Control method and system of magnetic drug carrier

Abstract

The invention relates to the technical field of medical instruments, in particular to a control method and system for a magnetic drug carrier, and the method comprises the steps: applying a test alternating magnetic field to a magnetic container by adopting magnetic targeting equipment, and collecting a test area image sequence by adopting angiography equipment; registering with a magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence; extracting a stable parameter interval from the magnetic field gain parameter sequence, and measuring the test area image sequence according to the stable parameter interval to obtain a movement parameter of the magnetic container; and measuring the blood fluidity according to the movement parameters to obtain control and regulation parameters. Aiming at the problem that the blood internal environment of a patient may influence the driving effect of magnetic targeting equipment, after the patient enters a preset artery area, a test alternating magnetic field in a specific direction is applied through the magnetic targeting equipment, a magnetic container is driven to move and measure to obtain the actual blood fluidity of the patient, and control is performed based on the parameter. The movement efficiency of the magnetic container is improved, and the operation time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a control method and system for a magnetic drug carrier. Background Art

[0002] Magnetic nanomaterials are materials that are at the nanoscale in at least one dimension and are magnetic. Different materials have different characteristic dimensions, such as the magnetic single domain size and the superparamagnetic critical size. When the size of the magnetic material is equal to the length of these dimensions, anomalous properties will appear in terms of magnetism and electricity. These anomalous properties can be used in biomedicine, such as magnetic resonance imaging and as drug carriers for targeted drug delivery. Magnetic drug carriers are drug delivery systems prepared based on the characteristics of magnetic nanomaterials. For example, they use ferroferric oxide magnetic nanomaterials for surface modification to achieve large-scale drug loading, and are coated with biocompatible materials to form magnetic containers. Once inside the patient's body, they are irradiated by a magnetic targeting device, which enables the targeted drug to accurately accumulate near the lesion and be released, thereby achieving a good targeted therapeutic effect.

[0003] For example, Chinese patent CN201910092352.7 discloses a magnetically targeted anti-tumor drug system for drug-resistant tumor cells and its construction method. The drug system includes a small interfering RNA-nucleic acid aptamer carrier, an anti-tumor drug immobilized on the carrier, and polyethyleneimine-modified superparamagnetic iron tetroxide nanoparticles. Small interfering RNA is used to downregulate the expression of the corresponding protein, which is highly specific and efficient. The magnetically targeted anti-tumor drug system combines a single chemotherapy drug, daunorubicin, with a nucleic acid aptamer, which increases the biocompatibility of the drug and gives it targeting, providing a possibility for reducing the killing effect of chemotherapy drugs on normal cells. At the same time, it is loaded with a photosensitizer porphyrin to achieve the dual purpose of killing tumors by chemotherapy and photodynamic therapy. PEI-modified superparamagnetic iron tetroxide nanoparticles are used to synergistically enhance the therapeutic efficiency of anticancer drugs / gene carriers, and are also used as effective ultrasound contrast agents for in vitro tumor imaging.

[0004] For example, Chinese patent CN201910230788.8 discloses a method for preparing core-shell magnetic particles with a controllable biocompatible coating. The method comprises: through a simple coordination reaction between methacrylic acid (MAA) and unsaturated iron ions on the surface of Fe3O4 nanoparticles, methacrylic acid is "anchored" on the surface of Fe3O4 particles to form a polymerizable structure, Fe3O4-MAA; konjac glucomannan, methacrylic acid, a cross-linking agent, an initiator, and a template are then added to directly polymerize the coated and biocompatible core / shell magnetic particles through graft copolymerization. The method is simple and low-cost, and the resulting product can be used as a carrier for targeted magnetic field drug release materials, nuclear magnetic resonance contrast agents, magnetic molecular imprinted polymers, and the like.

[0005] However, this type of drug carrier is typically designed to be carried by a guidewire near the lesion area, then driven by a magnetic targeting device and released once it reaches the desired location. When this approach is used to treat aneurysms, the high blood flow and pulsation in the arterial area can affect the drug's delivery process, causing the magnetic targeting device to take longer to adjust the drug's position before reaching the aneurysm area. Summary of the Invention

[0006] In view of the above problems existing in the prior art, a control method and system for a magnetic drug carrier are provided.

[0007] The specific technical solutions are as follows:

[0008] A method for controlling a magnetic drug carrier, comprising:

[0009] Step S1: When the magnetic container enters a predetermined arterial region, a test alternating magnetic field is applied to the magnetic container using a magnetic targeting device to drive the magnetic container to move, and simultaneously an angiography device is used to collect a test region image sequence of the predetermined arterial region;

[0010] Step S2: registering the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence;

[0011] Step S3: extracting a stable parameter interval from the magnetic field gain parameter sequence, and measuring the test area image sequence according to the stable parameter interval to obtain the movement parameter of the magnetic container;

[0012] Step S4: measuring blood fluidity according to the movement parameter to obtain a control adjustment parameter;

[0013] The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

[0014] On the other hand, the step S2 includes:

[0015] Step S22: determining a driving starting point according to the alternating magnetic field change data of the magnetic field gain parameter sequence;

[0016] Step S23: performing object recognition on each frame of the angiography image in the test area image sequence to determine the position information of the magnetic container in the angiography image;

[0017] Step S24: determining the test area image to start moving as a sequence starting point according to the position information in the angiography images of adjacent frames;

[0018] Step S25: registering and cropping the test area image sequence and the magnetic field gain parameter sequence according to the driving start point and the sequence start point to construct the registration sequence.

[0019] On the other hand, the step S23 includes:

[0020] Step S231: superimposing the pre-reconstruction sequences to obtain overlapping area images;

[0021] Step S232: performing grayscale value recognition on the overlapping area image to determine the blood vessel wall area, and performing cropping based on the blood vessel wall area to determine the intravascular area;

[0022] Step S233: calculating the grayscale mean in the intravascular region, performing image segmentation according to the grayscale mean to determine the magnetic container, and recording the pixel unit position as the position information.

[0023] On the other hand, the step S24 includes:

[0024] Step S241: reading the position information corresponding to each of the test area images to assemble and obtain a position sequence;

[0025] Step S242: sequentially calculating the position information change rates of two adjacent sets of position information for the position sequence;

[0026] Step S243: Determine the sequence starting point according to the position information change rate.

[0027] On the other hand, step S3 includes:

[0028] Step S31: obtaining the magnetic field gain parameter sequence, and constructing a gain change rate for a plurality of continuous magnetic field gain parameters;

[0029] Step S32: determining a linear change interval as the stable parameter interval according to the gain change rate;

[0030] Step S33: intercepting the test area image sequence using the stable parameter interval to obtain an interval motion image sequence in each interval;

[0031] Step S34: reading the position information for each interval moving image sequence, and calculating the interval average moving speed of each interval moving image sequence;

[0032] Step S35: determining the movement parameter according to the average movement speeds of the multiple intervals.

[0033] On the other hand, the step S4 includes:

[0034] Step S41: estimating blood fluidity according to the movement parameter and the control parameter;

[0035] Step S42: looking up a table according to the blood fluidity to determine the magnetic field gain correction parameter that should be selected under the current blood fluidity;

[0036] Step S43: generating the control parameter based on the magnetic field gain correction parameter.

[0037] A control system for a magnetic drug carrier, used to implement the above control method;

[0038] The control system includes:

[0039] a measuring module, which applies a test alternating magnetic field to the magnetic container using a magnetic targeting device to drive the magnetic container to move after the magnetic container enters the predetermined arterial region, and simultaneously uses an angiography device to collect a test region image sequence of the predetermined arterial region;

[0040] a registration module, the registration module being connected to the measurement module;

[0041] The registration module registers the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence;

[0042] an interval interception module, the interval interception module being connected to the registration module;

[0043] The interval interception module extracts a stable parameter interval from the magnetic field gain parameter sequence, and measures the test area image sequence according to the stable parameter interval to obtain the movement parameter of the magnetic container;

[0044] a liquidity estimation module, the liquidity estimation module being connected to the interval interception module;

[0045] The fluidity estimation module measures the blood fluidity according to the movement parameter to obtain a control adjustment parameter;

[0046] The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

[0047] In another aspect, the registration module comprises:

[0048] A magnetic field measurement module, wherein the magnetic field measurement module determines a driving starting point according to alternating magnetic field change data of a magnetic field gain parameter sequence;

[0049] a position measurement module, the position measurement module being connected to the magnetic field measurement module;

[0050] The position measurement module performs object recognition on each frame of the contrast image in the test area image sequence to determine the position information of the magnetic container in the contrast image;

[0051] a starting point determination module, the starting point determination module being connected to the position measurement module;

[0052] The starting point determination module determines the test area image starting to move as the sequence starting point according to the position information in the angiography image of the adjacent frame;

[0053] a cutting module, the cutting module being connected to the starting point determination module;

[0054] The cropping module aligns and crops the test area image sequence and the magnetic field gain parameter sequence according to the driving start point and the sequence start point to construct the registration sequence.

[0055] On the other hand, the position measurement module includes:

[0056] An image superposition module, which superimposes the pre-reconstruction sequence to obtain an overlapping area image;

[0057] a blood vessel wall recognition module, the blood vessel wall recognition module being connected to the image superposition module;

[0058] The blood vessel wall recognition module performs grayscale value recognition on the overlapped area image to determine the blood vessel wall area, and performs cropping based on the blood vessel wall area to determine the intravascular area;

[0059] a vessel determination module, the vessel determination module being connected to the blood vessel wall identification module;

[0060] The container determination module calculates a grayscale mean in the intravascular region, performs image segmentation according to the grayscale mean to determine the magnetic container, and records pixel unit positions as the position information.

[0061] On the other hand, the starting point determination module includes:

[0062] a position sequence generating module, which reads the position information corresponding to each of the test area images to assemble a position sequence;

[0063] a change rate calculation module, the change rate calculation module being connected to the position sequence generation module;

[0064] The change rate calculation module sequentially calculates the position information change rate of two adjacent groups of position information for the position sequence;

[0065] a change rate detection module, the change rate detection module being connected to the change rate calculation module;

[0066] The change rate detection module determines the sequence starting point according to the change rate of the position information.

[0067] The above technical solution has the following advantages or beneficial effects:

[0068] In view of the problem in the prior art that the internal environment of the patient's blood may affect the driving effect of the magnetic targeting device, resulting in prolonged operation time, in this embodiment, after entering the predetermined arterial area, the magnetic targeting device applies a test alternating magnetic field in a specific direction and drives the magnetic container to move, thereby measuring the patient's actual blood fluidity. Based on this parameter, the control parameters of the magnetic targeting device are adjusted, thereby improving the movement efficiency of the magnetic container and shortening the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The embodiments of the present invention will be described more fully with reference to the accompanying drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0070] Figure 1 is an overall schematic diagram of an embodiment of the present invention;

[0071] Figure 2 This is a schematic diagram of step S2 in an embodiment of the present invention;

[0072] Figure 3 This is a schematic diagram of step S22 in an embodiment of the present invention;

[0073] Figure 4 This is a schematic diagram of step S23 in an embodiment of the present invention;

[0074] Figure 5 This is a schematic diagram of step S3 in an embodiment of the present invention;

[0075] Figure 6 This is a schematic diagram of step S4 in an embodiment of the present invention;

[0076] Figure 7 A schematic diagram of a system in an embodiment of the present invention;

[0077] Figure 8 Schematic diagram of a registration module in an embodiment of the present invention;

[0078] Figure 9 This is a schematic diagram of a position measurement module in an embodiment of the present invention;

[0079] Figure 10 This is a schematic diagram of a starting point determination module in an embodiment of the present invention;

[0080] Figure 11 Schematic diagram of an interval interception module in an embodiment of the present invention;

[0081] Figure 12 Schematic diagram of a liquidity estimation module in an embodiment of the present invention; DETAILED DESCRIPTION

[0082] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0083] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0084] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0085] The present invention comprises:

[0086] A method for controlling a magnetic drug carrier, such as Figure 1 Shown, including:

[0087] Step S1: When the magnetic container enters the predetermined arterial region, a test alternating magnetic field is applied to the magnetic container using a magnetic targeting device to drive the magnetic container to move, and at the same time, an angiography device is used to collect a test region image sequence of the predetermined arterial region;

[0088] Step S2: registering the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence;

[0089] Step S3: extracting a stable parameter interval from the magnetic field gain parameter sequence, and measuring the test area image sequence according to the stable parameter interval to obtain the movement parameters of the magnetic container;

[0090] Step S4: measuring blood fluidity according to the movement parameter to obtain a control adjustment parameter;

[0091] The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

[0092] Specifically, in view of the problem in the prior art that the internal environment of the patient's blood may affect the driving effect of the magnetic targeting device, resulting in prolonged operation time, in this embodiment, after entering the predetermined arterial area, the magnetic targeting device applies a test alternating magnetic field in a specific direction and drives the magnetic container to move, thereby measuring the patient's actual blood fluidity. Based on this parameter, the control parameters of the magnetic targeting device are adjusted, thereby improving the movement efficiency of the magnetic container and shortening the operation time.

[0093] Specifically, magnetic containers are drug carriers primarily based on surface-modified magnetic nanomaterials, typically using ferroferric oxide magnetic nanoparticles (Fe3O4MNPs). After surface modification, the drug is loaded and typically encapsulated with a shell made of phase-change or biocompatible materials to form a complete magnetic container. Magnetic targeting devices generate a specific alternating magnetic field within the patient's body to pull the magnetic container to a specific location.

[0094] During the drug delivery process, interventional therapy is often used to ensure that the drug reaches the intended aneurysm. During the implantation process, a guidewire carrying a magnetic container is passed through the patient's femoral artery and released near the lesion. A magnetic targeting device generates an alternating magnetic field to pull the magnetic container into the aneurysm area, where it is heated by the magnetic field and decomposed, releasing the drug.

[0095] Once the magnetic container enters the designated arterial region, a test alternating magnetic field is first applied to the container using a magnetic targeting device according to pre-calibrated parameters. This test alternating magnetic field is used to drive the magnetic container along the artery at a constant speed or within a specific speed range. The designated arterial region is typically a section of the artery near the aneurysm but not yet within the aneurysm's branches. This region has similar blood flow velocities and pulsatility to the aneurysm, is relatively narrow, and can control the magnetic container's directional movement.

[0096] When the magnetic container is driven by the test alternating magnetic field and moves in a direction, angiography equipment is used to collect a test region image sequence for a predetermined arterial region.

[0097] The angiography device is based on subtraction angiography (DSA) technology. It uses X-rays to pre-image the area of the patient where surgery will be performed. It then uses a contrast agent to obtain image information under different conditions. The two sets of images are then subtracted to obtain the actual image. The actual images are arranged in sequence according to acquisition time to assemble a sequence of images of the test area.

[0098] By reading the image sequence, the moving distance between each two reconstructed images when the magnetic container moves directionally in the arterial region can be determined, and the moving speed of the magnetic container can be determined in combination with the frequency of image reconstruction.

[0099] Considering that the magnetic container is driven to move by the alternating magnetic field, the moving speed of the magnetic container at the two peaks of the alternating magnetic field may vary to a certain extent. In order to accurately measure the moving speed of the magnetic container, the test area image sequence and the magnetic field gain parameter sequence of the test alternating magnetic field should first be aligned to obtain a registration sequence, and then a stable parameter interval should be extracted from the magnetic field gain parameter sequence. In the image frame corresponding to the stable parameter interval, the test area image sequence is measured to obtain the moving parameters of the magnetic container. Then, the blood flow is measured according to the moving parameters to determine whether the patient's blood fluidity will significantly affect the movement of the magnetic container. The control parameters of the magnetic targeting device are adjusted in combination with table lookup and other methods to ensure that the magnetic container can accurately reach the predetermined position before decomposition begins.

[0100] In one embodiment, Figure 2 As shown, step S2 includes:

[0101] Step S21: determining a driving starting point according to the alternating magnetic field change data of the magnetic field gain parameter sequence;

[0102] Step S22: performing object recognition on each frame of the contrast image in the test area image sequence to determine the position information of the magnetic container in the contrast image;

[0103] Step S23: determining the test area image to start moving as the sequence starting point according to the position information in the angiography images of adjacent frames;

[0104] Step S24: registering and cropping the test area image sequence and the magnetic field gain parameter sequence according to the driving start point and the sequence start point to construct a registration sequence.

[0105] Specifically, to achieve a better registration effect, in this embodiment, the actuation starting point is first determined based on the alternating magnetic field variation data in the magnetic field gain parameter sequence. Specifically, after the magnetic container is released, the magnetic targeting device may not generate a sufficient alternating magnetic field to drive the magnetic container. Consequently, both the magnetic field data and the image data for this portion of the magnetic field data will show no observable movement of the magnetic container. To eliminate this invalid data, the alternating magnetic field variation data in the magnetic field gain parameter sequence is first extracted to calculate the magnetic field gain at each time point. The actuation starting point that generates the magnetic field gain sufficient to drive the magnetic container is then determined.

[0106] Similarly, object recognition is performed on each frame of the contrast image in the test area image sequence to determine the position information of the magnetic container in the test area image, and then comparison is performed on each image frame based on the position information to determine the image frame where the displacement actually occurs as the starting point of the sequence.

[0107] Finally, registration and cropping are performed according to the driving starting point and the sequence starting point, including aligning the two starting points and resampling the magnetic field gain sequence with a higher sampling frequency so that the sampling points of the two are aligned, thereby constructing a registration sequence.

[0108] In one embodiment, Figure 3 As shown, step S22 includes:

[0109] Step S221: superimposing the pre-reconstruction sequences to obtain overlapping area images;

[0110] Step S222: performing grayscale value recognition on the overlapping area image to determine the blood vessel wall area, and performing cropping based on the blood vessel wall area to determine the intravascular area;

[0111] Step S223: Calculate the grayscale mean in the intravascular region, perform image segmentation based on the grayscale mean to determine the magnetic container, and record the pixel unit position as position information.

[0112] Specifically, to achieve better position recognition, in this embodiment, the pre-reconstructed sequences are first superimposed to obtain overlapping region images. Since the angiography device remains in a fixed position during the scan, there are overlapping background regions between the multiple image frames. By superimposing these background regions, the overlapping regions can be identified, thereby determining the overlapping region images.

[0113] Subsequently, grayscale value recognition is performed on the overlapping area image to determine the blood vessel wall area whose grayscale value is significantly different from that of other tissue areas. The image is cropped for the blood vessel wall area to remove significantly irrelevant parts and extract the intravascular area.

[0114] By calculating the grayscale mean of the extracted intravascular area, the average grayscale of the background part of the blood vessel wall in the image can be roughly obtained, and the part where the grayscale value has a significant deviation from the background part corresponds to the part of the magnetic container.

[0115] The image is segmented according to the grayscale mean to determine the magnetic container, and the pixel unit position is recorded as position information, and written into the extended information of the corresponding image frame.

[0116] In one embodiment, Figure 4 As shown, step S23 includes:

[0117] Step S231: reading the position information corresponding to each test area image to assemble and obtain a position sequence;

[0118] Step S232: calculating the position information change rate of two adjacent sets of position information in sequence;

[0119] Step S233: Determine the sequence starting point according to the position information change rate.

[0120] Specifically, in order to achieve a better position recognition effect, in this embodiment, the position information corresponding to each test area image is first read to assemble a position sequence. By reading the position sequence, two adjacent sets of position information can be obtained. The change in the position information can be determined by subtracting the two sets of position information.

[0121] The position information changes are assembled into a sequence, and the position information change rates corresponding to adjacent position information changes are calculated respectively. The sequence is screened based on a predetermined change rate threshold to determine the starting point of the sequence.

[0122] In one embodiment, Figure 5 As shown, step S3 includes:

[0123] Step S31: obtaining a magnetic field gain parameter sequence, and constructing a gain change rate for a plurality of consecutive magnetic field gain parameters;

[0124] Step S32: determining a linear change interval as a stable parameter interval according to the gain change rate;

[0125] Step S33: intercepting the test area image sequence using the stable parameter interval to obtain an interval motion image sequence in each interval;

[0126] Step S34: reading the position information of each interval moving image sequence and calculating the interval average moving speed of each interval moving image sequence;

[0127] Step S35: determining a movement parameter according to the average movement speeds of the multiple intervals.

[0128] Specifically, to effectively determine the movement parameters of the magnetic container, in this embodiment, a magnetic field gain parameter sequence is first obtained, and a gain change rate is constructed for multiple consecutive magnetic field gain parameters. The magnetic field gain parameters are directly measured by the magnetic targeting device at the receiving end.

[0129] Then, a gain change rate is constructed for a plurality of continuous magnetic field gain parameters, and a linear change interval is determined according to the gain change rate as a stable parameter interval.

[0130] For the stable parameter interval, the test area image sequence is intercepted to obtain the interval movement image sequence in each stable parameter interval. Since the driving parameters of the magnetic targeting device change linearly, it can be considered that the movement rate in each interval is also stable.

[0131] For each interval moving image sequence corresponding to each stable parameter interval, the position information is read respectively, and the interval average moving speed of each interval moving image sequence is calculated.

[0132] Finally, the average value is calculated according to the average moving speed in each interval to determine the moving parameter.

[0133] In one embodiment, Figure 6 As shown, step S4 includes:

[0134] Step S41: Estimating blood fluidity according to movement parameters and control parameters;

[0135] Step S42: looking up a table according to blood fluidity to determine the magnetic field gain correction parameter that should be selected under the current blood fluidity;

[0136] Step S43: generating a control parameter based on the magnetic field gain correction parameter.

[0137] Specifically, in order to effectively measure the patient's blood fluidity, in this embodiment, the magnetic field generated by the magnetic targeting device is first calculated according to the movement parameters and the control parameters of the magnetic targeting device combined with the hemodynamic model. The theoretical speed when the magnetic container is driven and the actual movement parameters are used to determine the blood fluidity based on the two.

[0138] Then, a table is looked up according to the blood fluidity to determine whether the blood fluidity is too low, and then the magnetic field gain correction parameter that should be selected under the current blood fluidity is determined.

[0139] Finally, control parameters are generated based on the magnetic field gain correction parameters to make the magnetic field gain meet expectations, and then the magnetic container is driven to move, thereby improving the driving efficiency.

[0140] A control system for a magnetic drug carrier, used to implement the above control method;

[0141] like Figure 7 As shown, the control system includes:

[0142] Measuring module 1: After the magnetic container enters the predetermined arterial region, measuring module 1 applies a test alternating magnetic field to the magnetic container using a magnetic targeting device to drive the magnetic container to move, and simultaneously uses an angiography device to collect a test region image sequence of the predetermined arterial region;

[0143] Registration module 2, registration module 2 is connected to measurement module 1;

[0144] The registration module 2 registers the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence;

[0145] The interval interception module 3 is connected to the registration module 2;

[0146] The interval interception module 3 extracts a stable parameter interval from the magnetic field gain parameter sequence, and measures the test area image sequence according to the stable parameter interval to obtain the movement parameter of the magnetic container;

[0147] Liquidity estimation module 4, liquidity estimation module 4 is connected to interval interception module 3;

[0148] The fluidity estimation module 4 measures the blood fluidity according to the movement parameter to obtain the control adjustment parameter;

[0149] The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

[0150] Specifically, in view of the problem in the prior art that the internal environment of the patient's blood may affect the driving effect of the magnetic targeting device, resulting in prolonged operation time, in this embodiment, after entering the predetermined arterial area, the measuring module 1 applies a test alternating magnetic field in a specific direction through the magnetic targeting device and drives the magnetic container to move, thereby measuring the patient's actual blood fluidity. Based on this parameter, the control parameters of the magnetic targeting device are adjusted, thereby improving the movement efficiency of the magnetic container and shortening the operation time.

[0151] Once the magnetic container enters the designated arterial region, a magnetic targeting device first applies a test alternating magnetic field to the container according to pre-calibrated parameters. This test alternating magnetic field drives the magnetic container along the artery at a constant speed or within a specific speed range. The designated arterial region is typically the portion of the artery near the lesion site, which has a similar blood environment to the lesion and is relatively narrow, thus enabling control of the magnetic container's movement.

[0152] When the magnetic container is driven by the test alternating magnetic field and moves in a direction, angiography equipment is used to collect a test region image sequence for a predetermined arterial region.

[0153] The angiography device is based on subtraction angiography (DSA) technology. It uses X-rays to pre-image the area of the patient where surgery will be performed. It then uses a contrast agent to obtain image information under different conditions. The two sets of images are then subtracted to obtain the actual image. The actual images are arranged in sequence according to acquisition time to assemble a sequence of images of the test area.

[0154] By reading the image sequence, the moving distance between each two reconstructed images when the magnetic container moves directionally in the arterial region can be determined, and the moving speed of the magnetic container can be determined in combination with the frequency of image reconstruction.

[0155] Considering that the magnetic container is driven to move by the alternating magnetic field, the moving speed of the magnetic container at the two peaks of the alternating magnetic field may vary to a certain extent. In order to accurately measure the moving speed of the magnetic container, the alignment module 2 should first align the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a alignment sequence. Then, the interval interception module 3 extracts the stable parameter interval from the magnetic field gain parameter sequence. In the image frame corresponding to the stable parameter interval, the test area image sequence is measured to obtain the moving parameters of the magnetic container. The fluidity estimation module 4 then measures the blood fluidity according to the moving parameters to determine whether the patient's blood fluidity will significantly affect the movement of the magnetic container, and adjusts the control parameters of the magnetic targeting device in combination with table lookup and other methods, so that the magnetic container can accurately reach the predetermined position before starting to decompose.

[0156] In one embodiment, Figure 8 As shown, the registration module 2 includes:

[0157] The magnetic field measurement module 21 determines the driving starting point according to the alternating magnetic field change data of the magnetic field gain parameter sequence;

[0158] A position measurement module 22 , which is connected to the magnetic field measurement module 21 ;

[0159] The position measurement module 22 performs object recognition on the test area image to determine the position information of the magnetic container in the test area image;

[0160] A starting point determination module 23, the starting point determination module 23 is connected to the position measurement module 22;

[0161] The starting point determination module 23 determines the test area image starting to move as the sequence starting point according to the position information;

[0162] A cutting module 24, the cutting module 24 is connected to the starting point determination module 23;

[0163] The cropping module 24 performs registration and cropping according to the driving start point and the sequence start point to construct a registration sequence.

[0164] Specifically, to achieve a better registration effect, in this embodiment, the magnetic field measurement module 21 determines the driving starting point based on the alternating magnetic field change data in the magnetic field gain parameter sequence. Specifically, after the magnetic container is released, the magnetic targeting device may not generate an alternating magnetic field sufficient to drive the magnetic container. In this case, both the magnetic field data and the image data reflect the absence of an observable moving image of the magnetic container. To eliminate this invalid data, the magnetic field measurement module 21 first extracts the alternating magnetic field change data in the magnetic field gain parameter sequence, thereby calculating the magnetic field gain at each time point. The module then determines the driving starting point that generates the magnetic field gain sufficient to drive the magnetic container.

[0165] Similarly, the position measurement module 22 performs object recognition on the test area image to determine the position information of the magnetic container in the test area image, and then the starting point determination module 23 performs comparison on each image frame based on the position information to determine the image frame where the displacement actually occurs as the sequence starting point.

[0166] Finally, the cropping module 24 performs registration and cropping according to the driving start point and the sequence start point, including aligning the two start points and resampling the magnetic field gain sequence with a higher sampling frequency so that the sampling points of the two are aligned, thereby constructing a registration sequence.

[0167] In one embodiment, Figure 9 As shown, the position measurement module 22 includes:

[0168] An image superposition module 221 , which superimposes the pre-reconstruction sequence to obtain an image of the overlapping area;

[0169] A blood vessel wall recognition module 222 , the blood vessel wall recognition module 222 is connected to the image superposition module 221 ;

[0170] The blood vessel wall recognition module 222 performs grayscale value recognition on the overlapping area image to determine the blood vessel wall area, and performs cropping based on the blood vessel wall area to determine the intravascular area;

[0171] a vessel determination module 223 , the vessel determination module 223 being connected to the blood vessel wall recognition module 222 ;

[0172] The vessel determination module 223 calculates the grayscale mean in the intravascular region, performs image segmentation according to the grayscale mean to determine the magnetic vessel, and records the pixel unit position as position information.

[0173] Specifically, to achieve better position recognition, in this embodiment, the image overlay module 221 first overlays the pre-reconstructed sequences to obtain overlapping region images. Because the angiography device remains in a fixed position during the scan, overlapping background regions exist between multiple image frames. Overlaying these background regions allows for identification, thereby determining overlapping region images.

[0174] Subsequently, the vascular wall recognition module 222 performs grayscale value recognition on the overlapping area image, and can determine the vascular wall area whose grayscale value is significantly different from other tissue areas. The image is cropped for the vascular wall area to remove significantly irrelevant parts and extract the intravascular area.

[0175] The container determination module 223 calculates the grayscale mean of the extracted intravascular area to roughly obtain the average grayscale of the background part of the blood vessel wall in the image. The part where the grayscale value has a significant deviation from the background part corresponds to the part of the magnetic container.

[0176] The image is segmented according to the grayscale mean to determine the magnetic container, and the pixel unit position is recorded as position information, and written into the extended information of the corresponding image frame.

[0177] In one embodiment, Figure 10 As shown, the starting point determination module 23 includes:

[0178] The position sequence generating module 231 reads the position information corresponding to each test area image to assemble a position sequence;

[0179] A change rate calculation module 232, the change rate calculation module 232 is connected to the position sequence generation module 241;

[0180] The change rate calculation module 232 calculates the position information change rate of two adjacent sets of position information in sequence;

[0181] A change rate detection module 233, the change rate detection module 233 is connected to the change rate calculation module 242;

[0182] The change rate detection module 233 determines the sequence starting point according to the change rate of the position information.

[0183] Specifically, in order to achieve a better position recognition effect, in this embodiment, the position sequence generation module 231 first reads the position information corresponding to each test area image to assemble a position sequence. By reading the position sequence, two adjacent sets of position information can be obtained. The change in the position information can be determined by subtracting the two sets of position information.

[0184] The change rate calculation module 232 assembles the position information changes into a sequence and calculates the position information change rates corresponding to adjacent position information changes. The change rate detection module 233 performs screening based on a predetermined change rate threshold to determine the sequence starting point.

[0185] In one embodiment, Figure 11 As shown, the interval interception module 3 includes:

[0186] The gain change rate calculation module 31 obtains a magnetic field gain parameter sequence and constructs a gain change rate for a plurality of continuous magnetic field gain parameters;

[0187] An interval determination module 32, the interval determination module 32 determines a linear change interval as a stable parameter interval according to the gain change rate;

[0188] A sequence interception module 33 intercepts the test area image sequence using a stable parameter interval to obtain an interval motion image sequence in each interval;

[0189] The speed calculation module 34 reads the position information of each interval moving image sequence and calculates the interval average moving speed of each interval moving image sequence;

[0190] The parameter determination module 35 determines the movement parameters according to the average movement speeds of multiple intervals.

[0191] Specifically, to effectively determine the movement parameters of the magnetic container, in this embodiment, the gain change rate calculation module 31 first obtains a sequence of magnetic field gain parameters and constructs a gain change rate for multiple consecutive magnetic field gain parameters. The magnetic field gain parameters are directly measured by the angiography device at the receiving end.

[0192] Then, the interval determination module 32 constructs a gain change rate for a plurality of continuous magnetic field gain parameters, and determines a linear change interval as a stable parameter interval according to the gain change rate.

[0193] The sequence interception module 33 intercepts the test area image sequence for the stable parameter interval to obtain the interval movement image sequence in each stable parameter interval. Since the driving parameters of the magnetic targeting device change linearly, it can be considered that the movement rate in each interval is also stable.

[0194] The speed calculation module 34 reads the position information of the interval moving image sequence corresponding to each stable parameter interval, and calculates the interval average moving speed of each interval moving image sequence.

[0195] Finally, the parameter determination module 35 performs mean calculation according to the average movement speed in each interval, thereby determining the movement parameter.

[0196] In one embodiment, Figure 12 As shown, the liquidity estimation module 4 includes:

[0197] A fluidity calculation module 41, which estimates blood fluidity according to movement parameters and control parameters;

[0198] A gain determination module 42 , which performs a table lookup according to blood fluidity to determine a magnetic field gain correction parameter that should be selected under the current blood fluidity;

[0199] The parameter output module 43 generates a control parameter based on the magnetic field gain correction parameter.

[0200] Specifically, in order to effectively measure the patient's blood fluidity, in this embodiment, the fluidity calculation module 41 first calculates the magnetic field generated by the magnetic targeting device in accordance with the movement parameters and the control parameters of the magnetic targeting device in combination with the hemodynamic model, and determines the blood fluidity based on the theoretical speed when driving the magnetic container and the actual movement parameters.

[0201] Subsequently, the gain determination module 42 performs a table lookup according to the blood fluidity to determine whether the blood fluidity is low, and further determines the magnetic field gain correction parameter that should be selected under the current blood fluidity.

[0202] Finally, the parameter output module 43 generates a control parameter based on the magnetic field gain correction parameter so that the magnetic field gain meets expectations, and then drives the magnetic container to move, thereby improving the driving efficiency.

[0203] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a magnetic drug carrier, characterized in that: include: Step S1: When the magnetic container enters a predetermined arterial region, a test alternating magnetic field is applied to the magnetic container using a magnetic targeting device to drive the magnetic container to move, and simultaneously an angiography device is used to collect a test region image sequence of the predetermined arterial region; Step S2: registering the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence; Step S3: extracting a stable parameter interval from the magnetic field gain parameter sequence, and measuring the test area image sequence according to the stable parameter interval to obtain the movement parameter of the magnetic container; Step S4: measuring blood fluidity according to the movement parameter to obtain a control adjustment parameter; The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

2. The control method according to claim 1, characterized in that: The step S2 comprises: Step S21: determining a driving starting point according to the alternating magnetic field change data of the magnetic field gain parameter sequence; Step S22: performing object recognition on each frame of the angiography image in the test area image sequence to determine the position information of the magnetic container in the angiography image; Step S23: determining the test area image to start moving as a sequence starting point according to the position information in the angiography images of adjacent frames; Step S24: registering and cropping the test area image sequence and the magnetic field gain parameter sequence according to the driving start point and the sequence start point to construct the registration sequence.

3. The control method according to claim 2, characterized in that: The step S22 includes: Step S221: superimposing the pre-reconstruction sequences to obtain overlapping area images; Step S222: performing grayscale value recognition on the overlapping area image to determine the blood vessel wall area, and performing cropping based on the blood vessel wall area to determine the intravascular area; Step S223: calculating the grayscale mean in the intravascular region, performing image segmentation according to the grayscale mean to determine the magnetic container, and recording the pixel unit position as the position information.

4. The control method according to claim 2, characterized in that: The step S23 includes: Step S231: reading the position information corresponding to each of the test area images to assemble and obtain a position sequence; Step S232: sequentially calculating the position information change rates of two adjacent sets of position information for the position sequence; Step S233: Determine the sequence starting point according to the position information change rate.

5. The control method according to claim 2, characterized in that: The step S3 comprises: Step S31: obtaining the magnetic field gain parameter sequence, and constructing a gain change rate for a plurality of continuous magnetic field gain parameters; Step S32: determining a linear change interval as the stable parameter interval according to the gain change rate; Step S33: intercepting the test area image sequence using the stable parameter interval to obtain an interval motion image sequence in each interval; Step S34: reading the position information for each interval moving image sequence, and calculating the interval average moving speed of each interval moving image sequence; Step S35: determining the movement parameter according to the average movement speeds of the multiple intervals.

6. The control method according to claim 1, characterized in that: The step S4 comprises: Step S41: estimating blood fluidity according to the movement parameter and the control parameter; Step S42: looking up a table according to the blood fluidity to determine the magnetic field gain correction parameter that should be selected under the current blood fluidity; Step S43: generating the control parameter based on the magnetic field gain correction parameter.

7. A control system for a magnetic drug carrier, characterized in that: Used to implement the control method according to any one of claims 1 to 6; The control system includes: a measuring module, which applies a test alternating magnetic field to the magnetic container using a magnetic targeting device to drive the magnetic container to move after the magnetic container enters the predetermined arterial region, and simultaneously uses an angiography device to collect a test region image sequence of the predetermined arterial region; a registration module, the registration module being connected to the measurement module; The registration module registers the test area image sequence with the magnetic field gain parameter sequence of the test alternating magnetic field to obtain a registration sequence; an interval interception module, the interval interception module being connected to the registration module; The interval interception module extracts a stable parameter interval from the magnetic field gain parameter sequence, and measures the test area image sequence according to the stable parameter interval to obtain the movement parameter of the magnetic container; a liquidity estimation module, the liquidity estimation module being connected to the interval interception module; The fluidity estimation module measures the blood fluidity according to the movement parameter to obtain a control adjustment parameter; The control adjustment parameters are used to adjust the control parameters of the magnetic targeting device.

8. The control system according to claim 7, characterized in that: The registration module includes: A magnetic field measurement module, wherein the magnetic field measurement module determines a driving starting point according to alternating magnetic field change data of a magnetic field gain parameter sequence; a position measurement module, the position measurement module being connected to the magnetic field measurement module; The position measurement module performs object recognition on each frame of the contrast image in the test area image sequence to determine the position information of the magnetic container in the contrast image; a starting point determination module, the starting point determination module being connected to the position measurement module; The starting point determination module determines the test area image starting to move as the sequence starting point according to the position information in the angiography image of the adjacent frame; a cutting module, the cutting module being connected to the starting point determination module; The cropping module aligns and crops the test area image sequence and the magnetic field gain parameter sequence according to the driving start point and the sequence start point to construct the registration sequence.

9. The control system according to claim 8, characterized in that: The position measurement module includes: An image superposition module, which superimposes the pre-reconstruction sequence to obtain an overlapping area image; a blood vessel wall recognition module, the blood vessel wall recognition module being connected to the image superposition module; The blood vessel wall recognition module performs grayscale value recognition on the overlapped area image to determine the blood vessel wall area, and performs cropping based on the blood vessel wall area to determine the intravascular area; a vessel determination module, the vessel determination module being connected to the blood vessel wall identification module; The container determination module calculates a grayscale mean in the intravascular region, performs image segmentation according to the grayscale mean to determine the magnetic container, and records pixel unit positions as the position information.

10. The control system according to claim 8, characterized in that: The starting point determination module includes: a position sequence generating module, which reads the position information corresponding to each of the test area images to assemble a position sequence; a change rate calculation module, the change rate calculation module being connected to the position sequence generation module; The change rate calculation module sequentially calculates the position information change rate of two adjacent groups of position information for the position sequence; a change rate detection module, the change rate detection module being connected to the change rate calculation module; The change rate detection module determines the sequence starting point according to the change rate of the position information.

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