Method, system, magnetically controlled system, storage medium for visualizing a magnetically controlled carrier

Abstract

The disclosure provides a kind of magnetically controlled carrier visualization method, system, magnetically controlled system, storage medium, the visualization method includes: obtaining the three-dimensional coordinate data of magnetically controlled carrier and the three-dimensional scanning data of organism corresponding to several time points in preset time period;According to the three-dimensional coordinate data and the three-dimensional scanning data, determine the superimposed image corresponding to the several time points, the superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.The disclosure obtains the three-dimensional coordinate data of magnetically controlled carrier and the three-dimensional scanning data of organism corresponding to several time points in preset time period, determines the superimposed image of the magnetically controlled carrier in organism corresponding to the several time points, realizes that the relative position between magnetic carrier and organism can be observed from a variety of different angles according to actual demand to facilitate user, further optimizes the control precision of magnetic carrier.

Description

Technical Field

[0001] This disclosure relates to the field of medical imaging, and in particular to a visualization method, system, magnetic control system, and storage medium for a magnetically controlled carrier. Background Technology

[0002] In research projects on magnetically controlled targeted drug delivery, the magnetic field of a magnetically controlled device is typically used to control the movement of a magnetically controlled carrier within a living organism (e.g., mice) to simulate the movement of magnetic drugs within the body, achieving precise targeted drug delivery. However, the internal structure of organisms is complex, necessitating real-time monitoring of the magnetic carrier's movement (speed, direction, and position) to ensure smooth movement within the organism (e.g., the intestine) and rapid arrival at the target location. Therefore, a technical solution is urgently needed that can visualize the relative position between the magnetic carrier and the organism in real time. Summary of the Invention

[0003] The technical problem to be solved by this disclosure is to overcome the deficiency in the prior art that it is impossible to visualize the relative position between a magnetic carrier and an organism in real time, and to provide a visualization method, system, magnetic control system, and storage medium for a magnetically controlled carrier.

[0004] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0005] This disclosure provides a visualization method for a magnetically controlled carrier, the visualization method comprising:

[0006] Acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period;

[0007] Based on the three-dimensional coordinate data and the three-dimensional scan data, a superimposed image corresponding to the plurality of time points is determined, and the superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.

[0008] Optionally, determining the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data includes:

[0009] Generate a three-dimensional image of the organism based on the three-dimensional scan data;

[0010] The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data.

[0011] The target location of the magnetized carrier within the organism is determined based on the target coordinates and the three-dimensional scan data.

[0012] On the three-dimensional image of the organism, a three-dimensional image of the magnetized carrier is generated according to the target location to generate the superimposed image.

[0013] Optionally, generating a three-dimensional image of the magnetized carrier based on the target location includes:

[0014] The pixels within a preset range centered on the target location are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

[0015] Optionally, determining the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data includes:

[0016] Generate a three-dimensional image of the magnetically controlled carrier based on the three-dimensional coordinate data;

[0017] Generate a three-dimensional image of the organism based on the three-dimensional scan data;

[0018] The superimposed image is generated by overlaying the three-dimensional image of the magnetized carrier with the three-dimensional image of the organism.

[0019] Optionally, generating a three-dimensional image of the magnetized carrier based on the three-dimensional coordinate data includes:

[0020] The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data.

[0021] The pixels within a preset range centered on the target coordinates are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

[0022] Optionally, the visualization method further includes:

[0023] In response to a first control command for the magnetically controlled carrier, the three-dimensional coordinate data and the three-dimensional scan data are updated;

[0024] And / or,

[0025] In response to a second control command for the overlay image, the overlay image is controlled according to the content of the second control command;

[0026] And / or,

[0027] A dynamic image is generated based on several superimposed images and the corresponding time points.

[0028] Optionally, the three-dimensional scanning data includes at least one of surface rendering data, volume rendering data, and slice data;

[0029] And / or,

[0030] The 3D scan data comes from a 3D scan file or a first copy of a 3D scan file from a medical imaging device, including a magnetic resonance imaging device; the first copy is generated by the medical imaging device based on a first copy command via the SSH protocol.

[0031] And / or,

[0032] The three-dimensional coordinate data comes from the three-dimensional coordinate file of the magnetic field control device or a second copy of the three-dimensional coordinate file. The magnetic field control device is used to control the magnetically controlled carrier. The second copy is generated by the magnetic field control device based on a second copy command via the SSH protocol.

[0033] This disclosure also provides a visualization system for a magnetically controlled carrier, the visualization system comprising:

[0034] The acquisition module is used to acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period.

[0035] An image generation module is used to determine the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data. The superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.

[0036] Optionally, the image generation module is specifically used for:

[0037] Generate a three-dimensional image of the organism based on the three-dimensional scan data;

[0038] The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data.

[0039] The target location of the magnetized carrier within the organism is determined based on the target coordinates and the three-dimensional scan data.

[0040] On the three-dimensional image of the organism, a three-dimensional image of the magnetized carrier is generated according to the target location to generate the superimposed image.

[0041] Optionally, the image generation module is specifically used for:

[0042] The pixels within a preset range centered on the target location are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

[0043] Optionally, the image generation module is specifically used for:

[0044] Generate a three-dimensional image of the magnetically controlled carrier based on the three-dimensional coordinate data;

[0045] Generate a three-dimensional image of the organism based on the three-dimensional scan data;

[0046] The superimposed image is generated by overlaying the three-dimensional image of the magnetized carrier with the three-dimensional image of the organism.

[0047] Optionally, the image generation module is specifically used for:

[0048] The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data.

[0049] The pixels within a preset range centered on the target coordinates are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

[0050] Optionally, the visualization system further includes:

[0051] The first control module is configured to update the three-dimensional coordinate data and the three-dimensional scan data in response to a first control command for the magnetically controlled carrier.

[0052] And / or,

[0053] The second control module is configured to control the overlay image according to the content of the second control instruction in response to the second control instruction for the overlay image;

[0054] And / or,

[0055] A dynamic image module is used to generate a dynamic image based on a plurality of superimposed images and the temporal sequence of the corresponding plurality of time points.

[0056] Optionally, the three-dimensional scanning data includes at least one of surface rendering data, volume rendering data, and slice data;

[0057] And / or,

[0058] The 3D scan data comes from a 3D scan file or a first copy of a 3D scan file from a medical imaging device, including a magnetic resonance imaging device; the first copy is generated by the medical imaging device based on a first copy command via the SSH protocol.

[0059] And / or,

[0060] The three-dimensional coordinate data comes from the three-dimensional coordinate file of the magnetic field control device or a second copy of the three-dimensional coordinate file. The magnetic field control device is used to control the magnetically controlled carrier. The second copy is generated by the magnetic field control device based on a second copy command via the SSH protocol.

[0061] This disclosure also provides a magnetic control system, which includes: a data acquisition device and a visualization system for the magnetic control carrier;

[0062] The data acquisition device is used to acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism.

[0063] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the visualization method of the magnetically controlled carrier according to any one of claims 1 to 7.

[0064] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0065] The positive and progressive effects of this disclosure are as follows: by acquiring the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scanning data of the organism corresponding to several time points within a preset time period, the superimposed image of the magnetically controlled carrier on the organism corresponding to the several time points can be determined, which enables users to conveniently observe the relative position between the magnetic carrier and the organism from multiple different angles according to actual needs, and further optimizes the control accuracy of the magnetic carrier. Attached Figure Description

[0066] Figure 1 A flowchart illustrating a visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0067] Figure 2 A flowchart of step 102 provided for an exemplary embodiment of this disclosure;

[0068] Figure 3 A flowchart of another step 102 provided for an exemplary embodiment of this disclosure;

[0069] Figure 4 A flowchart illustrating yet another visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0070] Figure 5 A flowchart illustrating yet another visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0071] Figure 6 A flowchart illustrating yet another visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0072] Figure 7 A flowchart illustrating a specific example of a visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0073] Figure 8 A schematic diagram of a coordinate file for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0074] Figure 9A schematic diagram of a visualization tool provided for an exemplary embodiment of this disclosure;

[0075] Figure 10 A schematic diagram illustrating a visualization effect provided for an exemplary embodiment of this disclosure;

[0076] Figure 11 A schematic diagram of a visualization system for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure;

[0077] Figure 12 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present disclosure. Detailed Implementation

[0078] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0079] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not be construed as an unnecessary limitation. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0080] In this embodiment of the disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good morals.

[0081] Example 1

[0082] Figure 1 A flowchart illustrating a visualization method for a magnetically controlled carrier provided as an exemplary embodiment of this disclosure is shown in the figure. The visualization method includes:

[0083] Step 101: Obtain the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period.

[0084] In this step, the three-dimensional coordinate data of the magnetron can be collected using a magnetic field control device at several time points within a preset time period. This data records the real-time position and trajectory of the magnetron within the organism. The magnetic field control device can manipulate the magnetron (e.g., magnetic beads) within the organism by precisely controlling the magnetic field, adjusting the strength and direction of the magnetic field in real time to guide the movement of the magnetron within the organism. Magnetrons can be tiny magnetic particles, commonly used in biomedical research, typically composed of magnetic materials such as iron oxides or nickel, with a biocompatible material, such as polymers or silanized reagents, coated on the surface. Magnetic beads play an important role in targeted drug research, serving as carriers to deliver drugs directly to the lesion site, reducing side effects on normal tissues. By controlling the position and movement of the magnetic beads with an external magnetic field, the drug concentration at the target site can be increased, thereby improving therapeutic efficacy.

[0085] The 3D scan data of an organism can be obtained using medical imaging equipment to perform a 3D scan and acquire raw data of its structural images. This data can include surface rendering data, volume rendering data, and slice data, typically stored in *.raw format on a Linux system. Medical imaging equipment can be magnetic resonance imaging (MRI) devices, widely used in clinical diagnosis. This equipment has high resolution and rapid imaging capabilities, and can generate detailed 3D images to help doctors make accurate diagnoses.

[0086] Here's a concrete example: In a mouse gut study, researchers used a magnetic field control device to manipulate magnetic beads within the intestines, while simultaneously using magnetic resonance imaging (MRI) to acquire three-dimensional structural images of the mouse gut. These devices worked together to enable real-time tracking and visualization of the magnetic beads' movement within the mouse gut.

[0087] Step 102: Based on the three-dimensional coordinate data and the three-dimensional scan data, determine the superimposed images corresponding to several time points. The superimposed images are used to characterize the position of the magnetically controlled carrier in the organism.

[0088] The purpose of this step is to generate a series of overlay images by combining the three-dimensional coordinate data of the magnetron and the three-dimensional scan data of the organism. These overlay images show the position of the magnetron within the organism at different time points, allowing for a direct observation of the movement trajectory and distribution of the magnetron within the organism.

[0089] Optionally, see Figure 2 Step 102 specifically includes:

[0090] Step 1021: Generate a three-dimensional image of the organism based on the three-dimensional scanning data.

[0091] This step involves using 3D scan data of a biological organism acquired through medical imaging equipment to construct a 3D image of the organism. This 3D image provides the basic framework for subsequent overlay images.

[0092] Step 1022: Obtain the target coordinates of the magnetocontrol carrier based on the three-dimensional coordinate data.

[0093] In this step, the three-dimensional coordinate data of the magnetically controlled carrier provided by the magnetic field control device is processed to determine the specific position of the magnetically controlled carrier at each time point as the target coordinates.

[0094] Step 1023: Determine the target location of the magnetron within the organism based on the target coordinates and three-dimensional scanning data.

[0095] In this step, the target coordinates are the three-dimensional coordinate data of a magnetically controlled carrier (such as a magnetic bead) acquired from a magnetic field control device over a preset time period. These coordinates represent the position of the magnetic bead at different points in time. The three-dimensional scan data are the three-dimensional structural data of an organism acquired through medical imaging equipment, providing detailed anatomical structures within the organism. Mapping the three-dimensional coordinates of the magnetically controlled carrier onto the three-dimensional scan data of the organism determines the specific location of the magnetically controlled carrier within the organism, which is then used as the target location.

[0096] Step 1024: Generate a three-dimensional image of the magnetically controlled carrier based on the target location on the three-dimensional image of the organism to generate an overlay image.

[0097] In this step, the 3D image of the organism is a 3D model of the organism generated based on 3D scanning data. After determining the target location of the magnetron, a marker representing a small ball or other shape of the magnetron is generated on the 3D image of the organism. The position of this marker corresponds to the actual position of the magnetron. The 3D image of the magnetron is superimposed on the 3D image of the organism to form a new image that simultaneously shows the internal structure of the organism and the position of the magnetron.

[0098] Here's a concrete example: Suppose researchers are conducting a study on the movement of magnetic beads in the mouse intestines. They use magnetic resonance imaging (MRI) to perform three-dimensional scans of the mice, obtaining detailed three-dimensional images of the mouse intestines. Simultaneously, they use a magnetic field control device to track the movement of the magnetic beads within the intestines, recording the coordinates of the beads at each time point. They obtain the three-dimensional coordinate data of the beads at several key time points, such as (x1, y1, z1), (x2, y2, z2), ..., (xn, yn, zn). They combine this coordinate data with the three-dimensional scan data of the mouse intestines, and through calculation and mapping, determine the specific location of the magnetic beads within the mouse intestines. On the three-dimensional images of the mouse intestines, corresponding three-dimensional images are generated based on the target location of the magnetic beads, for example, representing the beads as small spheres. These spheres are then superimposed onto the three-dimensional images of the mouse intestines, forming overlay images. In these images, the position and distribution of the magnetic beads within the mouse intestines can be clearly seen. By observing these overlay images, researchers can intuitively analyze the movement trajectory and distribution patterns of the magnetic beads within the mouse intestines, thus providing valuable information for further research.

[0099] This visualization method not only helps researchers better understand the dynamic behavior of magnetic beads in living organisms, but also provides an important tool for applications such as drug delivery, disease diagnosis, and treatment.

[0100] Optionally, step 1024, generating a 3D image of the magnetically controlled carrier based on the target location, specifically includes adjusting pixels within a preset range centered on the target location to generate a 3D image of the magnetically controlled carrier. Specifically, the target location is the specific 3D coordinates of the magnetically controlled carrier (such as a magnetic bead) within the organism, obtained through a magnetic field control device. The preset range is a fixed area surrounding the target location, used to define the influence range or display area of ​​the magnetically controlled carrier within the organism. This range can be set according to experimental requirements or the characteristics of the magnetically controlled carrier. When generating the 3D image of the magnetically controlled carrier, the pixels within the preset range centered on the target location are adjusted. This adjustment may include adjusting pixel values, which can achieve various effects in image processing, such as increasing or decreasing brightness, adjusting contrast, and applying color correction, to more clearly display the position and shape of the magnetically controlled carrier. After pixel adjustment, the system generates a 3D image representing the magnetically controlled carrier on the 3D image of the organism. This image is typically a visualized sphere or other shape used to visually demonstrate the position of the magnetically controlled carrier within the organism.

[0101] Optionally, see Figure 3 Step 102 may also specifically include:

[0102] Step 1025: Generate a three-dimensional image of the magnetocontrol carrier based on the three-dimensional coordinate data.

[0103] In this step, the three-dimensional coordinate data is the three-dimensional coordinates of the magnetically controlled carrier within a preset time period, acquired through a magnetic field control device. These coordinates represent the position of the magnetically controlled carrier at different points in time. Based on this coordinate data, the system generates a three-dimensional image representing the magnetically controlled carrier. This image is typically a visualized sphere or other shape, used to visually show the position of the magnetically controlled carrier in space.

[0104] Optionally, step 1025 specifically includes: obtaining the target coordinates of the magnetically controlled carrier based on three-dimensional coordinate data. Then, adjusting the pixels within a preset range centered on the target coordinates to generate a three-dimensional image of the magnetically controlled carrier. Specifically, the three-dimensional coordinates of the magnetically controlled carrier (such as a magnetic bead) within a preset time period are obtained through a magnetic field control device; these coordinates represent the position of the magnetically controlled carrier at different points in time. The coordinates of the magnetically controlled carrier at a specific point in time or location are extracted from the three-dimensional coordinate data as the basis for generating the three-dimensional image of the magnetically controlled carrier. The preset range is a fixed area surrounding the target coordinates, used to define the influence range or display area of ​​the magnetically controlled carrier within the organism. This range can be set according to experimental needs or the characteristics of the magnetically controlled carrier. When generating the three-dimensional image of the magnetically controlled carrier, the pixels within the preset range centered on the target coordinates are adjusted. This adjustment may include adjusting pixel values, which can achieve various effects in image processing, such as increasing or decreasing brightness, adjusting contrast, and applying color correction, to more clearly display the position and shape of the magnetically controlled carrier. After pixel adjustment, the system generates a marker representing the magnetically controlled carrier on the three-dimensional image of the organism. This marker is typically a small, visual sphere or other shape used to visually indicate the location of the magnetron within the organism.

[0105] Step 1026: Generate a three-dimensional image of the organism based on the three-dimensional scanning data.

[0106] In this step, the 3D scan data is three-dimensional structural data of an organism acquired through medical imaging equipment. This data provides detailed anatomical structures inside the organism. Based on this scan data, the system generates a 3D model representing the organism. This model can display the organism's internal structures, including organs, tissues, and blood vessels.

[0107] Step 1027: The three-dimensional image of the magnetocontrol carrier is superimposed with the three-dimensional image of the organism to generate a superimposed image.

[0108] In this step, a new image is created by combining a 3D image of the magnetized carrier with a 3D image of the organism. This image simultaneously shows the location of the magnetized carrier and the internal structure of the organism. The system precisely places the 3D image of the magnetized carrier at the corresponding location within the 3D image of the organism.

[0109] Here's a concrete example: Suppose researchers are conducting a study on the movement of magnetic beads in the mouse intestines. They use magnetic resonance imaging (MRI) to perform 3D scans of the mice, obtaining detailed 3D images of the mouse intestines. Simultaneously, they use a magnetic field control device to track the movement of the magnetic beads within the intestines, recording the coordinates of the beads at each time point. They obtain the 3D coordinates of the magnetic beads at several key time points within the mouse intestines, such as (x1, y1, z1), (x2, y2, z2), ..., (xn, yn, zn). Based on this coordinate data, the system generates a 3D image representing the magnetic beads (e.g., a small ball). The position and size of this ball correspond to the actual position and size of the magnetic beads. Detailed 3D scan data of the mouse intestines are obtained using MRI. Based on this scan data, the system generates a 3D model representing the mouse intestines. This model can show the internal structure of the mouse intestines, including the intestinal wall, lumen, blood vessels, etc. The generated 3D image of the magnetic beads is then overlaid on the 3D model of the mouse intestines. In this process, the system precisely places the small magnetic beads at their corresponding positions within the intestinal model. After overlay, a series of superimposed images are obtained. Since the final superimposed image is a two-dimensional plane with pixels as the unit, while the calculated three-dimensional coordinates represent the actual physical spatial location of the magnetically controlled carrier, coordinate transformation is required. This typically involves mapping the coordinates in three-dimensional space to the two-dimensional image plane; common transformation methods include linear interpolation and bilinear interpolation. In these images, the position and distribution of the magnetic beads within the mouse intestine can be clearly seen, along with the internal structure of the intestine and surrounding tissues.

[0110] In this way, researchers can visually analyze the dynamic behavior and distribution patterns of magnetic beads in the mouse gut, providing valuable information for further research. This visualization method not only helps researchers better understand the dynamic behavior of magnetic beads in organisms, but also provides an important tool for applications such as drug delivery, disease diagnosis, and treatment.

[0111] Optionally, the visualization method may also include at least one of the following:

[0112] Step 103: In response to the first control command for the magnetically controlled carrier, update the three-dimensional coordinate data and the three-dimensional scan data.

[0113] See details Figure 4In this step, the first control command can be an instruction issued by the user or researcher to control the behavior of the magnetically controlled carrier (such as a magnetic bead). For example, changing the position, speed, or orientation of the magnetic bead. Based on the content of the first control command, the system updates the three-dimensional coordinate data of the magnetically controlled carrier in real time to reflect its new position and state within the organism. Simultaneously, the system also updates the three-dimensional scan data of the organism to ensure the accuracy and real-time nature of the overlaid images. This may involve reacquiring or updating the three-dimensional image of the organism. For example, researchers issue a first control command to the system through the user interface, requesting the magnetic bead to move forward a certain distance within the intestine. Upon receiving the command, the system updates the three-dimensional coordinate data of the magnetic bead and reacquires the three-dimensional scan data of the mouse intestine to reflect the new position of the magnetic bead and the new state of the intestine.

[0114] Step 104: In response to the second control command for the overlay image, control the overlay image according to the content of the second control command.

[0115] See details Figure 5 In this step, the second control command can be an instruction issued by the user or researcher to control the display method of the overlaid image. For example, it could be to rotate, scale, or pan the overlaid image, or change its transparency, color, or other attributes. The system will perform corresponding operations on the overlaid image according to the content of the second control command to meet the user's observation and analysis needs. For example, a researcher might issue a second control command to the system through the user interface, requesting that the magnetic bead portion of the overlaid image be magnified by two times to observe its details more clearly. After receiving the command, the system will magnify the overlaid image and update the display results.

[0116] Step 105: Generate a dynamic image based on several superimposed images and the time sequence of several corresponding time points.

[0117] See details Figure 6In this step, overlaid images acquired at different time points demonstrate the changing position and distribution of the magnetically controlled carrier within the organism over time. Each overlaid image corresponds to a specific time point, and these time points are arranged in a certain order to form a time series. The system combines several overlaid images based on this time series to generate a dynamic image. This dynamic image can demonstrate the dynamic process of the magnetically controlled carrier changing within the organism over time, helping researchers to more intuitively understand its behavior and distribution patterns. For example, multiple overlaid images acquired at different time points within a certain time period are collected and arranged in chronological order. The system combines these multiple overlaid images based on this time series to generate a dynamic image. This dynamic image demonstrates the dynamic process of the magnetic beads changing in the mouse intestine over time, including changes in their position, velocity, and distribution. Researchers can more intuitively understand the dynamic behavior and distribution patterns of the magnetic beads in the intestine by viewing this dynamic image.

[0118] In this way, researchers can flexibly control the behavior of the magnetron and the display of superimposed images, and generate dynamic images to more intuitively demonstrate the dynamic processes of the magnetron within organisms. This visualization method not only improves the efficiency and accuracy of research, but also provides an important tool for applications such as drug delivery, disease diagnosis, and treatment.

[0119] Optionally, 3D scan data includes at least one of surface rendering data, volume rendering data, and slice data. 3D scan data refers to the 3D structural data of a biological organism acquired through medical imaging equipment. This data can display the internal structure and external morphology of an organism in detail. Surface rendering data is a 3D data representation that primarily focuses on the surface information of an object, approximating the surface using a polygonal mesh. Therefore, in medical imaging, surface rendering data is commonly used to display the external contours and surface details of organisms (such as organs, tissues, or lesions). Volume rendering data differs from surface rendering; it focuses on the internal structure of an object. In medical imaging, volume rendering data is used to display the structural details inside an organism, such as blood vessels, tumors, or tissue distribution. Slice data is a common data format in medical imaging. It cuts a 3D object into a series of parallel 2D slices, each containing detailed information about that layer. In medical imaging, slice data is used to observe the internal structure of an organism layer by layer, facilitating diagnosis and analysis by doctors or researchers.

[0120] Optionally, the 3D scan data originates from a 3D scan file or a first copy of a 3D scan file obtained from a medical imaging device, including a magnetic resonance imaging (MRI) device. The first copy is generated by the medical imaging device based on a first copy command via the SSH (Secure Shell) protocol. The 3D scan file from the medical imaging device is the original 3D scan data file directly obtained from the device. The first copy is sometimes created to protect the original data or facilitate analysis at different locations. This first copy is obtained from the medical imaging device via the SSH protocol, ensuring data security and integrity. The SSH protocol is a secure network protocol used for securely transmitting data over insecure networks. Here, it is used to remotely copy 3D scan files from the medical imaging device. The first copy command is an instruction issued by the user or system, instructing the medical imaging device to generate and transmit the first copy of the 3D scan file based on the SSH protocol.

[0121] Optionally, the three-dimensional coordinate data comes from a three-dimensional coordinate file or a second copy of the three-dimensional coordinate file of a magnetic field control device used to control the magnetically controlled carrier. The second copy is generated by the magnetic field control device based on a second copy instruction via the SSH protocol. The three-dimensional coordinate data is obtained by the magnetic field control device from the three-dimensional coordinate data of the magnetically controlled carrier (such as a magnetic bead) within a preset time period. This data demonstrates the movement trajectory and distribution of the magnetically controlled carrier within the organism. The three-dimensional coordinate file of the magnetic field control device is the original three-dimensional coordinate data file directly obtained from the magnetic field control device. The second copy is similar to the first copy, but this time it is a copy created to protect the three-dimensional coordinate data of the magnetically controlled carrier. The second copy instruction is an instruction issued by the user or system, instructing the magnetic field control device to generate and transmit a second copy of the three-dimensional coordinate file based on the SSH protocol.

[0122] Based on the above steps, this embodiment uses a clinical study on mice as an example to illustrate a specific example of a real-time visualization workflow for a magnetically controlled carrier. See [link to documentation] for details. Figure 7 :

[0123] Step 200: Begin.

[0124] Step 201: Obtain 3D scan data. First, use conventional sequence analysis to scan mice (with a magnetically controlled carrier in the intestine) to obtain 3D scan data of the mouse intestine structure, usually in *.raw format, located on a Linux system.

[0125] The purpose of this step is to obtain structural images of the mouse intestine as a background image reference for subsequent visualization of the magnetically controlled carrier. This helps to more accurately observe and analyze the movement trajectory and positional relationships of the magnetically controlled carrier within the mouse intestine. The sequence application refers to a standard, routine medical imaging sequence used to acquire structural images of the interior of an organism. This sequence may include MRI (Magnetic Resonance Imaging) or other imaging techniques. The *.raw format is an unprocessed raw image data format containing all information directly acquired by the imaging device. This data is usually located in a directory on a Linux system for easy subsequent processing and analysis.

[0126] Step 202: 3D Scan Data Image Reconstruction. The above 3D scan data is used to perform image reconstruction, generating a 3D structural image of the mouse intestine, typically located on a Windows system.

[0127] The purpose of this step is to convert the acquired raw 3D scan data (such as *.raw format files) into intuitive 3D structural images, allowing users to more clearly observe and analyze the internal structure of the mouse intestine. Image reconstruction is the process of converting raw scan data into visualized images using specific algorithms and techniques. This includes multiple steps such as data preprocessing, filtering, interpolation, and rendering. The reconstructed 3D structural images are typically located on Windows systems, likely because the image reconstruction software or subsequent visualization tools primarily run on the Windows platform.

[0128] Step 203: Frame-by-frame scanning of the mouse (with a magnetically controlled carrier in the intestine). The magnetically controlled sequence is run. Under the influence of a specific sequence gradient, the magnetically controlled carrier moves within the mouse intestine. The intensity and direction of the magnetic field changes are characterized by the moment of the sequence gradient, thus controlling the force and movement of the magnetically controlled carrier. Frame-by-frame scanning is performed; each time the magnetically controlled carrier is at a certain coordinate position, it is counted as one frame. After each frame scan is completed, the magnetically controlled carrier moves to a new coordinate position under the influence of the sequence gradient in the next frame.

[0129] The purpose of this step is to precisely control the frame-by-frame movement of a magnetically controlled carrier (such as a magnetic bead) within the mouse intestine using a magnetically controlled sequence and a specific sequence gradient, enabling real-time tracking and recording of its trajectory. A magnetically controlled sequence is a specially designed sequence for controlling the movement of a magnetically controlled carrier; it controls the force applied to the carrier by changing the magnitude and direction of the magnetic field. The sequence gradient refers to the rate of change of the magnetic field strength or direction over time, determining the speed and direction of the carrier's movement in each frame. By adjusting the moment of the sequence gradient, the trajectory of the magnetically controlled carrier can be precisely controlled. Under the influence of the magnetically controlled sequence, the carrier moves frame-by-frame within the mouse intestine. Each frame corresponds to a specific coordinate position of the carrier. Imaging techniques (such as MRI) can be used to acquire the coordinate position of the carrier in each frame in real time, thus recording its trajectory.

[0130] Step 204: Calculate and write the magnetocart coordinates. Using a coordinate calculation algorithm, the position of the magnetocart in each frame of step 203 can be calculated, and its corresponding pixel coordinates can be recorded in the magnetocart coordinate file, such as... Figure 8 As shown, since frame-by-frame scanning is involved, data acquisition is typically performed on a Linux system, and therefore the magnetron coordinate file is also located on the Linux system. After the frame-by-frame scanning of the magnetron sequence is completed, the pixel coordinates of the magnetron for the new frame are appended to the magnetron coordinate file.

[0131] The purpose of this step is to accurately determine the pixel coordinates of the magnetic carrier (such as a magnetic bead) in each frame using a coordinate calculation algorithm and record them in a magnetic carrier coordinate file. This helps to track and record the motion trajectory of the magnetic carrier in real time, providing data support for subsequent visualization and analysis. A coordinate calculation algorithm is a mathematical method used to convert the position of the magnetic carrier in an image into pixel coordinates. This may involve techniques such as image processing, feature extraction, and template matching. The magnetic carrier coordinate file is a text file containing the pixel coordinates of the magnetic carrier in each frame. It records the motion trajectory of the magnetic carrier throughout the scanning process. Since data acquisition is typically performed on a Linux system, the magnetic carrier coordinate file is also located on a Linux system. As the magnetic sequence is scanned frame by frame, new magnetic carrier pixel coordinates are continuously appended to the magnetic carrier coordinate file.

[0132] Step 205: Launch the visualization tool, and pass in the coordinate file of the magnetron and the path to the DICOM image. Launch the visualization tool (e.g., ...). Figure 9 As shown in the figure, the magnetic carrier coordinate file path and the Dicom image path are specified via command line.

[0133] The purpose of this step is to use visualization tools to display the real-time three-dimensional motion trajectory and position of a magnetically controlled carrier (such as a magnetic bead) within a living organism, combining the carrier coordinate file and the DICOM image path. This helps researchers understand the behavior and performance of the magnetically controlled carrier more intuitively. The magnetically controlled carrier coordinate file is a text file containing the pixel coordinates of the carrier in each frame, recording its motion trajectory throughout the scanning process. The DICOM image path is the path to a DICOM format file containing three-dimensional structural images of mouse intestines or other biological tissues. DICOM is a widely used standard format for medical imaging, capable of storing high-quality image data. Specifying the magnetically controlled carrier coordinate file path and the DICOM image path via command line allows for flexible control of the visualization tool's input parameters, adapting to different experimental needs and data sources.

[0134] Depend on Figure 9 As can be seen, four file types were displayed:

[0135] The 1.dcm folder contains images of the anatomical structure of the mouse intestine. These images are typically acquired using medical imaging techniques and are used to visualize the internal structure of the mouse intestine in a visualization system.

[0136] 2. magnetic_bead_coordinates.xml: This file contains the pixel coordinate information of the magnetic bead across multiple frames. Each frame records the position of the magnetic bead at a specific point in time, allowing the movement trajectory of the magnetic bead to be tracked.

[0137] 3. visualization.exe: This is the executable file for the real-time visualization program for magnetically controlled carriers, and also the program's entry point. Users run this file to start the visualization system and observe and analyze the magnetically controlled carrier.

[0138] 4. run.bat: This is a batch script file used to launch the magnetic control visualization program. It takes the dcm folder and the path to the magnetic bead coordinate file as commands. Users can modify this script to specify different input files to launch the visualization program. After modifying run.bat, users can simply double-click to launch the visualization program.

[0139] Specific examples are as follows:

[0140] Suppose a medical research project aims to observe the distribution of a magnetically controlled drug carrier within the mouse intestine. Researchers first use a 3D scanning device to acquire anatomical images of the mouse intestine and store them in a dcm folder named "mouse_intestine_anatomy". Simultaneously, they use magnetic control technology to move the drug carrier within the mouse intestine and record the 3D coordinates of the drug carrier at different time points using a tracking device; these coordinates are saved in a file named "drug_carrier_coordination.xml". To observe and analyze the dynamic distribution of the drug carrier within the mouse intestine, the researchers write a batch script named "start_visualization.bat", the content of which is as follows:

[0141] @echo off

[0142] "C:\Path\To\Visualization\visualization.exe""mouse_intestine_anatomy""drug_carrier_coordinates.xml"

[0143] pause

[0144] This script specifies the path to the visualization program, the folder containing images of the mouse intestinal anatomy, and the path to the drug delivery vehicle coordinate file. Researchers simply double-click to run the script to launch the visualization program and see the real-time movement of the drug delivery vehicle within the mouse intestine on the screen. By adjusting the viewpoint and zoom level, researchers can observe the relative positional relationship between the drug delivery vehicle and the intestine from multiple angles, thereby gaining a better understanding of the drug's distribution and mechanism of action in the body.

[0145] Step 206: Copy the magnetron coordinate file for backup. Due to the real-time display issue, the magnetron coordinate file is written frame by frame to the coordinates of the new frame. Simultaneously, the visualization program continuously reads the new magnetron coordinate file for display. To prevent the program from being unable to read the file due to it being occupied, the visualization program uses a cross-machine, cross-system communication mechanism to copy and back up the magnetron coordinate file located on the Linux system before reading it. This ensures that the latest magnetron coordinate file is read each time and prevents program termination and errors due to being occupied.

[0146] The purpose of this step is to ensure that the visualization program can read the latest magnetron coordinate file stably and in real time, avoiding program termination or errors due to file occupancy. The visualization program needs to display the movement trajectory of the magnetron (such as a magnetic bead) in real time, therefore it must continuously read the updated magnetron coordinate file. During frame-by-frame scanning of the magnetron sequence, new magnetron pixel coordinates are continuously appended to the magnetron coordinate file. Cross-machine, cross-system communication mechanisms refer to the mechanisms for transmitting data or instructions between different computers or different operating systems. Here, the visualization program obtains a copy of the magnetron coordinate file from the Linux system to ensure that the read operation does not interfere with the file writing process. Before reading the magnetron coordinate file, the visualization program first makes a backup copy of the file. This way, even if the original file is being written, the visualization program can safely read the copy file without encountering file occupancy issues.

[0147] Step 207: Cross-machine and cross-system communication to read the backup magnetron coordinate file and obtain the magnetron coordinates in real time. Since the Linux system and Windows system described in steps 201 and 202 are connected via fiber optic communication, cross-machine and cross-system communication can be achieved through the SSH protocol. In the visualization program, cross-machine and cross-system operations on the magnetron coordinate file can be performed, including copying and reading the file, thereby achieving real-time acquisition of the magnetron coordinates and transmitting them to the subsequent visualization program.

[0148] The purpose of this step is to enable data exchange and communication between the Linux and Windows systems, ensuring that the visualization program can obtain the latest data from the magnetron coordinate file in real time. Fiber optic communication provides a high-speed, stable data transmission channel connecting the Linux and Windows systems. The SSH protocol is used for encrypted remote login and management of the Linux system, and can also be used for cross-system file transfer and command execution. The magnetron coordinate file generated on the Linux system is copied to the Windows system or another temporary location. The visualization program reads this backup file on the Windows system to obtain the latest magnetron pixel coordinates. Through cross-machine, cross-system communication mechanisms, the visualization program can obtain the latest data from the magnetron coordinate file in real time and pass it to subsequent visualization programs for display.

[0149] Step 208: Multiple 3D visualization methods for displaying mouse intestinal 3D scan data. Since the mouse intestine is a relatively complex 3D anatomical structure, this method supports three visualization methods: surface rendering, volume rendering, slice display, and overlay. Mouse interaction is supported, allowing research users to clearly view the anatomical structure of the mouse intestine from different angles, providing operability and great flexibility.

[0150] The purpose of this step is to provide a more comprehensive and flexible 3D anatomical representation of the mouse intestine, helping research users better understand and analyze experimental data. Because the mouse intestine has a complex 3D anatomical structure, including multiple bends, folds, and highly detailed regions, several visualization methods are needed: surface rendering, volume rendering, and slice display. Surface rendering displays the 3D structure by drawing surface data of an object, suitable for showing the object's external contours and shape. Volume rendering displays the 3D structure by drawing volume data of an object's interior, suitable for showing the object's internal structure and details. Slice display displays the internal structure by cutting the object in different directions, suitable for analyzing the details of specific regions. Different datasets or views can be overlaid to observe multiple related structures or features simultaneously. Mouse operations such as rotation, zoom, and panning are also supported, allowing users to view the mouse intestine's anatomy from different angles and perspectives. This provides great flexibility, enabling users to adjust the view and analyze data according to their needs.

[0151] Step 209: Frame-by-frame overlay display of magnetized carrier coordinates. Based on step 208 above, the frame-by-frame read magnetized carrier coordinates are overlaid with mouse intestinal anatomical images, and multiple visualization methods are supported simultaneously (see reference). Figure 10 Furthermore, since the coordinates of the magnetically controlled carrier in step 209 are located within the complex mouse intestine, from a visualization perspective, when using surface drawing, volume drawing, or overlay methods for visualization, it is necessary to set the color and transparency (see reference). Figure 10 This allows for better visual presentation. Since the pixel coordinates of the magnetron carrier are merely points, they are not easily observed during visualization. Therefore, the physical size of the magnetron carrier is converted into a pixel radius during visualization. The magnetron carrier coordinates of each frame are used as the center of a sphere, and the pixel radius of the magnetron carrier is used as the radius. This is visualized using colored spheres, making it easier to observe.

[0152] The purpose of this step is to more clearly demonstrate the dynamic movement trajectory of the magnetically controlled carrier within the mouse intestine, combining it with the three-dimensional anatomical structure of the mouse intestine. The coordinate data of the magnetically controlled carrier is read frame by frame. This coordinate data is then overlaid frame by frame with the anatomical images of the mouse intestine. Because multiple visualization methods are supported, different colors can be set for different structures or objects for differentiation and identification. The transparency of objects can also be adjusted for better observation of internal structures or overlapping areas. The coordinates of the magnetically controlled carrier are represented as a point in the image. The physical size of the magnetically controlled carrier is converted into a pixel radius. A colored sphere is drawn with the coordinates of the magnetically controlled carrier in each frame as the center and the pixel radius as the radius, making it easier to observe.

[0153] Depend on Figure 10As can be seen, the four visual representations of the paintings are as follows:

[0154] 1. Surface rendering: This involves rendering the anatomical structure of the mouse intestine in a surface format, clearly showing the external outline and overall shape of the intestine. Figure 10 The top left part of the image shows the effect of this face drawing.

[0155] 2. Volume rendering: Unlike surface rendering, volume rendering allows for in-depth observation of the internal structure of the intestine, including the location and distribution of magnetic beads. Figure 10 The upper right part of the image shows the effect of this volumetric drawing.

[0156] 3. Slice Display: By slicing the intestinal model in different directions, detailed information about specific regions can be analyzed, which is very helpful in understanding the movement trajectory and positional relationships of magnetic beads within the intestine. Figure 10 The lower left section shows the effect of this slice display.

[0157] 4. Overlay Display: By overlaying the first three visualization methods, users can simultaneously observe the relative positional relationship between the magnetic beads and the intestinal anatomy, thus gaining a more comprehensive understanding of the movement of the magnetic beads. Figure 10 The lower right part of the image shows this overlay display effect.

[0158] Users can use the mouse to adjust parameters such as color and transparency, as well as to find the optimal viewing angle to observe the magnetic beads and intestinal anatomy. Figure 10 In the diagram, the small ball indicated by the arrow represents a magnetic bead. Users need to adjust the color and transparency to more clearly see the position of the magnetic bead and its location relative to the small intestine anatomy results.

[0159] Step 210: Interactive operation to observe the movement of the magnetically controlled carrier. Taking a single frame of magnetically controlled carrier visualization overlaid with a mouse intestinal image as an example, after completing steps 203 to 209, the pixel positions of the magnetically controlled carrier and its position relative to the mouse intestine can be observed on the visualization program. Users can flexibly interact with the mouse to adjust to the optimal viewing angle. Furthermore, with the support of the communication mechanism in step 207, steps 203 to 209 can be repeated to achieve multi-frame visualization of the magnetically controlled carrier. This allows the visualization program to dynamically display the movement of the magnetically controlled carrier in real time, which is highly beneficial for user observation and subsequent computational analysis.

[0160] The purpose of this step is to allow users to flexibly observe and analyze the movement of the magnetically controlled carrier within the mouse intestine through interactive methods. After completing steps 203 to 209, the pixel position of the magnetically controlled carrier and its position relative to the mouse intestine can be observed in a single frame. Users can rotate, zoom, and pan the view using the mouse to observe the movement trajectory of the magnetically controlled carrier from different angles and perspectives. With the support of the cross-machine communication mechanism in step 207, steps 203 to 209 can be repeated to achieve continuous visualization of the magnetically controlled carrier across multiple frames. By updating and displaying the position of the magnetically controlled carrier in real time for each frame, the movement of the magnetically controlled carrier can be dynamically displayed.

[0161] Step 211, End.

[0162] Based on the above Figure 7 The real-time visualization workflow for the magnetically controlled carrier can continue to support the following calculations and analyses after step 210, as well as functional extensions such as adjusting the magnetic control gradient (Moment) and optimizing the motion trajectory of the magnetically controlled carrier, thereby better enabling magnetically controlled experiments and scientific research.

[0163] Step 212, Calculation and Analysis. After achieving the visualization in Step 210, the user can perform frame-by-frame quantitative calculations of the magnetically controlled carrier's motion and its coordinate position relative to the mouse intestinal anatomy. Because the mouse intestinal anatomy is complex and intricate, with numerous folds and involuntary peristalsis, quantitative frame-by-frame calculation and analysis of the magnetically controlled carrier's forces, speed, direction of motion, pixel coordinates, and pixel position relative to the anatomical structure is particularly important. For example, when the magnetically controlled carrier approaches a fold and turns, the forces need to be adjusted using negative feedback.

[0164] The purpose of this step is to enable users to perform frame-by-frame quantitative calculations and analysis after visualizing the magnetically controlled carrier, in order to understand the carrier's motion and its position relative to the mouse intestinal anatomy. This is crucial for understanding the dynamic behavior of the magnetically controlled carrier within complex organisms. Frame-by-frame quantitative calculations include the forces acting on the magnetically controlled carrier, its velocity, direction of motion, and pixel coordinates. Relative position analysis provides the pixel position information of the magnetically controlled carrier relative to the mouse intestinal anatomy, particularly complex structures such as intestinal folds. Due to the complex and delicate anatomy of the mouse intestine, with its numerous folds and involuntary peristalsis, it is necessary to adjust the forces acting on the magnetically controlled carrier based on its motion, especially near the turning points of the folds, using a negative feedback mechanism.

[0165] Step 213: Adjust the magnetic control gradient Moment to optimize the motion trajectory of the magnetically controlled carrier. Through the quantitative analysis and calculation in step 212, the quantitative negative feedback adjustment of the magnetic control gradient Moment can be achieved by combining specific quantitative information. Combined with the position of the magnetically controlled carrier, precise force is applied, thereby optimizing the motion trajectory of the magnetically controlled carrier. By iteratively realizing this, the optimal solution for the motion trajectory is found.

[0166] The purpose of this step is to optimize the motion trajectory of the magnetically controlled carrier by quantitatively analyzing and calculating the magnetically controlled gradient moment using specific quantitative information, thereby achieving quantitative negative feedback adjustment. The frame-by-frame quantitative calculation results from step 212 are used, including the force, velocity, and direction of motion of the magnetically controlled carrier. Based on the calculation results, especially the force experienced by the magnetically controlled carrier near the intestinal folds and bends, the magnetically controlled gradient moment is adjusted through a quantitative negative feedback mechanism. Combined with the positional information of the magnetically controlled carrier, precise force application is achieved, optimizing the carrier's motion trajectory. Through repeated experiments and adjustments, the optimal solution, i.e., the optimal magnetically controlled gradient moment setting, is found.

[0167] The visualization method of the magnetic carrier in this embodiment obtains the three-dimensional coordinate data of the magnetic carrier and the three-dimensional scan data of the organism corresponding to several time points within a preset time period, and determines the superimposed image of the magnetic carrier on the organism corresponding to the several time points. This enables users to conveniently observe the relative position between the magnetic carrier and the organism from multiple different angles according to actual needs, and further optimizes the control accuracy of the magnetic carrier.

[0168] Example 2

[0169] Corresponding to the aforementioned visualization method embodiments for magnetically controlled carriers, this disclosure also provides embodiments of visualization systems for magnetically controlled carriers.

[0170] Figure 11 A schematic diagram of a visualization system for a magnetically controlled carrier, provided as an exemplary embodiment of this disclosure, is shown. The system includes:

[0171] The acquisition module 21 is used to acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period.

[0172] The image generation module 22 is used to determine the superimposed image corresponding to several time points based on the three-dimensional coordinate data and the three-dimensional scan data. The superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.

[0173] Optionally, the image generation module 22 is specifically used for:

[0174] Generate 3D images of organisms based on 3D scan data;

[0175] The target coordinates of the magnetized carrier are obtained based on three-dimensional coordinate data;

[0176] The target location of the magnetized carrier in the organism is determined based on the target coordinates and three-dimensional scanning data.

[0177] On a 3D image of a biological organism, a 3D image of a magnetically controlled carrier is generated based on the target location to create an overlay image.

[0178] Optionally, the image generation module 22 is specifically used for:

[0179] The pixels within a preset range centered on the target location are adjusted to generate a three-dimensional image of the magneto-controlled carrier.

[0180] Optionally, the image generation module 22 is specifically used for:

[0181] Generate a 3D image of the magnetically controlled carrier based on the 3D coordinate data;

[0182] Generate 3D images of organisms based on 3D scan data;

[0183] An overlay image is generated by superimposing a three-dimensional image of a magnetized carrier with a three-dimensional image of a biological organism.

[0184] Optionally, the image generation module 22 is specifically used for:

[0185] The target coordinates of the magnetized carrier are obtained based on three-dimensional coordinate data;

[0186] The pixels within a preset range centered on the target coordinates are adjusted to generate a three-dimensional image of the magneto-controlled carrier.

[0187] Optionally, the visualization system also includes:

[0188] The first control module is used to update the three-dimensional coordinate data and the three-dimensional scan data in response to the first control command for the magnetically controlled carrier.

[0189] And / or,

[0190] The second control module is used to control the overlay image according to the content of the second control command in response to the second control command for the overlay image;

[0191] And / or,

[0192] The dynamic image module is used to generate dynamic images based on several superimposed images and the time sequence of corresponding time points.

[0193] Optionally, the 3D scan data includes at least one of surface rendering data, volume rendering data, and slice data;

[0194] And / or,

[0195] The 3D scan data comes from a 3D scan file or a first copy of a 3D scan file from a medical imaging device, including a magnetic resonance imaging device; the first copy is generated by the medical imaging device based on a first copy command via the SSH protocol.

[0196] And / or,

[0197] The three-dimensional coordinate data comes from the three-dimensional coordinate file of the magnetic field control device or a second copy of the three-dimensional coordinate file. The magnetic field control device is used to control the magnetically controlled carrier. The second copy is generated by the magnetic field control device based on the second copy command via the SSH protocol.

[0198] The visualization system for the magnetically controlled carrier in this embodiment obtains the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scanning data of the organism at several time points within a preset time period, and determines the superimposed image of the magnetically controlled carrier on the organism at the several time points. This allows users to conveniently observe the relative position between the magnetic carrier and the organism from multiple different angles according to actual needs, and further optimizes the control precision of the magnetic carrier.

[0199] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0200] Example 3

[0201] This disclosure also provides a magnetic control system, which includes: a data acquisition device and a visualization system for the magnetically controlled carrier; the data acquisition device is used to acquire three-dimensional coordinate data of the magnetically controlled carrier and three-dimensional scan data of the organism.

[0202] The main functions of the data acquisition equipment include the following:

[0203] 1. Acquiring three-dimensional coordinate data of the magnetically controlled carrier: This refers to obtaining the precise position information of the magnetically controlled carrier (such as a magnetic bead) in three-dimensional space through some technical means. This data is usually recorded in the form of coordinate points, each representing the position of the magnetically controlled carrier at a specific point in time.

[0204] 2. Acquiring three-dimensional scanning data of organisms: This refers to obtaining three-dimensional image data of the internal structure of an organism using medical imaging techniques (such as MRI). This data can reflect information such as the anatomical structure and tissue distribution inside the organism.

[0205] The visualization system for the magnetically controlled carrier combines the acquired three-dimensional coordinate data of the magnetically controlled carrier with the three-dimensional scan data of the organism, and presents it to the user through visualization technology. Users can observe the movement trajectory and positional relationships of the magnetically controlled carrier within the organism through this system, enabling further analysis and application. The visualization system for this magnetically controlled carrier and the corresponding method can be found in Examples 1 and 2.

[0206] The magnetic control system of this embodiment, having a visualization system for the magnetically controlled carrier, can determine the superimposed image of the magnetically controlled carrier on the organism at several time points within a preset time period by acquiring the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism. This allows users to conveniently observe the relative position between the magnetic carrier and the organism from multiple different angles according to actual needs, further optimizing the control precision of the magnetic carrier.

[0207] Example 4

[0208] Figure 12 This is a schematic diagram of the structure of an electronic device according to an example embodiment of the present disclosure. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the visualization method of the magnetically controlled carrier described in any of the above embodiments. Figure 12 The electronic device 90 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0209] like Figure 12 As shown, the electronic device 90 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0210] Bus 93 includes a data bus, an address bus, and a control bus.

[0211] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0212] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) program module 924, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0213] The processor 91 executes various functional applications and data processing by running computer programs stored in the memory 92, such as the visualization method of the magnetically controlled carrier provided in any of the above embodiments.

[0214] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed through input / output (I / O) interface 95. Furthermore, electronic device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 96. As shown, network adapter 96 communicates with other modules of electronic device 90 via bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0215] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0216] Example 5

[0217] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the visualization method for the magnetically controlled carrier provided in any of the above embodiments.

[0218] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0219] Example 6

[0220] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the visualization method for the magnetically controlled carrier described in any of the preceding embodiments.

[0221] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0222] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A visualization method for a magnetically controlled carrier, characterized in that, The visualization method includes: Acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period; Based on the three-dimensional coordinate data and the three-dimensional scan data, a superimposed image corresponding to the plurality of time points is determined, and the superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.

2. The visualization method according to claim 1, characterized in that, The step of determining the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data includes: Generate a three-dimensional image of the organism based on the three-dimensional scan data; The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data. The target location of the magnetized carrier within the organism is determined based on the target coordinates and the three-dimensional scan data. On the three-dimensional image of the organism, a three-dimensional image of the magnetized carrier is generated according to the target location to generate the superimposed image.

3. The visualization method according to claim 2, characterized in that, The step of generating a three-dimensional image of the magnetized carrier based on the target location includes: The pixels within a preset range centered on the target location are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

4. The visualization method according to claim 1, characterized in that, The step of determining the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data includes: Generate a three-dimensional image of the magnetically controlled carrier based on the three-dimensional coordinate data; Generate a three-dimensional image of the organism based on the three-dimensional scan data; The superimposed image is generated by overlaying the three-dimensional image of the magnetized carrier with the three-dimensional image of the organism.

5. The visualization method according to claim 4, characterized in that, The step of generating a three-dimensional image of the magnetically controlled carrier based on the three-dimensional coordinate data includes: The target coordinates of the magnetized carrier are obtained based on the three-dimensional coordinate data. The pixels within a preset range centered on the target coordinates are adjusted to generate a three-dimensional image of the magnetically controlled carrier.

6. The visualization method according to claim 1, characterized in that, The visualization method also includes: In response to a first control command for the magnetically controlled carrier, the three-dimensional coordinate data and the three-dimensional scan data are updated; And / or, In response to a second control command for the overlay image, the overlay image is controlled according to the content of the second control command; And / or, A dynamic image is generated based on several superimposed images and the corresponding time points.

7. The visualization method according to any one of claims 1 to 6, characterized in that, The three-dimensional scanning data includes at least one of surface rendering data, volume rendering data, and slice data; And / or, The 3D scan data comes from a 3D scan file or a first copy of a 3D scan file from a medical imaging device, including a magnetic resonance imaging device; the first copy is generated by the medical imaging device based on a first copy command via the SSH protocol. And / or, The three-dimensional coordinate data comes from the three-dimensional coordinate file of the magnetic field control device or a second copy of the three-dimensional coordinate file. The magnetic field control device is used to control the magnetically controlled carrier. The second copy is generated by the magnetic field control device based on a second copy command via the SSH protocol.

8. A visualization system for a magnetically controlled carrier, characterized in that, The visualization system includes: The acquisition module is used to acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism at several time points within a preset time period. An image generation module is used to determine the superimposed image corresponding to the plurality of time points based on the three-dimensional coordinate data and the three-dimensional scan data. The superimposed image is used to characterize the position of the magnetically controlled carrier in the organism.

9. A magnetic control system, characterized in that, The magnetic control system includes: a data acquisition device and a visualization system for the magnetic control carrier as described in claim 8; The data acquisition device is used to acquire the three-dimensional coordinate data of the magnetically controlled carrier and the three-dimensional scan data of the organism.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the visualization method of the magnetically controlled carrier as described in any one of claims 1 to 7.

Images