Rotary permanent magnet system and non-magnetic target delivery method and device thereof

Abstract

The invention discloses a rotary permanent magnet system and a non-magnetic target delivery method and device thereof, and relates to the technical field of non-magnetic target delivery, and the method comprises the steps: collecting an image, and detecting the positions of a dynamic micro group and a non-magnetic target; the dynamic micro-groups are formed by gathering magnetic nano-particles in a rotating magnetic field generated by a permanent magnet; controlling the position and the rotation frequency of the rotating magnetic field according to the positions of the dynamic micro group and the non-magnetic target; and controlling the dynamic micro group to capture, deliver and release the non-magnetic target according to the position and the rotation frequency of the rotating magnetic field. According to the invention, the delivery task can be completed without influencing the function of the non-magnetic target.

Description

Technical Field

[0001] The present application relates to the technical field of non-magnetic target delivery, and in particular to a rotating permanent magnet system and a non-magnetic target delivery method and device thereof. Background Art

[0002] Micromanipulation technology has a wide range of applications in industry and biomedicine. Researchers have developed a variety of micromanipulation platforms with micron-level positioning accuracy and multifunctionality. Conventional robotic systems driven by rigid structures are significantly limited in their adaptability to maneuvering within confined cavities or complex topological environments. This has driven the development of innovative non-contact remote manipulation methods, such as optical tweezers, acoustic tweezers, and electric and magnetic fields.

[0003] Optical tweezers: It is difficult to manipulate objects in deep tissues using optical tweezers. Deep tissues can absorb and trap light, which makes it difficult to converge the beam and also causes potential photodamage and thermal damage to the controlled objects (such as nanoparticles, cells, and biomolecules).

[0004] Acoustic tweezers: Acoustic tweezers technology is a non-invasive operation that causes less damage to biological samples. However, compared with optical tweezers, acoustic tweezers have lower manipulation accuracy and weaker single-point manipulation capabilities.

[0005] Electromagnetic fields: Electromagnetic coils generate low magnetic field strength, are bulky, and have limited working space, making them difficult to scale up to clinical scale. Furthermore, magnetic microparticles must attract and repel each other in an electromagnetic field to form dynamic microclusters. In practice, magnetic particles can be dispersed or uneven, making it difficult for electromagnetic devices to effectively aggregate them.

[0006] Compared to other manipulation methods, magnetic field-driven technology offers high controllability and precision, can penetrate deep into biological tissue without significant attenuation, and is harmless to the human body at low frequencies and intensities. Existing magnetic field generation systems are primarily based on electromagnetic coils and permanent magnets. However, electromagnetic coils generate low magnetic field intensities, are bulky, and have limited workspace, making them difficult to scale up to clinical scale. Permanent magnets, on the other hand, can generate higher-intensity magnetic fields. The rotating magnetic fields generated by multiple permanent magnets can be used to aggregate highly dispersed magnetic nanoparticles, forming dynamic microswarms with high flexibility and anti-interference capabilities.

[0007] However, magnetic fields can only drive magnetic materials. Therefore, when manipulating non-magnetic targets (such as cells), it is necessary to dope magnetic substances into the non-magnetic targets. For example, cells are manipulated after being adsorbed onto the surface of functionalized magnetic beads, which is the magnetic bead adsorption manipulation method: the binding of magnetic beads to cells depends on chemical coupling or physical adsorption, which may interfere with the function of cell membrane receptors or induce oxidative stress, resulting in decreased cell activity. In addition, magnetic beads are prone to aggregation due to uneven magnetic fields or unstable surface modifications, affecting separation efficiency and purity, and non-degradable magnetic materials may cause long-term biotoxicity problems.

[0008] Alternatively, a microfluidic device can be used to make droplets containing magnetic substances, namely the microfluidic magnetic droplet manipulation method: the stability of the droplets is greatly affected by the shear force, temperature and pH value of the fluid, and they are easy to break or merge with the surrounding medium, resulting in cell leakage or contamination. In addition, the uneven distribution of magnetic substances in the droplets may reduce the efficiency of the magnetic field response and limit the manipulation accuracy. In actual operation, drugs containing cells can be bound to magnetic particles to form droplets, and the movement of the droplets can be controlled by applying an external magnetic field. Although these methods have effectively expanded the scope of application of magnetic fields in the biomedical field, they all require direct treatment of cells. When non-magnetic cells are delivered in the above manner, irreversible cell function damage may be caused, affecting the function of non-magnetic targets. Summary of the Invention

[0009] The purpose of this application is to provide a rotating permanent magnet system and its non-magnetic target delivery method and equipment to solve the problem that existing delivery methods are prone to cause irreversible cell function damage and affect the function of non-magnetic targets.

[0010] To achieve the above objectives, this application provides the following solutions:

[0011] In a first aspect, the present application provides a rotating permanent magnet system, comprising: a computer control terminal, a drive module, and a visualization module;

[0012] The visualization module is used to detect the position of a dynamic micro-swarm and a non-magnetic target; the dynamic micro-swarm is formed by magnetic nanoparticles being aggregated by a rotating magnetic field generated by a permanent magnet;

[0013] The computer control terminal is used to process the images collected by the visualization module and control the driving module according to the positions of the dynamic micro-swarm and the non-magnetic target;

[0014] The driving module is used to control the position and rotation frequency of the rotating magnetic field to control the dynamic micro-swarm to capture, deliver and release the non-magnetic target.

[0015] In a second aspect, the present application provides a non-magnetic target delivery method of a rotating permanent magnet system, comprising:

[0016] Acquire images and detect the positions of dynamic micro-clusters and non-magnetic targets; the dynamic micro-clusters are formed by magnetic nanoparticles gathered in a rotating magnetic field generated by a permanent magnet;

[0017] controlling the position and rotation frequency of the rotating magnetic field according to the position of the dynamic micro-group and the non-magnetic target;

[0018] According to the position and rotation frequency of the rotating magnetic field, the dynamic micro-swarm is controlled to capture, deliver and release the non-magnetic target.

[0019] In a third aspect, the present application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any one of the above-described non-magnetic target delivery methods.

[0020] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0021] This application uses permanent magnets to generate a high-intensity rotating magnetic field, causing magnetic nanoparticles to aggregate into microchains and eventually converge into dynamic microclusters. At this time, the position of the dynamic microclusters is identified. When the dynamic microclusters approach the non-magnetic target, under the influence of the flow field near the dynamic microclusters and the manipulation of the microchains, the non-magnetic target will enter the dynamic microclusters and move with the dynamic microclusters, thereby avoiding processing the non-magnetic target. This application controls the dynamic microclusters to approach the non-magnetic target and deliver it to the designated location, thereby completing the delivery task without affecting the function of the non-magnetic target. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a structural diagram of a rotating permanent magnet system in one embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the magnetic field structure of the rotating permanent magnet system of this application;

[0025] Figure 3 Schematic diagram of the process of magnetic particles aggregating into microclusters;

[0026] Figure 4 A schematic flow chart of the non-magnetic target delivery method of the rotating permanent magnet system provided in this application;

[0027] Figure 5 Schematic diagram of the method for delivering non-magnetic targets to magnetic microclusters;

[0028] Figure 6 Schematic diagram of the process of capturing, delivering and releasing non-magnetic targets for magnetic microclusters;

[0029] Figure 7 Schematic diagram of the effect of magnetic particle dosage on the delivery performance of non-magnetic targets. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0032] like Figure 1 As shown, an embodiment of the present application provides a rotating permanent magnet system, including: a computer control terminal, a drive module and a visualization module.

[0033] The visualization module is used to detect the positions of dynamic micro-clusters and non-magnetic targets; the dynamic micro-clusters are formed by gathering magnetic nanoparticles in a rotating magnetic field generated by a permanent magnet.

[0034] The computer control terminal is used to process the images collected by the visualization module and control the driving module according to the positions of the dynamic micro-swarm and the non-magnetic target.

[0035] The driving module is used to control the position and rotation frequency of the rotating magnetic field to control the dynamic micro-swarm to capture, deliver and release the non-magnetic target.

[0036] In an exemplary embodiment, the driving module specifically includes: a rotating bracket, an operating plane, a three-dimensional moving module, a rotating motor, and at least two permanent magnets.

[0037] The rotating bracket and the operating plane are arranged on the three-dimensional moving module.

[0038] The permanent magnets are symmetrically arranged on the rotating bracket to gather the magnetic nanoparticles on the operating plane to form a dynamic micro-group, and the rotating motor is arranged at the bottom of the rotating bracket to control the rotation of the rotating bracket.

[0039] In an exemplary embodiment, the three-dimensional motion module specifically includes: a stepper motor, a driver, a controller and a movable slide.

[0040] The stepper motor is connected to the movable slide; the rotating bracket and the operating plane are arranged on the movable slide; the stepper motor is used to drive the rotating motor to control the rotating bracket and the operating plane to move along the movable slide; the controller is used to control the driver to drive the stepper motor.

[0041] In an exemplary embodiment, at least two permanent magnets rotate along a central axis to form a rotating magnetic field.

[0042] In an exemplary embodiment, the magnetic micro-nanoparticles on the operating plane are driven by the rotating magnetic field to gather in a spiral shape toward the center of the rotating magnetic field, and the dispersed magnetic micro-nanoparticles form micro-chains, and multiple micro-chains converge into a dynamic micro-cluster.

[0043] In an exemplary embodiment, the visualization module is composed of a zoom lens and a camera, which feeds back the position and status of the dynamic micro-swarm and the non-magnetic target. After detecting the position of the dynamic micro-swarm and the non-magnetic target, the motor is controlled to move. When the dynamic micro-swarm approaches the non-magnetic target, it will be adsorbed into the dynamic micro-swarm under the stimulation of the fluid and micro-chain near the dynamic micro-swarm, and follow the movement of the dynamic micro-swarm, thereby controlling the dynamic micro-swarm to capture the non-magnetic target.

[0044] Once the dynamic micro-swarm captures a non-magnetic target, the visualization module stops detecting their positions, and the rotary motor follows a pre-programmed path. At this point, the visualization module simply records the movement of the dynamic micro-swarm and target, facilitating observation of the delivery and release process, and no longer provides feedback to control motor movement.

[0045] In actual applications, the steps for setting the path include: obtaining the key points of the path in advance, using the interpolation function in Matlab to generate a txt file with the path points, reading it line by line in the rotary motor control program at a fixed time, obtaining the difference between the upper and lower lines, and controlling the movement of the rotary motor.

[0046] like Figure 2 As shown, 10*10*10mm 3 The NdFeB magnets are placed on a custom 3D-printed rotating bracket with a distance of 15 mm between the two magnets. The bracket is fixed on a rotating motor and driven to rotate, thereby causing the magnets to rotate along the central axis, forming a rotating magnetic field. A stepper motor and a slide are used to control the rotation of the rotating motor and the bracket above it to move together with the magnets. Driven by the magnetic field, the magnetic micro-nanoparticles on the operating plane will gather in a spiral shape toward the center of the magnetic field. The dispersed particles will first form micro-chains and eventually converge into a dynamic micro-group, such as Figure 3 shown.

[0047] A three-dimensional motor moving platform is installed under the rotating motor. The computer control end sends instructions to the motor controller and driver to drive the motor to move, thereby controlling the position of the rotating magnetic field. The dynamic micro-swarm will gather at the intersection (gathering point) of the central axis of the magnetic field and the operating plane. When the position of the magnetic field changes, the dynamic micro-swarm will move with the center of the magnetic field.

[0048] like Figure 4 As shown, the present application provides a non-magnetic target delivery method of a rotating permanent magnet system, comprising:

[0049] S1: Acquire images and detect the positions of dynamic microclusters and non-magnetic targets; the dynamic microclusters are formed by magnetic nanoparticles gathered in a rotating magnetic field generated by a permanent magnet.

[0050] S2: Control the position and rotation frequency of the rotating magnetic field according to the positions of the dynamic micro-group and the non-magnetic target.

[0051] S3: According to the position and rotation frequency of the rotating magnetic field, the dynamic micro-swarm is controlled to capture, deliver and release the non-magnetic target.

[0052] In an exemplary embodiment, S1 may be replaced by the following steps.

[0053] S11: Train deep learning models.

[0054] S12: Input the collected images into the deep learning model to detect the positions of the dynamic micro-swarm and non-magnetic targets.

[0055] In an exemplary embodiment, S2 may be replaced by the following steps.

[0056] S21: Determine the relative positions of the dynamic micro-group and the non-magnetic target according to the positions of the dynamic micro-group and the non-magnetic target.

[0057] S22: Control the position and rotation frequency of the rotating magnetic field according to the number of pixels corresponding to the relative position and the set number of pixels.

[0058] In an exemplary embodiment, S3 may be replaced by the following steps.

[0059] S31: When the dynamic micro-group is required to capture the non-magnetic target, at every set time period, determine whether the number of pixel points corresponding to the relative position in different directions is greater than the set number of pixel points. If so, control the position of the rotating magnetic field to move toward the non-magnetic target. If not, determine that the dynamic micro-group captures the non-magnetic target.

[0060] S32: When the dynamic micro-group is required to deliver the non-magnetic target, the position and rotation frequency of the rotating magnetic field are controlled according to a set path to deliver the non-magnetic target along the set path.

[0061] S33: When the dynamic micro-group is required to release the non-magnetic target, the rotation frequency is adjusted to a set rotation frequency, and the position of the rotating magnetic field is changed according to the adjusted rotation frequency to release the non-magnetic target.

[0062] In actual applications, usually, when the dynamic micro-group needs to release the non-magnetic target, the rotation frequency is increased to the set rotation frequency to change the position of the rotating magnetic field, and then the x-axis motor is controlled to move quickly left and right, driving the dynamic micro-group to move quickly. As the dynamic micro-group moves quickly, the non-magnetic target will fall from the dynamic micro-group to release the non-magnetic target.

[0063] like Figure 5 As shown, driven by a rotating magnetic field, the dispersed particles first form microchains of different lengths, then continue to aggregate toward the center and eventually form a dynamic microcluster.

[0064] Capture: 70-500μm red polystyrene (PS) balls were selected as non-magnetic targets for verification experiments. A total of 3,000 images of PS balls of different sizes and dynamic micro-swarms were collected and trained using the yolov5 deep learning model. After 300 rounds of training, the model can accurately detect the positions of the dynamic micro-swarm and the balls. After the camera captures the dynamic micro-swarm image, it is passed to the computer for recognition. The position of the dynamic micro-swarm and the non-magnetic target can be identified. According to the relative position of the dynamic micro-swarm and the target, the motor movement is controlled. 100 pixels of the image captured by the camera correspond to 1mm. The x-direction and y-direction are judged every 5 seconds. When the relative position of the dynamic micro-swarm and the target is greater than 100 pixels, it is considered that the dynamic micro-swarm has not captured the ball. The motor is controlled to move 100μm to change the gathering point of the dynamic micro-swarm, thereby controlling the dynamic micro-swarm to move toward the non-magnetic target. When the dynamic microswarm approaches non-magnetic particles, the flow field near the dynamic microswarm and the movement of the microchains pull the non-magnetic particles into the dynamic microswarm. Within the dynamic microswarm, the non-magnetic particles rotate and move along with the microchains and micro-nanoparticles. Once the dynamic microswarm detects that the target has been captured, the motor stops and delivery begins.

[0065] Delivery: When the center of the magnetic field (aggregation point) is controlled to move, the dynamic micro-cluster will move with the aggregation point, thereby driving the movement of non-magnetic particles.

[0066] Release: When the dynamic micro-swarm moves too quickly, the non-magnetic target will break away from the group. This is exploited to release the target. After reaching the designated location, the X-axis motor is controlled to move rapidly left and right (2mm, 2s interval), causing the dynamic micro-swarm to move quickly, freeing the target and releasing it.

[0067] The rotating permanent magnet generates a high-intensity magnetic field, driving the magnetic micro-nanoparticles to aggregate into a dynamic micro-swarm. The flow field near the dynamic micro-swarm and the movement of the micro-chains within the dynamic micro-swarm allow non-magnetic targets to enter the dynamic micro-swarm and move with it, avoiding the need to manipulate the non-magnetic targets and causing functional damage. Furthermore, the high magnetic field intensity generated by the permanent magnets effectively aggregates the dynamic micro-swarm, enabling the delivery of non-magnetic targets with a wide range of diameters and high movement speeds.

[0068] The technical solution of this application is further illustrated below with specific examples.

[0069] Ferroferric oxide particles (10 mg / 10 ml) with a diameter of 500-600 nm were used as magnetic nanoparticles. The magnetic field rotation frequency was set to 7 Hz, and the vertical distance between the platform and the magnetic field was 30 mm. Polystyrene (PS) spheres were selected as non-magnetic targets. Figure 6 As shown, the scattered particles first gather into a dynamic micro-group. After the visual module recognizes the positions of the dynamic micro-group and the ball, it drives the dynamic micro-group to approach the ball. After stably capturing the ball, it starts to perform the delivery task and moves along the specified path. After reaching the specified position, it starts to release the ball. The gathering point is controlled to move quickly left and right, driving the dynamic micro-group to move quickly. When the dynamic micro-group moves too fast, the particles will fall from the dynamic micro-group, completing the release of the particles.

[0070] Through multiple experiments, it was found that different magnetic powder dosages had different abilities to deliver pellets, e.g. Figure 7 As shown in the figure, the diameter range of PS delivered by 2μL magnetic powder is 70-180μm, and the maximum moving speed of the delivered beads is low; the range of beads delivered by 4μL and 6μL magnetic powder is expanded to 70-430μm, and the maximum moving speed of the delivered beads is greatly improved.

[0071] This application utilizes a magnetic dynamic micro-cluster composed of magnetic micro-nanoparticles to deliver non-magnetic targets, avoiding magnetization of the non-magnetic targets. At the same time, due to the higher magnetic field intensity generated by the permanent magnet, the ability to deliver non-magnetic targets is improved compared to the electromagnetic field.

[0072] In an exemplary embodiment, a computer device is provided, which may be a server or a terminal. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store non-magnetic target delivery data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a non-magnetic target delivery method is implemented.

[0073] In this application, all actions to obtain signals, information or data are carried out in compliance with the relevant data protection laws and policies of the country where they are located and with the authorization given by the owner of the corresponding device.

[0074] The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may include, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, and the like.

[0075] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A rotating permanent magnet system, characterized in that: include: Computer control terminal, driver module and visualization module; The visualization module is used to detect the position of dynamic micro-swarms and non-magnetic targets; The dynamic micro-cluster is formed by aggregating magnetic nanoparticles in a rotating magnetic field generated by a permanent magnet; The computer control terminal is used to process the images collected by the visualization module and control the driving module according to the positions of the dynamic micro-swarm and the non-magnetic target; The driving module is used to control the position and rotation frequency of the rotating magnetic field to control the dynamic micro-swarm to capture, deliver and release the non-magnetic target.

2. The rotating permanent magnet system according to claim 1, characterized in that The driving module specifically includes: a rotating bracket, an operating plane, a three-dimensional moving module, a rotating motor and at least two permanent magnets; The rotating bracket and the operating plane are arranged on the three-dimensional moving module; The permanent magnets are symmetrically arranged on the rotating bracket to gather the magnetic nanoparticles on the operating plane to form a dynamic micro-group, and the rotating motor is arranged at the bottom of the rotating bracket to control the rotation of the rotating bracket.

3. The rotating permanent magnet system according to claim 2, characterized in that: The three-dimensional moving module specifically includes: a stepping motor, a driver, a controller and a moving slide; The stepper motor is connected to the movable slide; the rotating bracket and the operating plane are arranged on the movable slide; the stepper motor is used to drive the rotating motor to control the rotating bracket and the operating plane to move along the movable slide; the controller is used to control the driver to drive the stepper motor.

4. The rotating permanent magnet system according to claim 2, characterized in that: At least two permanent magnets rotate along the central axis to form a rotating magnetic field.

5. The rotating permanent magnet system according to claim 4, characterized in that: Driven by the rotating magnetic field, the magnetic micro-nano particles on the operation plane gather toward the center of the rotating magnetic field in a spiral shape, and the dispersed magnetic micro-nano particles form micro-chains, and multiple micro-chains converge into a dynamic micro-group.

6. A non-magnetic target delivery method applied to the rotating permanent magnet system according to any one of claims 1 to 5, characterized in that: include: Collect images and detect the positions of dynamic micro-swarms and non-magnetic targets; The dynamic micro-cluster is formed by aggregating magnetic nanoparticles in a rotating magnetic field generated by a permanent magnet; controlling the position and rotation frequency of the rotating magnetic field according to the position of the dynamic micro-group and the non-magnetic target; According to the position and rotation frequency of the rotating magnetic field, the dynamic micro-swarm is controlled to capture, deliver and release the non-magnetic target.

7. The non-magnetic target delivery method of the rotating permanent magnet system according to claim 6, characterized in that: Acquire images and detect the positions of dynamic micro-swarms and non-magnetic targets, including: Training deep learning models; The captured images are input into the deep learning model to detect the positions of dynamic micro-swarms and non-magnetic targets.

8. The non-magnetic target delivery method of the rotating permanent magnet system according to claim 6, characterized in that: According to the position of the dynamic micro-group and the non-magnetic target, the position and the rotation frequency of the rotating magnetic field are controlled, specifically including: determining the relative positions of the dynamic micro-swarm and the non-magnetic target according to the positions of the dynamic micro-swarm and the non-magnetic target; The position and rotation frequency of the rotating magnetic field are controlled according to the number of pixels corresponding to the relative position and the set number of pixels.

9. The non-magnetic target delivery method of the rotating permanent magnet system according to claim 8, characterized in that: According to the position and rotation frequency of the rotating magnetic field, controlling the dynamic micro-swarm to capture, deliver and release the non-magnetic target specifically includes: When the dynamic micro-swarm is required to capture the non-magnetic target, at every set time period, it is determined whether the number of pixels corresponding to the relative positions in different directions is greater than the set number of pixels. If so, the position of the rotating magnetic field is controlled to move toward the non-magnetic target. If not, it is determined that the dynamic micro-swarm has captured the non-magnetic target. When the dynamic micro-group is required to deliver the non-magnetic target, the position and rotation frequency of the rotating magnetic field are controlled according to a set path to deliver the non-magnetic target along the set path; When the dynamic micro-group is required to release the non-magnetic target, the rotation frequency is adjusted to a set rotation frequency, and the position of the rotating magnetic field is changed according to the adjusted rotation frequency to release the non-magnetic target.

10. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the non-magnetic target delivery method according to any one of claims 6 to 9.

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