Cell robot magnetic resonance drive and imaging method and system

Abstract

This invention provides a method and system for driving and imaging a cell robot using magnetic resonance imaging (MRI), comprising: Step S1: determining spatial gradient magnetic field parameters based on the MRI machine; Step S2: when the cell robot is located in the magnetic aperture of the MRI machine, applying the spatial gradient magnetic field to cause the cell robot to move in the corresponding orbital slot; Step S3: performing MRI imaging on the cell robot to obtain its corresponding motion speed and relative position; wherein, steps S2-S3 are repeatedly triggered until the cell robot reaches the target area. This invention uses a magnetic resonance system to drive a cell robot encapsulated with magnetic nanoparticles, eliminating the need for complex external hardware and greatly simplifying equipment requirements, achieving integrated control on mature medical imaging equipment. By dynamically adjusting the combination, intensity, and application time of the spatial gradient magnetic field in three independent directions, the challenges of microscopic manipulation are overcome, achieving precise control of the cell robot's motion speed, distance, and three-dimensional trajectory.

Description

Technical Field

[0001] This invention relates to the field of magnetic resonance imaging, and more specifically, to a method and system for driving and imaging cellular robots using magnetic resonance imaging. Background Technology

[0002] In recent years, cellular robots have shown application potential in related fields. In order to achieve manipulation, existing patent literature has proposed a variety of magnetic manipulation strategies.

[0003] However, existing magnetic manipulation methods typically use external magnetic fields for control, resulting in highly complex equipment. Due to the complexity of the equipment and the limitations of the control methods, current technologies often struggle to achieve precise control of cellular robots.

[0004] In technologies related to the magnetic field of magnetic resonance imaging (MRI) devices, for example, Chinese patent application number CN202310563292.9 provides an automated measurement system and method for the static magnetic field of MRI equipment. This system employs a three-dimensional motion module and a magnetic field detector. The three-dimensional motion module drives the magnetic field detector to achieve three degrees of freedom of movement in the direction of bed movement, vertical direction, and horizontal direction. Combined with a magnetostrictive torque measurement device, it achieves automated measurement of the static magnetic field space of the MRI equipment and synchronous measurement of magnetostrictive torque. It utilizes MRI-compatible components such as ultrasonic motors to reduce electromagnetic interference and connects to the control system via fiber optics to achieve real-time monitoring and adjustment of the magnetic field distribution and magnetostrictive torque. Although this technology achieves precise monitoring of the magnetic field, it mainly focuses on the measurement and evaluation of the static magnetic field environment of the equipment itself and does not address how to utilize spatial gradient magnetic fields for active navigation and actuation of microscopic cellular robots.

[0005] Furthermore, the technical solutions in existing patent literature still cannot simultaneously achieve high-precision imaging and precise control. In practical applications, this deficiency makes it difficult to effectively achieve real-time tracking and imaging of cellular robots. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a method and system for driving and imaging cellular robots using magnetic resonance imaging.

[0007] According to one aspect of the present invention, a method for driving and imaging a cell robot using magnetic resonance imaging includes:

[0008] Step S1: Determine the spatial gradient magnetic field parameters based on the magnetic resonance imaging (MRI) machine; Step S2: When the cell robot is located in the magnetic aperture of the magnetic resonance device, a spatial gradient magnetic field is applied to make the cell robot move in the corresponding track slot.

[0009] Step S3: Perform magnetic resonance imaging on the cell robot to obtain its corresponding motion speed and relative position; The triggering steps S2 to S3 are repeated until the cell robot reaches the target area.

[0010] Preferably, the cell robot is prepared in the following manner: Robots were created by encapsulating iron oxide nanoparticles into artificially manufactured cells.

[0011] Preferably, in step S1, the spatial gradient magnetic field parameters include magnetic field gradient intensity, magnetic field gradient duty cycle, and magnetic field gradient application time; wherein: The highest spatial magnetic field gradient intensity is 800 mT / m; The duty cycle of the magnetic field gradient is This means that within a 10ms timeframe, the time without a magnetic field is 7ms, the time for the magnetic field gradient to rise is 0.5ms, the time for the magnetic field gradient to maintain its highest intensity is 2ms, and the time for the magnetic field gradient to fall is 0.5ms. The magnetic field gradient should be applied for 5 seconds, with a minimum application time of 1 second. The application time for a single magnetic field gradient should not exceed 30 seconds.

[0012] Preferably, step S2 includes: Step S2.1: When the cell robot and its container are placed in the magnetic resonance device, a spatial gradient magnetic field is applied, and the temperature and status of the magnetic resonance device are acquired at the same time. Step S2.2: Scan the positioning image to determine the spatial location of the cell robot; The driving relationship between the cellular robot and the spatial gradient magnetic field is as follows: The spatial direction of the magnetic field gradient to be applied is determined by different combinations of gradient magnetic fields in three individual directions: X, Y, and Z. The movement speed of the cell robot can be controlled by adjusting the gradient magnetic field strength; The movement distance of the cell robot can be controlled by adjusting the application time of the gradient magnetic field.

[0013] Preferably, step S3 specifically includes: performing magnetic resonance imaging on the cell robot, and selecting a magnetic resonance sequence with a scanning time of less than 30 seconds for scanning, and observing its position and motion state through the position of artifacts generated by the cell robot.

[0014] According to another aspect of the present invention, a cellular robot magnetic resonance actuation and imaging system includes: Module M1: Determine the spatial gradient magnetic field parameters based on the magnetic resonance imaging (MRI) machine; Module M2: When the cell robot is located in the magnetic aperture of the magnetic resonance device, a spatial gradient magnetic field is applied to make the cell robot move in the corresponding track slot.

[0015] Module M3: Perform magnetic resonance imaging on the cellular robot to obtain its corresponding motion velocity and relative position; Among them, the repeated triggering modules M2~M3 continue until the cell robot reaches the target area.

[0016] Preferably, the cell robot is prepared in the following manner: Robots were created by encapsulating iron oxide nanoparticles into artificially manufactured cells.

[0017] Preferably, in module M1, the spatial gradient magnetic field parameters include magnetic field gradient intensity, magnetic field gradient duty cycle, and magnetic field gradient application time; wherein: The highest spatial magnetic field gradient intensity is 800 mT / m; The duty cycle of the magnetic field gradient is This means that within a 10ms timeframe, the time without a magnetic field is 7ms, the time for the magnetic field gradient to rise is 0.5ms, the time for the magnetic field gradient to maintain its highest intensity is 2ms, and the time for the magnetic field gradient to fall is 0.5ms. The magnetic field gradient should be applied for 5 seconds, with a minimum application time of 1 second. The application time for a single magnetic field gradient should not exceed 30 seconds.

[0018] Preferably, the module M2 includes: Module M2.1: When the cell robot and its container are placed in the magnetic resonance imaging device, a spatial gradient magnetic field is applied, and the temperature and status of the magnetic resonance imaging device are acquired simultaneously. Module M2.2: Scans and locates images to determine the spatial position of the cellular robot; The driving relationship between the cellular robot and the spatial gradient magnetic field is as follows: The spatial direction of the magnetic field gradient to be applied is determined by different combinations of gradient magnetic fields in three individual directions: X, Y, and Z. The movement speed of the cell robot can be controlled by adjusting the gradient magnetic field strength; The movement distance of the cell robot can be controlled by adjusting the application time of the gradient magnetic field.

[0019] Preferably, module M3 specifically includes: performing magnetic resonance imaging on the cell robot, and selecting a magnetic resonance sequence with a scan time of less than 30 seconds for scanning, and observing its position and motion state through the position of artifacts generated by the cell robot.

[0020] Compared with the prior art, the present invention has the following beneficial effects: This invention employs a magnetic resonance imaging (MRI) system to drive a cell robot encapsulating magnetic nanoparticles, eliminating the need for complex external hardware and greatly simplifying equipment requirements. It achieves integrated control on mature medical imaging equipment. By dynamically adjusting the combination, intensity, and application time of the spatial gradient magnetic field in three independent directions, it overcomes the challenges of microscopic manipulation, achieving precise control over the cell robot's speed, distance, and three-dimensional trajectory. A closed-loop control mode of alternating drive and short-time imaging is used, utilizing conventional sequence artifact capture for positioning, effectively avoiding displacement caused by scanning time and achieving real-time high-precision tracking to ensure accurate navigation to the target area. Strictly limiting the maximum intensity, duty cycle, and single application time of the magnetic field gradient effectively prevents the equipment from overheating due to overload, ensuring precise drive while maximizing the operational safety of the MRI equipment. Attached Figure Description

[0021] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a logic block diagram of a magnetic resonance driving and imaging method for cell robots. Detailed Implementation

[0022] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0023] Example 1: This embodiment provides a method for driving and imaging a cell robot using magnetic resonance imaging, including: step S1, determining spatial gradient magnetic field parameters based on the magnetic resonance imaging machine; step S2, applying a spatial gradient magnetic field when the cell robot is located in the magnetic aperture of the magnetic resonance imaging device, causing the cell robot to move in the corresponding track slot; step S3, performing magnetic resonance imaging on the cell robot to obtain its corresponding motion speed and relative position; wherein, steps S2 to S3 are repeatedly triggered until the cell robot reaches the target area.

[0024] Based on the above scheme, the core concept of this invention is to use a magnetic resonance system to manipulate a spatial gradient magnetic field to achieve spatial control of a cell robot. First, a spatial gradient magnetic field is designed using magnetic resonance sequence editing software. Placing the cell robot in the magnetic aperture of the magnetic resonance device and applying the designed spatial gradient magnetic field enables the cell robot to move within a corresponding track slot. Next, imaging methods are used to image and track the cell robot. By observing its corresponding movement speed and relative position, imaging and applying the spatial gradient magnetic field alternately, thereby guiding the cell robot to the target area. Selecting and editing appropriate spatial gradient sequences solves the problem of precise control of the cell robot. Simultaneously, combining the design of different track slots and conducting navigation experiments under magnetic resonance solves the problem of real-time tracking and imaging of the cell robot.

[0025] In this embodiment, the cell robot is prepared by encapsulating iron oxide nanoparticles into artificially manufactured cells.

[0026] Based on the above approach, the core of constructing cellular robots lies in encapsulating magnetic nanoparticles to achieve magnetic actuation. Specifically, this involves encapsulating iron oxide nanoparticles within artificially manufactured cells to create a robotic entity capable of responding to changes in a magnetic field.

[0027] In this embodiment, in step S1, the spatial gradient magnetic field parameters include magnetic field gradient intensity, magnetic field gradient duty cycle, and magnetic field gradient application time; wherein, the highest spatial magnetic field gradient intensity is 800 mT / m; the magnetic field gradient duty cycle is two-sevenths, meaning that within 10 ms, the time without applying the magnetic field is 7 ms, the time for the magnetic field gradient to rise is 0.5 ms, the time for the magnetic field gradient to maintain its highest intensity is 2 ms, and the time for the magnetic field gradient to fall is 0.5 ms; the magnetic field gradient application time is 5 s, the minimum application time is 1 s, and the time for a single application of the magnetic field gradient should not exceed 30 s.

[0028] Based on the above scheme, appropriate spatial gradient magnetic field parameters are determined according to the needs of different MRI machines and designed first in MRI sequence editing software. The maximum spatial magnetic field gradient intensity is designed to be 800 mT / m to ensure the cell robot can move, and its movement speed can be flexibly adjusted by changing the magnitude of the spatial magnetic field gradient during actual operation. The magnetic field gradient duty cycle is set to two-sevenths to avoid excessively high duty cycles, thus preventing overheating of the MRI equipment during operation and ensuring safe operation. A recommended magnetic field gradient application time of 5 seconds is suggested because too short a time will result in indistinct cell robot movement, while too long a time will lead to excessively long movement distances that are difficult to track. A minimum application time of 1 second is specified, and the total application time of a single magnetic field gradient should not exceed 30 seconds, again to avoid overheating of the MRI equipment during operation. Finally, the designed spatial gradient magnetic field is added to the MRI equipment and debugged to ensure normal operation on the MRI machine.

[0029] In this embodiment, step S2 includes: step S2.1, when the cell robot and its container are placed in the magnetic resonance imaging (MRI) device, applying a spatial gradient magnetic field while simultaneously acquiring the temperature and status of the MRI device; step S2.2, scanning the positioning image to determine the spatial position of the cell robot; wherein, the driving relationship between the cell robot and the spatial gradient magnetic field is as follows: the spatial direction of the applied magnetic field gradient is determined by different combinations of gradient magnetic fields in the three individual directions of X, Y, and Z; the movement speed of the cell robot is controlled by adjusting the gradient magnetic field strength; and the movement distance of the cell robot is controlled by adjusting the application time of the gradient magnetic field.

[0030] Based on the above scheme, the cell robot and its container can be placed in the magnetic resonance imaging (MRI) device to begin magnetic actuation. Before actuation, a positioning image needs to be scanned to determine the initial spatial position of the cell robot. The actuation program includes gradient magnetic field control in three individual directions (X, Y, and Z) in the MRI coordinate system, as well as control of the gradient magnetic field strength and application time. Based on actual needs, the spatial direction of the applied magnetic field gradient is first determined by different combinations of the three individual gradient magnetic fields. Then, the cell robot's movement speed is controlled by adjusting the gradient magnetic field strength, and the movement distance is controlled by adjusting the gradient magnetic field application time. After determining all the applied parameters, click the MRI scan button to begin applying the spatial gradient magnetic field. During the process, carefully observe the temperature and state of the MRI to ensure experimental safety.

[0031] In this embodiment, step S3 specifically includes performing magnetic resonance imaging on the cell robot, and selecting a magnetic resonance sequence with a scanning time of less than 30 seconds for scanning, and observing its position and motion state through the position of artifacts generated by the cell robot.

[0032] Based on the above scheme, since applying a spatial gradient magnetic field does not directly generate a magnetic resonance image, additional magnetic resonance imaging (MRI) is required to observe the position and motion of the cell robot. Because the cell robot contains iron oxide nanoparticles, artifacts related to the cell robot can be observed using conventional sequences. Sequences with scan times less than 30 seconds are selected for observation to prevent excessively long scan times from adversely affecting the cell robot's position. In practice, an MRI scan is performed after each application of the spatial gradient magnetic field. By repeatedly alternating these steps and adjusting the intensity and application time of the spatial gradient magnetic field as needed, the movement speed and distance of the cell robot can be precisely controlled.

[0033] It should be noted that the specific formula for converting between magnetic field parameters and robot motion parameters in this invention is as follows: Magnetic force formula (1) and fluid resistance formula (2) under magnetic field gradient:

[0034] In this formula, This represents the velocity difference between the cellular robot and the fluid, distinguishing it from formula (3) below.

[0035] In the case of static fluid, the steady-state velocity vector formula of the cellular robot is obtained from (1) and (2) as (3):

[0036] In the formula, G is the spatial magnetic field gradient vector, which includes magnetic field gradient components in the X, Y, and Z directions; V is the relative velocity vector between the cellular robot and the fluid, which includes velocity components in the X, Y, and Z directions. This refers to the duty cycle of the magnetic field. The saturation magnetization; For fluid viscous resistance; Let be the equivalent radius of the cellular robot.

[0037] For example, taking the X-direction gradient magnetic field control as an example, the magnetic force formula (4) and fluid resistance formula (5) under the magnetic field gradient are as follows:

[0038]

[0039] in : Cellular robot volume; : Magnetic field duty cycle; : Saturation magnetization; : Gradient magnetic field in the X direction; : Fluid viscous resistance; : The velocity difference between cellular robots and fluids.

[0040] In the case of static fluid, the steady-state velocity formula of the cellular robot is obtained from (4) and (5) as (6):

[0041] Example 2: A method for magnetic resonance actuation and imaging of cellular robots, comprising: Step 1: Design the spatial gradient magnetic field using magnetic resonance sequence editing software.

[0042] Specifically, robots are fabricated by encapsulating iron oxide nanoparticles within artificially created cells. A suitable spatial gradient magnetic field, including gradient intensity, duty cycle, and application time, is determined based on different magnetic resonance imaging (MRI) machines. The spatial gradient magnetic field is first designed using MRI sequence editing software.

[0043] The maximum spatial magnetic field gradient intensity is designed to be 800 mT / m to ensure that the cell robot can move. The movement speed of the cell robot can be adjusted by adjusting the magnitude of the spatial magnetic field gradient during actual operation.

[0044] The designed magnetic field gradient duty cycle is 2 / 7, meaning that within a 10ms timeframe, the time without a magnetic field is 7ms, the magnetic field gradient rise time is 0.5ms, the time the magnetic field gradient maintains its maximum intensity is 2ms, and the magnetic field gradient fall time is 0.5ms. The duty cycle should not be too high to avoid overheating of the magnetic resonance equipment during operation and to ensure safe operation.

[0045] The recommended application time for the magnetic field gradient is 5 seconds. If the time is too short, the movement of the cellular robot will not be obvious; if the time is too long, the movement distance of the cellular robot will be too long, making it difficult to track. The minimum application time is 1 second, and the application time of the magnetic field gradient should not exceed 30 seconds at a time to avoid excessive heating of the magnetic resonance equipment during operation.

[0046] The designed spatial gradient magnetic field is added to the magnetic resonance imaging (MRI) device and debugged to ensure that it can operate normally on the MRI device.

[0047] Step 2: Place the cell robot in the magnetic aperture of the magnetic resonance device and apply the spatial gradient magnetic field designed in Step 2 to make the cell robot move in the corresponding track slot.

[0048] Specifically, the cell robot and its container are placed in the magnetic resonance imaging (MRI) device, and magnetic actuation begins. A single scan of the positioning image determines the spatial position of the cell robot. The actuation program includes control of gradient magnetic fields in three individual directions (X, Y, and Z) in the MRI coordinate system, as well as control of the gradient magnetic field strength and application time. Based on actual needs, the spatial direction of the applied magnetic field gradient is first determined by different combinations of gradient magnetic fields in the three individual directions (X, Y, and Z). Then, the cell robot's movement speed is controlled by adjusting the gradient magnetic field strength. Finally, the movement distance of the cell robot is controlled by adjusting the application time of the gradient magnetic field. After all the applied parameters are determined, the MRI scan button is clicked to begin applying the spatial gradient magnetic field. During the process, the temperature and state of the MRI scanner are carefully observed.

[0049] Step 3: Perform magnetic resonance imaging (MRI) on the cell robot to observe its movement speed and relative position. Alternately perform imaging and apply a spatial gradient magnetic field to guide the cell robot to the target area. Specifically, applying the spatial gradient magnetic field will not produce an MRI image; additional MRI is required to observe the cell robot's position and movement. Since the cell robot contains iron oxide nanoparticles, conventional sequences will show artifacts. Therefore, sequences with scan times less than 30 seconds are selected for observation to prevent excessively long scan times from affecting the cell robot's position. Apply the spatial gradient magnetic field once, then perform an MRI scan. Repeat the above steps, adjusting the intensity and application time of the spatial gradient magnetic field as needed to control the cell robot's movement speed and distance.

[0050] The present invention also provides a cellular robot magnetic resonance driving and imaging system, which can be implemented by executing the process steps of the cellular robot magnetic resonance driving and imaging method. That is, those skilled in the art can understand the cellular robot magnetic resonance driving and imaging method as a preferred embodiment of the cellular robot magnetic resonance driving and imaging system.

[0051] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0052] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for driving and imaging a cellular robot using magnetic resonance imaging, characterized in that, include: Step S1: Determine the spatial gradient magnetic field parameters based on the magnetic resonance imaging (MRI) machine; Step S2: When the cell robot is located in the magnetic aperture of the magnetic resonance device, a spatial gradient magnetic field is applied to make the cell robot move in the corresponding track slot. Step S3: Perform magnetic resonance imaging on the cell robot to obtain its corresponding motion speed and relative position; The triggering steps S2 to S3 are repeated until the cell robot reaches the target area.

2. The method according to claim 1, characterized in that, The cell robot was prepared in the following manner: Robots were created by encapsulating iron oxide nanoparticles into artificially manufactured cells.

3. The method according to claim 1, characterized in that, In step S1, the spatial gradient magnetic field parameters include the magnetic field gradient intensity, the magnetic field gradient duty cycle, and the magnetic field gradient application time; wherein: The highest spatial magnetic field gradient intensity is 800 mT / m; The duty cycle of the magnetic field gradient is This means that within a 10ms timeframe, the time without a magnetic field is 7ms, the time for the magnetic field gradient to rise is 0.5ms, the time for the magnetic field gradient to maintain its highest intensity is 2ms, and the time for the magnetic field gradient to fall is 0.5ms. The magnetic field gradient should be applied for 5 seconds, with a minimum application time of 1 second. The application time for a single magnetic field gradient should not exceed 30 seconds.

4. The method according to claim 1, characterized in that, Step S2 includes: Step S2.1: When the cell robot and its container are placed in the magnetic resonance device, a spatial gradient magnetic field is applied, and the temperature and status of the magnetic resonance device are acquired at the same time. Step S2.2: Scan the positioning image to determine the spatial location of the cell robot; The driving relationship between the cellular robot and the spatial gradient magnetic field is as follows: The spatial direction of the magnetic field gradient to be applied is determined by different combinations of gradient magnetic fields in three individual directions: X, Y, and Z. The movement speed of the cell robot can be controlled by adjusting the gradient magnetic field strength; The movement distance of the cell robot can be controlled by adjusting the application time of the gradient magnetic field.

5. The method according to claim 1, characterized in that, Step S3 specifically includes: performing magnetic resonance imaging on the cell robot, selecting a magnetic resonance sequence with a scan time of less than 30 seconds, and observing its position and motion state through the artifacts generated by the cell robot.

6. A cellular robot magnetic resonance driving and imaging system, characterized in that, include: Module M1: Determine the spatial gradient magnetic field parameters based on the magnetic resonance imaging (MRI) machine; Module M2: When the cell robot is located in the magnetic aperture of the magnetic resonance device, a spatial gradient magnetic field is applied to make the cell robot move in the corresponding track slot. Module M3: Perform magnetic resonance imaging on the cellular robot to obtain its corresponding motion velocity and relative position; Among them, the repeated triggering modules M2~M3 continue until the cell robot reaches the target area.

7. The system according to claim 1, characterized in that, The cell robot was prepared in the following manner: Robots were created by encapsulating iron oxide nanoparticles into artificially manufactured cells.

8. The system according to claim 1, characterized in that, In module M1, the spatial gradient magnetic field parameters include magnetic field gradient intensity, magnetic field gradient duty cycle, and magnetic field gradient application time; wherein: The highest spatial magnetic field gradient intensity is 800 mT / m; The duty cycle of the magnetic field gradient is This means that within a 10ms timeframe, the time without a magnetic field is 7ms, the time for the magnetic field gradient to rise is 0.5ms, the time for the magnetic field gradient to maintain its highest intensity is 2ms, and the time for the magnetic field gradient to fall is 0.5ms. The magnetic field gradient should be applied for 5 seconds, with a minimum application time of 1 second. The application time for a single magnetic field gradient should not exceed 30 seconds.

9. The system according to claim 1, characterized in that, The module M2 includes: Module M2.1: When the cell robot and its container are placed in the magnetic resonance imaging device, a spatial gradient magnetic field is applied, and the temperature and status of the magnetic resonance imaging device are acquired simultaneously. Module M2.2: Scans and locates images to determine the spatial position of the cellular robot; The driving relationship between the cellular robot and the spatial gradient magnetic field is as follows: The spatial direction of the magnetic field gradient to be applied is determined by different combinations of gradient magnetic fields in three individual directions: X, Y, and Z. The movement speed of the cell robot can be controlled by adjusting the gradient magnetic field strength; The movement distance of the cell robot can be controlled by adjusting the application time of the gradient magnetic field.

10. The system according to claim 1, characterized in that, Module M3 specifically includes: performing magnetic resonance imaging on the cell robot, selecting a magnetic resonance sequence with a scan time of less than 30 seconds for scanning, and observing its position and motion state through the location of artifacts generated by the cell robot.

Images