor, a magnetic sensor, an LED lamp, a resistive heating sheet, an embolic agent delivery pipeline, and a carrier; A display screen connected to a spiral CT scanner; an embolic agent storage tank connected to an embolic agent transmission pipeline; An embolic agent transmission pipeline connected to the embolic agent storage tank and the catheter; a carrier connected to the catheter; a magnetic field generator connected to the catheter; The control system is connected to the control component, and is used to process the control information, generate a control signal according to the processing result, and control the control component according to the control signal. A spiral CT scanner is connected to a display screen.

2. A control system for a medical device for intravascular embolization treatment, characterized in that: The control system includes: A data acquisition module, used to acquire patient data; The vascular modeling and injection planning module is used to construct a 3D model of the patient's blood vessels based on the patient's data, calculate the injection volume of the embolic agent, and calculate the injection flow rate; a catheter navigation module for evaluating a path, obtaining an optimal path, adjusting the path evaluation based on patient data, and correcting the adjustment of the path evaluation based on the patient data; A real-time control module is used to control the movement of the catheter, control the catheter to inject the embolic agent according to the injection volume and injection flow rate of the embolic agent, control the resistive heating plate to heat the embolic agent, and control the LED light to illuminate the embolic agent injected into the target area; a control feedback module, configured to adjust the first heating rate according to the patient data, and further configured to adjust the illumination duration of the LED light according to the patient data; The vascular pressure feedback module is used to judge the blood pressure situation and correct the injection flow rate based on the judgment result. It also sends a signal to the real-time control module to stop the injection of the embolic agent based on the judgment result, and adjusts the blood pressure situation according to the ambient temperature.

3. The control system of the medical device for intravascular embolization treatment according to claim 2, characterized in that: The blood vessel modeling and injection planning module performs 3D modeling of the patient's blood vessels using a blood vessel modeling method according to the patient's CTA image in the patient data to obtain a 3D model of the patient's blood vessels.

4. The control system of the medical device for intravascular embolization treatment according to claim 3, characterized in that: The vascular modeling and injection planning module marks the target area in the patient's vascular 3D model according to the clinical needs in the patient data, calculates the embolic agent injection volume VL based on the vascular volume vt, embolic agent filling rate η and loss rate β of the target area in the patient's vascular 3D model, and sends the calculated embolic agent injection volume VL to the real-time control module.

5. The control system of the medical device for intravascular embolization treatment according to claim 4, characterized in that: The vascular modeling and injection planning module calculates the injection flow rate Q based on the vascular radius r, vascular length L, vascular cross-sectional area S and vascular pressure difference ΔP of the target area in the patient's vascular 3D model, and sends the calculated injection flow rate Q to the real-time control module.

6. The control system of the medical device for intravascular embolization treatment according to claim 5, characterized in that: The catheter navigation module obtains the catheter starting point A and the catheter target point B marked in the patient's vascular 3D model by the vascular modeling and injection planning module, and sets n nodes between the catheter starting point A and the catheter target point B. According to the i-th node (xi, yi, zi) and the catheter target point B (xb, yb, zb), the estimated distance dg from the i-th node to the catheter target point B is calculated. i=1, 2, 3, ..., n, and calculate the actual distance dj from the starting point to the i-th node based on the blood vessel length dx between the i-th node and the i-1-th node and the actual length ds between the starting point of the catheter and the i-1-th node, and set dj=ds+dx. According to the actual distance dj from the starting point to the i-th node and the estimated distance dg from the i-th node to the catheter target point, establish a path evaluation function F(i), set F(i)=dj+dg, and evaluate the path of n nodes to obtain an evaluation set M{F1, F2, F3, ..., Fi}, where F1 is the evaluation value of the first node, F2 is the evaluation value of the second node, F3 is the evaluation value of the third node, and Fi is the evaluation value of the i-th node. i=1, 2, 3..., n, and i is the order of the nodes.

7. The control system of the medical device for intravascular embolization treatment according to claim 6, characterized in that: The catheter navigation module calculates the preset catheter arrival time Ty based on the path length L of the optimal path and the average movement speed Vp of the catheter, and also calculates the time difference Tc based on the actual time Ts when the catheter reaches the catheter target point and the preset catheter arrival time Ty, compares the time difference Tc with the preset time difference Tc0, and judges the difference based on the comparison result, and adjusts the path evaluation function F(i) based on the judgment result.

8. The control system of the medical device for intravascular embolization treatment according to claim 7, characterized in that: The catheter navigation module obtains the ambient magnetic field strength Bc in the patient data, compares the ambient magnetic field strength Bc with the preset ambient magnetic field strength Bc0, judges the ambient magnetic field situation based on the comparison result, and calibrates the judgment process of the difference situation based on the judgment result.

9. The control system of the medical device for intravascular embolization treatment according to claim 8, characterized in that: The real-time control module obtains the optimal path, the real-time position of the catheter and the movement direction of the catheter, and controls the movement of the catheter; The real-time control module obtains the embolic agent injection volume VL and injection flow rate Q in the vascular modeling and injection planning module, and controls the catheter to inject the embolic agent into the target area according to the embolic agent injection volume VL and injection flow rate Q. After the embolic agent is injected into the target area, the LED light is controlled to illuminate the embolic agent injected into the target area, and the illumination intensity is set to q1, the illumination time is Tg, and q1 = 55mW / cm 2 , Tg=2.5min.

10. The control system of the medical device for intravascular embolization treatment according to claim 9, characterized in that: The control feedback module compares the embolic agent temperature t1 in the patient data with the preset temperature t0, 30°C≤t0≤37°C, and judges the heating situation according to the comparison result, and adjusts the first heating speed according to the judgment result.

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