Method and device for providing a user interface for controlling a magnetic catheter by changing an external magnetic field

Abstract

2. A method for providing a user interface, comprising the steps of: (a) displaying a k-th selection display symbol at a position corresponding to a k-th object space relative coordinate point; and (b) setting a k-th sub-coordinate space having coordinate axes corresponding to an image of the k-th object space with the k-th object space relative coordinate point as an origin, and acquiring information on a direction in which a magnetic catheter is heading at a time T_k_1 as T_k_1 yaw and T_k_1 pitch based on a k-th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the k-th sub-coordinate space; displaying a k-th visualization coordinate space in a 2_1 region of a display so as to correspond to the k-th sub-coordinate space, and acquiring information on a direction in which a magnetic catheter is heading at a time T_k_1 as T_k_1 yaw and T_k_1 pitch. The method includes a step of displaying the T_k-th current graphic element in a direction corresponding to the T_k_1-th yaw and T_k_1-th pitch on the k-th visualization coordinate space based on the origin between the k-th visualization coordinate space and the T_k_q-th yaw and pitch, a step of changing and displaying the T_k-th current graphic element in a direction corresponding to the T_k_q-th yaw and T_k_q-th pitch by referring to the T_k_q-th yaw, T_k_q-th pitch and T_k_q desired magnetic field strength information at the T_k_q-th time point, a step of updating and displaying each of the T_k_q-th pitch to the T_k_p-th pitch in the 2_2-th area of ​​the display, and a step of updating and displaying the T_k_q desired magnetic field strength information in the 2_3-th area of ​​the display.

Description

[Technical field]

[0001] The present invention relates to a user interface providing method and a user interface providing device using the same for controlling a magnetic catheter by changing an external magnetic field, and more particularly to a user interface providing method and a user interface providing device using the same that visualizes and displays the direction of an external magnetic field generated for controlling a magnetic catheter, and updates and displays the visualized information by changing the direction of the external magnetic field, thereby enabling efficient control of a magnetic catheter. [Background technology]

[0002] A catheter is a thin tube made of medical material that is inserted into cavities, ducts, and blood vessels inside the patient's body to perform treatment.

[0003] However, in catheter-based treatments, the practitioner cannot directly observe the treatment space, so visualization tools are often used to directly or indirectly check the inside of the patient's body. However, in such cases, the visualization tools have the limitation of only transmitting information one-way to the practitioner.

[0004] A prior document (Korean Patent Registration Publication No. 10-2245665) discloses an invention that uses ultrasound images to check the internal condition of the patient's body, detects its position using a magnetized catheter, and provides the corresponding position information along with the ultrasound image.

[0005] However, the prior art documents only disclose that ultrasound images and catheter position information are displayed on a display for the practitioner to refer to, but do not disclose a specific method by which the system can interact with the user to accurately control the catheter.

[0006] Therefore, there is a need for a method that can directly control the catheter using an external magnetic field and provide a user interface that allows the user to interact with the catheter control system as a way to improve the accuracy of catheter procedures. Summary of the Invention [Problem to be solved by the invention]

[0007] An object of the present invention is to solve all of the above problems.

[0008] Another object of the present invention is to provide a user interface that can control the direction of a magnetic catheter using an external magnetic field, interact with a user to assist the user in checking and setting the position of the magnetic catheter, and also assist the user in changing the direction of the external magnetic field.

[0009] Another object of the present invention is to provide a user interface that controls the direction of a magnetic catheter using an external magnetic field and provides continuously updated information regarding the direction of the external magnetic field.

[0010] Another object of the present invention is to provide a user interface that can assist in accurately calculating the current value that must be applied to each coil in a magnetic field generating device in order to generate an external magnetic field for controlling the direction of a magnetic catheter. [Means for solving the problem]

[0011] According to an embodiment of the present invention, there is provided a user interface providing method, comprising the steps of: (a) acquiring a k-th object space image, which is captured with a k-th object space absolute coordinate point (where k is an integer equal to or greater than 1) in a given object space affected by an external magnetic field, from an object space image management device linked to a user interface providing device; (i) the user interface providing device performs a process of displaying the k-th object space image in a first region of a display linked to the user interface providing device; (ii) when information is confirmed that a k-th object space relative coordinate point, which is a relative coordinate point based on the k-th object space absolute coordinate point and corresponds to a position of a magnetic catheter located within the object space, is selected, the user interface providing device performs a process of displaying a k-th selection display symbol at a position corresponding to the k-th object space relative coordinate point on the k-th object space image; and (b) re-capturing the object space after changing the position of the magnetic catheter since the time when the k-th object space image was acquired. A time interval until a (k+1)th object space image is acquired is defined as a T_k time interval (the T_k time interval includes a T_k_1 time point, a T_k_2 time point, ..., a T_k_p time point, where p is an integer equal to or greater than 2), a time point at which the kth object space relative coordinate point is selected is defined as the T_k_1 time point, and each of the times at which the external magnetic field is applied or changed to the kth object space relative coordinate point is defined as the T_k_2 time point to the T_k_p time point, respectively. (b1) The user interface providing device: (i) (ii) performing a process of setting a predetermined k-th sub-coordinate space having a coordinate axis corresponding to the k-th object space image with the k-th object space relative coordinate point as an origin by referring to the image of ...(b2) the user interface providing device (i) performs a process of displaying a k-th visualization coordinate space visualized to correspond to the k-th sub-coordinate space in a 2_1 region of the display, and (ii) performs a process of displaying a predetermined T_k-th current graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k-th visualization coordinate space based on the origin of the k-th visualization coordinate space; (b3) at a time T_k_q (where q is an integer between 2 and p) which is a specific time among the time T_k_2 to the time T_k_p, T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information and T_k_q magnetic field generation start command information which are information regarding the T_k_q magnetic field generated at the T_k_q time for the k-th object space relative coordinate point from after the time T_k_(q-1) to before the time T_k_q are confirmed. If so, the user interface providing device at the time T_k_q includes a step of (i) referring to the T_k_q yaw, the T_k_q pitch and the T_k_q desired magnetic field strength information, respectively, changing and displaying the T_k current graphic element displayed in a direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to the time T_k_(q-1) in a direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to the time T_k_q, (ii) updating and displaying each of the T_k_q pitch to the T_k_p pitch in a 2_2 region of the display, and (iii) repeatedly performing the process of updating and displaying the T_k_q desired magnetic field strength information in a 2_3 region of the display for each of the T_k_2 to T_k_p times;

[0012] In one example, after step (b), (c) after the T_k_p magnetic field is generated for the k object space relative coordinate point at the T_k_p time point, if the position of the magnetic catheter is moved after the T_k_p time point and the (k+1) object space image obtained by re-capturing the object space is acquired from the object space image management device, (i) the user interface providing device performs a process of updating and displaying the (k+1) object space image in the first area of ​​the display, and (ii) the (k+1) object space relative coordinate point (the (k+1) object space relative coordinate point corresponds to the position to which the magnetic catheter is moved) corresponding to the (k+1) object space relative coordinate point. when it is confirmed that a (k+1)th object space image is photographed again with the kth object space absolute coordinate point as the photographing reference point, the (k+1)th object space image is photographed again with the (k+1)th object space absolute coordinate point different from ...;and (d) a time interval from a time when the (k+1)th object space image is acquired to a time when the (k+2)th object space image is acquired by re-imaging the object space after the position of the magnetic catheter is changed is defined as a T_(k+1)th time interval (the T_(k+1)th time interval includes a T_(k+1)_1 time point, a T_(k+1)_2 time point, ..., a T_(k+1)_m time point, where k is an integer equal to or greater than 1 and m is an integer equal to or greater than 2), and a time when the (k+1)th object space relative coordinate point is selected is defined as a T_(k+1)th time interval (the T_(k+1)th time point, a T_(k+1)_2 time point, ..., a T_(k+1)_m time point, where k is an integer equal to or greater than 1 and m is an integer equal to or greater than 2). The time T_(k+1)_1 is defined as a time point, and the time points at which the external magnetic field is applied to or changed with respect to the (k+1) object space relative coordinate point are defined as the time T_(k+1)_2 to the time T_(k+1)_m, respectively. (d1) The user interface providing device (i) calculates a time point for calculating the time of the (k+1) object space image and the time point for the (k+1) object space relative coordinate point by setting the (k+1) object space relative coordinate point as an origin. (ii) performing a process of setting a predetermined (k+1)th sub-coordinate space having a coordinate axis corresponding to the image, and (d1) performing a process of acquiring information regarding a direction in which the magnetic catheter is facing at the time T_(k+1)_1 as T_(k+1)_1 yaw and T_(k+1)_1 pitch based on a predetermined (k+1)th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space; and (d2) performing a process of acquiring information regarding a direction in which the magnetic catheter is facing at the time T_(k+1)_1 as T_(k+1)_1 yaw and T_(k+1)_1 pitch based on the predetermined (k+1)th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space. a providing device performing a process of (i) updating and displaying the (k+1)th visualization coordinate space visualized to correspond to the (k+1)th sub-coordinate space in the 2_1 region of the display, and (ii) displaying a predetermined T_(k+1)th current graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1)th visualization coordinate space based on the origin of the (k+1)th visualization coordinate space;(d3) At a time T_k_n (where n is an integer between 2 and m) which is a specific time among the time T_(k+1)_2 to the time T_(k+1)_m, information on a magnetic field T_(k+1)_n generated at the time T_(k+1)_n for the (k+1) object space relative coordinate point from after the time T_(k+1)_(n-1) to before the time T_(k+1)_n If the T_(k+1)_n yaw, the T_(k+1)_n pitch, the T_(k+1)_n desired magnetic field strength information, and the T_(k+1)_n magnetic field generation start command information are confirmed, the user interface providing device (i) generates the T_(k+1)_n magnetic field generation start command information by referring to the T_(k+1)_n yaw, the T_(k+1)_n pitch, and the T_(k+1)_n desired magnetic field strength information, at the T_(k+1)_n time point. The method further includes the steps of: (1) changing the T_(k+1) current graphic element displayed in a direction corresponding to the T_(k+1)_(n-1) yaw and T_(k+1)_(n-1) pitch corresponding to the T_(k+1)_n time point to a direction corresponding to the T_(k+1)_n yaw and T_(k+1)_n pitch corresponding to the T_(k+1)_n time point, and displaying the changed graphic element; (ii) updating and displaying each of the T_(k+1)_n pitch to the T_(k+1)_n pitch in the 2_2 region of the display; and (iii) repeatedly performing the process of updating and displaying the T_(k+1)_n desired magnetic field strength information in the 2_3 region of the display for each of the T_(k+1)_2 time point to the T_(k+1)_m time point;

[0013] In one example, in the step (b1), the user interface providing device further performs a process of acquiring T_k_p yaw and T_k_p pitch, which are information on a target direction of the T_k_p magnetic field generated at the T_k_p time point with respect to the k object space relative coordinate point; in the step (b2), the user interface providing device further performs a process of (i) displaying a predetermined T_k start graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k visualization coordinate space based on an origin of the k visualization coordinate space, and (ii) displaying a predetermined T_k target graphic element in a direction corresponding to the T_k_p yaw and the T_k_p pitch on the k visualization coordinate space based on an origin of the k visualization coordinate space; and in the step (d1), The device further performs a process of acquiring T_(k+1)_m yaw and T_(k+1)_m pitch, which are information regarding a target direction of the T_(k+1)_m magnetic field generated at the T_(k+1)_m time point with respect to the (k+1) object space relative coordinate point, and in the step (d2), the user interface providing device further performs a process of (i) displaying a predetermined T_(k+1) start graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1) visualization coordinate space based on the origin of the (k+1) visualization coordinate space, and (ii) displaying a predetermined T_(k+1) target graphic element in a direction corresponding to the T_(k+1)_m yaw and the T_(k+1)_m pitch on the (k+1) visualization coordinate space.

[0014] In one example, in step (d1), the user interface providing device refers to the T_k_p yaw, T_k_p pitch and the kth reference coordinate axis of the T_k_p magnetic field generated for the kth object space relative coordinate point at the T_k_p time point, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information about the direction in which the magnetic catheter is heading based on the (k+1) reference coordinate axis at the T_(k+1)_1 time point, to be the same as the direction corresponding to the T_k_p yaw and T_k_p pitch based on the kth reference coordinate axis.

[0015] In one example, in the step (a), the user interface providing device further performs a process of setting a k_1th direction corresponding to a horizontal direction of the k object space image as an image X-axis, setting a direction perpendicular to the k_1th direction of the k object space image as a k_2th direction corresponding to a vertical direction of the k object space image as an image Y-axis, and setting a coordinate axis perpendicular to a plane formed by the image X-axis and the image Y-axis as an image Z-axis, and the kth selection display symbol corresponding to the k object space relative coordinate point is determined such that at least one of hue, lightness, and saturation is changed according to a predetermined criterion according to a coordinate value of the k object space relative coordinate point corresponding to the image Z-axis, and is displayed on the k object space image. The providing apparatus further performs a process of updating and setting a (k+1)_1th direction corresponding to a horizontal direction of the (k+1) object space image as the image X-axis, updating and setting a direction perpendicular to the (k+1)_1 direction of the (k+1) object space image as a (k+1)_2th direction corresponding to a vertical direction of the (k+1) object space image as the image Y-axis, and updating and setting a coordinate axis perpendicular to a plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis, and the (k+1)th selection display symbol corresponding to the (k+1) object space relative coordinate point is determined to change at least one of hue, lightness, and saturation depending on a coordinate value of the (k+1) object space relative coordinate point corresponding to the image Z-axis, and is displayed on the second object space image.

[0016] In one example, each of the k visualization coordinate space and the (k+1) visualization coordinate space is a three-dimensional space and includes, as coordinate axes, a visualization X axis, a visualization Y axis perpendicular to the visualization X axis, and a visualization Z axis perpendicular to a plane formed by the visualization X axis and the visualization Y axis, and each of the visualization X axis, the visualization Y axis, and the visualization Z axis are determined to correspond to each other with reference to the image X axis, the image Y axis, and the image Z axis. Each of the kth visualization coordinate space or the (k+1)th visualization coordinate space has at least one of hue, lightness, and saturation changed according to the magnitude of a numerical value corresponding to the visualization Z-axis in the kth visualization coordinate space or the (k+1)th visualization coordinate space, and is displayed in the kth visualization coordinate space or the (k+1)th visualization coordinate space.

[0017] In one example, in step (a), the user interface providing device further performs a process of (i) displaying a kth relative coordinate value obtained by relatively calculating a coordinate value of the kth object space relative coordinate point using a coordinate value of the kth object space absolute coordinate point as an origin, and (ii) displaying the kth absolute coordinate value obtained by converting the kth relative coordinate value into a coordinate value in the object space in a specific partial region that is at least a part of the first region of the display or a predetermined third region; and in step (c), the user interface providing device further performs a process of (i) displaying a (k+1)th relative coordinate value obtained by relatively calculating a coordinate value of the (k+1)th object space relative coordinate point using a coordinate value of the (k+1)th object space absolute coordinate point as an origin, and (ii) displaying the (k+1)th absolute coordinate value obtained by converting the (k+1) relative coordinate value into a coordinate value in the object space in the specific partial region that is at least a part of the first region of the display in the third region.

[0018] In one example, the external magnetic field is generated by a predetermined coil system including a first coil to a jth coil, which is connected to the user interface providing device and applies a first current to a jth current to each of the first coil to the jth coil, respectively, to generate a first sub-magnetic field to a jth sub-magnetic field, and the first sub-magnetic field to the jth sub-magnetic field are superimposed to generate the external magnetic field. The first current to the jth current to be applied to each of the first coil to the jth coil are (i) determined by a T_k_q magnetic field command corresponding to the T_k_q yaw, the T_k_q pitch and the T_k_q desired magnetic field strength information at the T_k_q time point, and (ii) determined by a T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch and the T_(k+1)_m desired magnetic field strength information at the T_(k+1)_m time point.

[0019] In one example, the user interface providing device is characterized in that when a predetermined unit current is applied to each of the first coil to the j coil as the first current to the j current, information regarding a unit current magnetic flux density previously measured at each of a plurality of measurement coordinate points among global coordinate points in the object space in relation to the unit current magnetic field generated as the external magnetic field is stored in a unit current magnetic flux density table corresponding to each of the measurement coordinate points, and when the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), A(P) is JPEG2025510931000002.jpg2292 (The above A(P) is A x1 (P) or A xj (P), A v1 (P) or A vj (P), and Az1 (P) or A zj (P), xj (P) is the j_1 unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the X-axis of the object space, which is the first direction of the object space, with respect to P; A vj (P) is the j_2-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Y-axis of the object space, which is the second direction of the object space perpendicular to the first direction of the object space with respect to P; A zj (P) is the j_3 unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Z axis of the object space, which is the third direction of the object space perpendicular to the plane formed by the X axis of the object space and the Y axis of the object space, with respect to P. The T_k_q magnetic field command or the T_(k+1)_m magnetic field command with respect to P is expressed by a matrix such as B ref When (P) is used, the above B ref (P) is expressed as follows: A(P)I * JPEG2025510931000003.jpg19121 (I * is a matrix of the first current to the j current applied to the first coil to the j coil, respectively, and i1 * Or i j * Each of the first current to the nth current is expressed by the following formula: JPEG2025510931000004.jpg2170 It is characterized in that it is calculated using:

[0020] In one example, when the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is calculated by: (i) in the case of the kth object space relative coordinate point, performing a predetermined correction (the correction includes linear interpolation) by referring to each of the reference kth specific unit current magnetic flux density tables corresponding to at least two or more reference kth specific measurement coordinate points within a predetermined range from the kth object space relative coordinate point; and (ii) in the case of the (k+1)th object space relative coordinate point, performing the correction by referring to each of the reference (k+1)th specific unit current magnetic flux density tables corresponding to at least two or more reference (k+1)th specific measurement coordinate points within a predetermined range from the (k+1)th object space relative coordinate point.

[0021] According to another embodiment of the present invention, there is provided a user interface providing device, comprising: at least one memory for storing instructions; and at least one processor configured to execute the instructions, the processor performing a subprocess of: (1) performing, when a k-th object space image, captured with a k-th object space absolute coordinate point (where k is an integer equal to or greater than 1) in a given object space affected by an external magnetic field as a capture reference point, from an object space image management device linked to the user interface providing device, (i) displaying the k-th object space image in a first area of ​​a display linked to the user interface providing device; and (ii) performing, when information is confirmed that a k-th object space relative coordinate point, which is a relative coordinate point based on the k-th object space absolute coordinate point and corresponds to a position of a magnetic catheter located within the object space, is selected, displaying a k-th selection display symbol at a position corresponding to the k-th object space relative coordinate point on the k-th object space image;and (2) a time interval from a time when the kth object space image is acquired to a time when the (k+1)th object space image is acquired by photographing the object space again after the position of the magnetic catheter is changed is defined as a T_k time interval (the T_k time interval includes a T_k_1 time point, a T_k_2 time point, ..., a T_k_p time point, where p is an integer equal to or greater than 2), a time point when the kth object space relative coordinate point is selected is defined as the T_k_1 time point, and a time point when the external magnetic field is applied to or changed with respect to the kth object space relative coordinate point is defined as the T_k_2 time point to the T_k_p time point, respectively, (2-1)(i) a coordinate axis corresponding to the kth object space image with the kth object space relative coordinate point as an origin by referring to coordinate information of the kth object space image and the kth object space relative coordinate point, (ii) a sub-process of acquiring information regarding a direction in which the magnetic catheter is facing at the time T_k_1 as T_k_1 yaw and T_k_1 pitch based on a specific k-th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the k-th sub-coordinate space; (2-2) (i) a sub-process of displaying the k-th visualization coordinate space visualized to correspond to the k-th sub-coordinate space in the 2_1 area of ​​the display; (ii) a sub-process of displaying a specific T_k current graphic element in the k-th visualization coordinate space in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch based on the origin of the k-th visualization coordinate space;(2-3) At a time T_k_q (where q is an integer between 2 and p) which is a specific time among the time T_k_2 to the time T_k_p, if T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information and T_k_q magnetic field generation start command information, which are information about the T_k_q magnetic field generated at the time T_k_q for the k object space relative coordinate point from after the time T_k_(q-1) to before the time T_k_q, are confirmed, at the time T_k_q, (i) the T_k_(q-1) yaw, T_k_q pitch and T_k_q desired magnetic field strength information are referred to, respectively, and a sub-process for changing the T_k current graphic element displayed in a direction corresponding to the yaw and T_k_(q-1) pitch to a direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to the T_k_q time point and displaying the same; (ii) a sub-process for updating and displaying each of the T_k_q pitch to the T_k_p pitch in a 2_2 region of the display; and (iii) a process for repeatedly performing the sub-process for updating and displaying the T_k_q desired magnetic field strength information in a 2_3 region of the display for each of the T_k_2 time point to the T_k_p time point;

[0022] In one example, after the process (2), the processor performs a sub-process of (3) generating the T_k_p magnetic field for the k object space relative coordinate point at the T_k_p time point, and then, if the position of the magnetic catheter is moved after the T_k_p time point to re-capture the object space and the (k+1) object space image is acquired from the object space image management device, (i) updating and displaying the (k+1) object space image in the first area of ​​the display, and (ii) updating the (k+1) object space relative coordinate point (the (k+1) object space relative coordinate point corresponds to the position to which the magnetic catheter is moved) corresponding to the (k+1) object space relative coordinate point. a process for performing a sub-process of displaying a predetermined (k+1)th selection display symbol at a position corresponding to the (k+1)th object space relative coordinate point on the (k+1)th object space image when it is confirmed that the (k+1)th object space image is selected (the (k+1)th object space relative coordinate point is a relative coordinate point based on the k object space absolute coordinate point when the (k+1)th object space image is photographed again with the k object space absolute coordinate point as the photographing reference point, and the (k+1)th object space relative coordinate point is a relative coordinate point based on the (k+1)th object space absolute coordinate point when the (k+1)th object space image is photographed again with the (k+1)th object space absolute coordinate point different from the k object space absolute coordinate point as the photographing reference point);and (4) a time interval from a time when the (k+1)th object space image is acquired to a time when the (k+2)th object space image is acquired by re-imaging the object space after the position of the magnetic catheter is changed is defined as a T_(k+1)th time interval (the T_(k+1)th time interval includes a T_(k+1)_1th time point, a T_(k+1)_2th time point, ..., a T_(k+1)_mth time point, where k is an integer equal to or greater than 1 and m is an integer equal to or greater than 2), and the (k+1)th object space relative coordinate point is selected. When the time point at which the external magnetic field is applied to the (k+1) object space relative coordinate point is defined as the T_(k+1)_1 time point, and the time points at which the external magnetic field is applied to or changed with respect to the (k+1) object space relative coordinate point are defined as the T_(k+1)_2 time point to the T_(k+1)_m time point, respectively, (4-1)(i) refers to the (k+1) object space image and the coordinate information of the (k+1) object space relative coordinate point, and calculates a corresponding coordinate for the (k+1) object space image with the (k+1) object space relative coordinate point as an origin. (ii) a sub-process of acquiring information regarding a direction in which the magnetic catheter is facing at the T_(k+1)_1 time point as the T_(k+1)_1 yaw and T_(k+1)_1 pitch based on a predetermined (k+1) reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space; (4-2) (i) a sub-process of updating and displaying the (k+1) visualization coordinate space visualized to correspond to the (k+1) sub-coordinate space in the 2_1 area of ​​the display; (ii) a sub-process of displaying a predetermined T_(k+1) current graphic element in the (k+1) visualization coordinate space in a direction corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch based on the origin of the (k+1) visualization coordinate space;(4-3) Information on a T_(k+1)_n magnetic field generated at the T_(k+1)_n time point (where n is an integer between 2 and m) for the (k+1) object space relative coordinate point from after the T_(k+1)_(n-1) time point until before the T_(k+1)_n time point at a T_(k+1)_n time point that is a specific time point among the T_(k+1)_2 time points to the T_(k+1)_m time points. If the T_(k+1)_n yaw, T_(k+1)_n pitch, T_(k+1)_n desired magnetic field strength information and T_(k+1)_n magnetic field generation start command information are confirmed, at the time point T_(k+1)_n, (i) a command is generated corresponding to the time point T_(k+1)_(n-1) by referring to the T_(k+1)_n yaw, T_(k+1)_n pitch and T_(k+1)_n desired magnetic field strength information, The display device further performs a sub-process for changing the T_(k+1) current graphic element, which is displayed in a direction corresponding to the T_(k+1)_(n-1)-th yaw and T_(k+1)_(n-1)-th pitch, to a direction corresponding to the T_(k+1)_n-th yaw and T_(k+1)_n pitch corresponding to the T_(k+1)_n time point, and displaying the changed graphic element; (ii) a sub-process for updating each of the T_(k+1)_n pitch to the T_(k+1)_n pitch and displaying the updated graphic element in the 2_2 region of the display; and (iii) a process for repeatedly performing the sub-process for updating and displaying the T_(k+1)_n desired magnetic field strength information in the 2_3 region of the display for each of the T_(k+1)_2 time point to the T_(k+1)_m time point.

[0023] In one example, in the process (2-1), the processor further performs a sub-process of acquiring T_k_p yaw and T_k_p pitch, which are information regarding a target direction of the T_k_p magnetic field generated at the T_k_p time point with respect to the k object space relative coordinate point; in the process (2-2), the processor further performs a sub-process of (i) displaying a predetermined T_k start graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k visualization coordinate space based on the origin of the k visualization coordinate space, and (ii) displaying a predetermined T_k target graphic element in a direction corresponding to the T_k_p yaw and the T_k_p pitch on the k visualization coordinate space; and in the process (4-1), the processor further performs a sub-process of The (k+1)th object space relative coordinate point may further include a sub-process of acquiring T_(k+1)_m yaw and T_(k+1)_m pitch, which are information regarding a target direction of the T_(k+1)_m magnetic field generated at the T_(k+1)_m time point with respect to the (k+1)th object space relative coordinate point, and in the (4-2) process, the processor may further perform a sub-process of (i) displaying a predetermined T_(k+1)th start graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1)th visualization coordinate space based on the origin of the (k+1) visualization coordinate space, and (ii) displaying a predetermined T_(k+1)th target graphic element in a direction corresponding to the T_(k+1)_m yaw and the T_(k+1)_m pitch on the (k+1)th visualization coordinate space.

[0024] In one example, in the (4-1) process, the processor refers to the T_k_p yaw, T_k_p pitch and the kth reference coordinate axis of the T_k_p magnetic field generated for the kth object space relative coordinate point at the T_k_p time point, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information about the direction in which the magnetic catheter is heading based on the (k+1) reference coordinate axis at the T_(k+1)_1 time point, to be the same as the direction corresponding to the T_k_p yaw and T_k_p pitch based on the kth reference coordinate axis.

[0025] In one example, in the process (1), the processor further performs a sub-process of setting a k_1th direction corresponding to a horizontal direction of the k object space image as an image X-axis, setting a direction perpendicular to the k_1th direction of the k object space image as a k_2th direction corresponding to a vertical direction of the k object space image as an image Y-axis, and setting a coordinate axis perpendicular to a plane formed by the image X-axis and the image Y-axis as an image Z-axis, and the kth selection display symbol corresponding to the k object space relative coordinate point is determined such that at least one of hue, lightness, and saturation is changed according to a predetermined criterion according to a coordinate value of the k object space relative coordinate point corresponding to the image Z-axis, and is displayed on the k object space image. In the process (3), the processor further performs a sub-process of setting a k_2th direction corresponding to a vertical direction of the k object space image as an image Y-axis, and setting a coordinate axis perpendicular to a plane formed by the image X-axis and the image Y-axis as an image Z-axis. The (k+1)th object space image may be updated and set as a (k+1)_1th direction corresponding to a horizontal direction of the (k+1)th object space image to the image X-axis, a (k+1)_2th direction corresponding to a vertical direction of the (k+1)th object space image may be updated and set as a direction perpendicular to the (k+1)_1th direction of the (k+1)th object space image to the image Y-axis, and a coordinate axis perpendicular to a plane formed by the updated and set image X-axis and image Y-axis may be updated and set as the image Z-axis. The (k+1)th selection display symbol corresponding to the (k+1)th object space relative coordinate point is determined to have at least one of hue, lightness, and saturation changed according to a coordinate value of the (k+1)th object space relative coordinate point corresponding to the image Z-axis, and is displayed on the second object space image.

[0026] In one example, each of the k visualization coordinate space and the (k+1) visualization coordinate space is a three-dimensional space and includes, as coordinate axes, a visualization X axis, a visualization Y axis perpendicular to the visualization X axis, and a visualization Z axis perpendicular to a plane formed by the visualization X axis and the visualization Y axis, and each of the visualization X axis, the visualization Y axis, and the visualization Z axis are determined to correspond to each other with reference to the image X axis, the image Y axis, and the image Z axis. Each of the kth visualization coordinate space or the (k+1)th visualization coordinate space has at least one of hue, lightness, and saturation changed according to the magnitude of a numerical value corresponding to the visualization Z-axis in the kth visualization coordinate space or the (k+1)th visualization coordinate space, and is displayed in the kth visualization coordinate space or the (k+1)th visualization coordinate space.

[0027] In one example, in the process (1), the processor further performs a sub-process of (i) displaying a kth relative coordinate value obtained by relatively calculating the coordinate value of the kth object space relative coordinate point using the coordinate value of the kth object space absolute coordinate point as an origin, and (ii) displaying the kth absolute coordinate value obtained by converting the kth relative coordinate value into a coordinate value in the object space in a specific partial area that is at least a part of the first area of ​​the display or a predetermined third area; and in the process (3), the processor further performs a sub-process of (i) displaying a (k+1)th relative coordinate value obtained by relatively calculating the coordinate value of the (k+1)th object space relative coordinate point using the coordinate value of the (k+1)th object space absolute coordinate point as an origin, and (ii) displaying the (k+1)th absolute coordinate value obtained by converting the (k+1) relative coordinate value into a coordinate value in the object space in the specific partial area that is at least a part of the first area of ​​the display in the third area.

[0028] In one example, the external magnetic field is generated by a predetermined coil system including a first coil to a jth coil, which is connected to the user interface providing device and applies a first current to a jth current to each of the first coil to the jth coil, respectively, to generate a first sub-magnetic field to a jth sub-magnetic field, and the first sub-magnetic field to the jth sub-magnetic field are superimposed to generate the external magnetic field. The first current to the jth current to be applied to each of the first coil to the jth coil are (i) determined by a T_k_q magnetic field command corresponding to the T_k_q yaw, the T_k_q pitch and the T_k_q desired magnetic field strength information at the T_k_q time point, and (ii) determined by a T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch and the T_(k+1)_m desired magnetic field strength information at the T_(k+1)_m time point.

[0029] In one example, when a predetermined unit current is applied to each of the first coil to the j coil as the first current to the j current, information regarding a unit current magnetic field generated as the external magnetic field at each of a plurality of measurement coordinate points among the total coordinate points in the object space is stored in a unit current magnetic flux density table corresponding to each of the measurement coordinate points. When the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), A(P) is: JPEG2025510931000005.jpg1774 (The above A(P) is A x1 (P) or A xj (P), A y1 (P) or A yj (P), and A z1 (P) or A zj(P), xj (P) is the j_1 unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the X-axis of the object space, which is the first direction of the object space, with respect to P; A yj (P) is the j_2-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Y-axis of the object space, which is the second direction of the object space perpendicular to the first direction of the object space with respect to P; A zj (P) is the j_3 unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Z axis of the object space, which is the third direction of the object space perpendicular to the plane formed by the X axis of the object space and the Y axis of the object space, with respect to P. The T_k_q magnetic field command or the T_(k+1)_m magnetic field command with respect to P is expressed by a matrix such as B ref When (P) is used, the above B ref (P) is A(P)I as follows: * JPEG2025510931000006.jpg18105 (I * is a matrix of the first current to the j current applied to the first coil to the j coil, respectively, and i1 * Or i j * Each of the first current to the nth current is expressed by the following formula: JPEG2025510931000007.jpg1863 It is characterized in that it is calculated using:

[0030] In one example, when the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is calculated by: (i) in the case of the kth object space relative coordinate point, performing a predetermined correction (the correction includes linear interpolation) by referring to each of the reference kth specific unit current magnetic flux density tables corresponding to at least two or more reference kth specific measurement coordinate points within a predetermined range from the kth object space relative coordinate point; and (ii) in the case of the (k+1)th object space relative coordinate point, performing the correction by referring to each of the reference (k+1)th specific unit current magnetic flux density tables corresponding to at least two or more reference (k+1)th specific measurement coordinate points within a predetermined range from the (k+1)th object space relative coordinate point. Effect of the Invention

[0031] The present invention has the effect of controlling the direction of a magnetic catheter by utilizing an external magnetic field, interacting with a user to assist the user in confirming and setting the position of the magnetic catheter, and also assisting the user in changing the direction of the external magnetic field.

[0032] In addition, the present invention has an advantage that the direction of the magnetic catheter can be controlled using an external magnetic field, and information regarding the direction of the external magnetic field can be continuously updated and provided.

[0033] In addition, the present invention has the effect of assisting in accurately calculating the current value that must be applied to each coil using a magnetic field generating device in order to generate an external magnetic field for controlling the direction of a magnetic catheter. [Brief description of the drawings]

[0034] The following drawings, which are attached to be used for explaining the embodiments of the present invention, are merely a part of the embodiments of the present invention, and a person having ordinary knowledge in the technical field to which the present invention pertains (hereinafter, "ordinary engineers") can derive each of the other drawings based on these drawings without performing any inventive work.

[0035] [Figure 1] 1 is a simplified diagram of a user interface providing device for providing a user interface for controlling a given magnetic catheter with an external magnetic field according to an embodiment of the present invention. [Figure 2a] 1 is a simplified diagram illustrating an entire system in which a user interface providing device is used according to an embodiment of the present invention, and a coil system included therein. [Figure 2b] 1 is a simplified diagram illustrating an entire system in which a user interface providing device is used according to an embodiment of the present invention, and a coil system included therein. [Diagram 3] 4 is a simplified flowchart of a user interface providing device for acquiring an image of a target space subject to an external magnetic field, determining a position of a magnetic catheter, and generating and modifying an external magnetic field, according to one embodiment of the present invention. [Figure 4a] 1 is a simplified diagram illustrating how an image of a target volume influenced by an external magnetic field is captured in accordance with one embodiment of the present invention, and the directions, coordinate space, and coordinate axes considered for changing the orientation of a magnetic catheter within the target volume. [Figure 4b] 1 is a simplified diagram illustrating how an image of a target volume influenced by an external magnetic field is captured in accordance with one embodiment of the present invention, and the directions, coordinate space, and coordinate axes considered for changing the orientation of a magnetic catheter within the target volume. [Figure 5a] 1 is a simplified diagram showing how a user interface providing device provides a user interface for controlling a specific magnetic catheter with an external magnetic field on a display linked thereto according to an embodiment of the present invention. [Figure 5b]1 is a simplified diagram showing how a user interface providing device provides a user interface for controlling a specific magnetic catheter with an external magnetic field on a display linked thereto according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] The following detailed description of the present invention will be made with reference to the accompanying drawings, which show, by way of example, specific embodiments in which the present invention may be practiced, in order to clarify the objects, technical solutions, and advantages of the present invention. These embodiments are described in sufficient detail to enable those of ordinary skill in the art to practice the present invention.

[0037] Moreover, throughout the detailed description of the present invention and the claims, the word "comprises" and variations thereof are not intended to exclude other technical features, additions, components or steps. Other objects, advantages and characteristics of the present invention will become apparent to those of ordinary skill in the art in part from the description and in part from the practice of the present invention. The following examples and drawings are provided as illustrations and are not intended to limit the present invention.

[0038] Moreover, the present invention covers all possible combinations of the embodiments shown herein. It should be understood that the various embodiments of the present invention are different from one another but are not necessarily mutually exclusive. For example, a particular shape, structure, and characteristic described herein may be embodied in another embodiment without departing from the spirit and scope of the present invention. It should also be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Therefore, the following detailed description is not intended to be taken in a limiting sense, and the scope of the present invention is limited only by the appended claims with the full scope of equivalents that such claims are entitled to, if properly interpreted. In the drawings, like reference numerals refer to the same or similar functions across the various aspects.

[0039] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to enable those skilled in the art to easily carry out the present invention.

[0040] FIG. 1 is a schematic diagram of a user interface providing device for providing a user interface for controlling a given magnetic catheter by an external magnetic field according to an embodiment of the present invention.

[0041] Referring to FIG. 1, the user interface providing device 110 may include a memory 111 that stores instructions for determining and transmitting position information, image information, and current value information for generating an external magnetic field related to the control of the magnetic catheter, and a processor 112 that supports the magnetic catheter to be controlled by generating an external magnetic field in accordance with the instructions stored in the memory 111.

[0042] Specifically, the user interface providing device 110 may typically utilize a combination of computing devices (e.g., devices that may include computer processors, memory, storage, input and output devices, and other components of existing computing devices; electronic communication devices such as routers, switches, etc.; electronic information storage systems such as network attached storage (NAS) and storage area networks (SAN)) and computer software (i.e., instructions that cause a computing device to function in a particular manner) to achieve the desired system performance.

[0043] The processor of the computing device may include hardware components such as a micro processing unit (MPU) or central processing unit (CPU), a cache memory, a data bus, etc. The computing device may further include software components such as an operating system and an application for performing a specific purpose.

[0044] However, this does not exclude the case where the computing device includes an integrated processor in which a medium, a processor and a memory for implementing the present invention are integrated.

[0045] The configuration of the user interface providing device 110 for providing a user interface for controlling a given magnetic catheter with an external magnetic field according to one embodiment of the present invention has been described above.

[0046] Hereinafter, a method for providing a user interface for controlling a given magnetic catheter with an external magnetic field using the user interface providing device 110 constructed as above will be described.

[0047] For reference, the contents related to coordinate systems will be described below based on a three-dimensional Cartesian coordinate system. However, depending on the implementation conditions of the invention, the coordinate system actually used may be mixed with other coordinate systems such as a spherical coordinate system, and in such cases, a conversion process between the coordinate systems may be further performed.

[0048] 2a and 2b are schematic diagrams illustrating an entire system in which a user interface providing device is used according to an embodiment of the present invention, and a coil system included therein.

[0049] 2a, a user interface providing device 110 for providing a user interface for controlling a given magnetic catheter with an external magnetic field may be linked to a display 120 for displaying the user interface. A user interface according to one embodiment of the present invention is shown in simplified form in Figures 5a and 5b, which will be described in detail below.

[0050] In addition, the user interface providing device 110 may be linked with a predetermined coil system 130 that controls the generation and change of an external magnetic field, and may support the generation or change of an external magnetic field in a target space 230 including a part of a treatment area of ​​a patient 10 who receives treatment using a predetermined magnetic catheter as a space affected by the external magnetic field. At this time, the magnetic catheter in the present invention is made of a material in which at least a part of the end portion is bent under the influence of a magnetic field, and the material may include at least a part of a permanent magnet (N52), silicone (polydimethylsiloxane, PDMS), and a ferromagnetic material. Also, referring to FIG. 2b showing the upper part of the coil system 130, it can be seen that the coil system 130 is composed of a plurality of coils 211, and each of the sub-magnetic fields generated by each of the coils 211 can be overlapped in the target space 230 to generate and change an external magnetic field.

[0051] In addition, the user interface providing device 110 may be linked to an object space image management device 210 that supports the user interface providing device 110 to obtain an object space image obtained by photographing the object space 230 according to a predetermined photographing condition and provide a user interface. In this case, the object space image management device 210 may be linked to an object space image photographing device 220 for photographing an image of the object space 230, and the photographed image may be, but is not limited to, a two-dimensional X-ray image.

[0052] FIG. 3 is a simplified flowchart of a user interface providing device 110 acquiring an image of a target space 230 affected by an external magnetic field, determining the position of a magnetic catheter, and generating and modifying an external magnetic field according to one embodiment of the present invention.

[0053] 3, the user interface providing device 110 may first obtain a k-th object space image from the object space image management device 210 (S101). At this time, the k-th object space image may be photographed using the k-th object space absolute coordinate point on the object space 230 as a photographing reference point, so that the center point of the k-th object space image may correspond to the k-th object space absolute coordinate point.

[0054] Thereafter, the user interface providing device 110 may display (S102) the acquired kth object space image in a first region of the display 120. Fig. 5a shows a simplified user interface displayed on the display 120 according to one embodiment of the present invention, and referring to Fig. 5a, it can be seen that the kth object space image 301 is displayed in the first region on the right side of the display 120 together with a predetermined center indication symbol corresponding to the kth object space absolute coordinate point 311, which is the shooting reference point.

[0055] Then, the user interface providing device 110 can confirm information regarding the kth object space relative coordinate point, which is either directly input by the user or automatically acquired through a predetermined method, by referring to the kth object space image 301 displayed on the display 120 as information regarding the position of the magnetic catheter, and display a predetermined kth selection display symbol at a position corresponding to the kth object space relative coordinate point (S103).

[0056] In this case, as an example of the invention, the kth object space relative coordinate point is a certain coordinate point in the object space 230 and therefore has a kth absolute coordinate value which is a coordinate value determined in advance based on the object space 230, but in order to help the user easily grasp the position, the user interface providing device 110 may further calculate a kth relative coordinate value which is a relative coordinate value indicating how many coordinate values ​​the kth object space relative coordinate point 311, which is a shooting reference point of the kth object space image 301, is separated from the kth object space relative coordinate point 320, and may display the kth absolute coordinate value and the kth relative coordinate value together on the display 120. Referring again to FIG 5a, it can be seen that the kth absolute coordinate value 541 and the kth relative coordinate value 542 corresponding to the kth object space relative coordinate point 320 are displayed in a specific partial area 540 at the upper right end which is a part of the first area on the right side of the display 120. 5a, for the sake of convenience, the kth object space absolute coordinate point 311 is assumed to be the origin of the object space 230, and the kth absolute coordinate value 541 and the kth relative coordinate value 542 of the kth object space relative coordinate point 320 are displayed as being the same. In addition, the positions at which the kth absolute coordinate value 541 and the kth relative coordinate value 542 are displayed are not limited to a specific partial region 540, and they may be displayed in a predetermined third region depending on the implementation conditions of the invention.

[0057] As another example of the invention, the user may further be displayed whether the entire system including the user interface providing device 110 is currently in operation 541, and thereby the user interface providing device 110 may assist the user in determining whether the magnetic catheter is currently controllable.

[0058] As another example of the present invention, the user interface providing device 110 may display a predetermined k-th selection display symbol at a position corresponding to the k-th object space relative coordinate point 320, and the k-th selection display symbol may be a symbol of a predetermined shape having a predetermined hue, brightness, and saturation. Based on a state in which the k-th object space image 301 is displayed on the display 120, the user interface providing device 110 may set a coordinate axis corresponding to a horizontal direction as the image X-axis, set a coordinate axis corresponding to a vertical direction as the image Y-axis, and set an axis perpendicular to a plane formed by the image X-axis and image Y-axis as the image Z-axis. In this state, the user interface providing device 110 may display the kth selected display symbol by changing at least one of the hue, brightness, and saturation according to the coordinate value corresponding to the image Z axis in the coordinate information of the kth object space relative coordinate point 320. For example, when the coordinate value of the kth object space relative coordinate point 320 is expressed as [image X-axis coordinate value, image Y-axis coordinate value, image Z-axis coordinate value], at least one of the hue, brightness, and saturation may be adjusted and set so that the kth selected display symbol is expressed darker or lighter in the case of [0,0,2] than in the case of [0,0,1]. In this way, the user interface providing device 110 may support the user to select a vertical coordinate corresponding to the image Z axis even when the kth object space image 301 is a two-dimensional image.

[0059] Thereafter, the user interface providing device 110 may set a predetermined k-th sub-coordinate space (S104). At this time, the k-th sub-coordinate space may be set to have a coordinate axis corresponding to the previously acquired k-th object space image 301 and the k-th object space relative coordinate point 320 by referring to the coordinate information corresponding to the k-th object space image 301 and the coordinate information corresponding to the k-th object space relative coordinate point 320. FIG. 4a shows a method for capturing an object space image of an object space 230 influenced by an external magnetic field according to one embodiment of the present invention, and the directions, coordinate space, and coordinate axes considered for changing the direction of the magnetic catheter 20 within the object space 230. Referring to FIG. 4a, the kth sub-coordinate space can be set to include, as its coordinate axes, a horizontal axis 321 including coordinate points corresponding to the horizontal direction of the kth object space image 301 based on the origin, a vertical axis 322 including coordinate points corresponding to the vertical direction of the kth object space image 301 based on the origin, and an axis 323 perpendicular to the kth object space image 301 based on the origin, with the kth object space relative coordinate point 320 as the origin. For reference, the meaning of "sub-coordinate space" is a term used to explain that it is a coordinate space having coordinate axes different from the target space X-axis 231, the target space Y-axis 232, and the target space Z-axis 233 corresponding to the target space 230, and it should be clarified that the entire space of the "sub-coordinate space" itself can be the same as the target space 230. The user interface providing device 110 can set one of the k-th reference coordinate axes 321, 322, and 323 of the k-th sub-coordinate space, which can be set differently depending on the implementation conditions of the invention, but for convenience of explanation, the following description will be made assuming that the horizontal axis 321 having a positive coordinate value with respect to the origin is set as the k-th reference coordinate axis.

[0060] In the following description, a time interval from when the k-th object space image 301 is acquired to when the (k+1)-th object space image is acquired by re-imaging the object space 230 after the position of the magnetic catheter is changed is defined as a T_k-th time interval, and the T_k-th time interval includes a T_k_1-th time point, a T_k_2-th time point, ..., a T_k_p-th time point, where k is an integer equal to or greater than 1 and p is an integer equal to or greater than 2. It should be noted that a time point when the k-th object space relative coordinate point 320 is selected is defined as a T_k_1-th time point, and each time point when an external magnetic field is applied to or changed on the k-th object space relative coordinate point 320 is defined as a T_k_2-th time point through the T_k_p-th time point, respectively.

[0061] Thereafter, the user interface providing device 110 may obtain information on the direction in which the magnetic catheter is heading at the T_k_1 time point with respect to the k-th reference coordinate axis as the T_k_1 yaw and T_k_1 pitch (S105). In this case, when the axis of the direction having a positive coordinate value with respect to the origin on the horizontal axis 321 in the k-th sub-coordinate space is the k-th reference coordinate axis, the T_k_1 yaw may be a value indicating how much the magnetic catheter is tilted on the plane formed by the horizontal axis 321 and the vertical axis 322 with respect to the k-th reference coordinate axis, and the T_k_1 pitch may be a value indicating how much the magnetic catheter is tilted on the axis 323 perpendicular to the plane formed by the horizontal axis 321 and the vertical axis 322. Referring again to FIG. 4a, the T_k_1 yaw and T_k_1 pitch may be determined so as to correspond to the direction 331 in which the magnetic catheter 20 is heading initially. At this time, the T_k_1 yaw and T_k_1 pitch may be input and obtained by the user according to the implementation conditions of the invention, or may be automatically measured and obtained by the user interface providing device 110, and are not limited to any one method.

[0062] Thereafter, the user interface providing device 110 may display the k-th visualization coordinate space visualized to correspond to the k-th sub-coordinate space in the 2_1 region of the display (S106). At this time, the k-th visualization coordinate space is a three-dimensional space and may include, as coordinate axes, a visualization X-axis, a visualization Y-axis perpendicular to the visualization X-axis, and a visualization Z-axis perpendicular to a plane formed by the visualization X-axis and the visualization Y-axis, and in order to correspond to the k-th object space image 301 displayed on the display 120, the user interface providing device 110 may determine, to correspond to each of the visualization X-axis, visualization Y-axis, and visualization Z-axis, respectively, with reference to the image X-axis, image Y-axis, and image Z-axis. Referring again to FIG. 5a, it can be seen that the kth visualization coordinate space is displayed in the 2_1 area 520 corresponding to the middle of the left side of the display 120, and that the kth visualization coordinate space includes a visualization X axis 521, a visualization Y axis 522, and a visualization Z axis 523, and that it is displayed to correspond to the image X axis, image Y axis, and image Z axis of the kth object space image 301 displayed on the right side of the display 120.

[0063] Thereafter, the user interface providing device 110 may display a predetermined T_k-th current graphic element in a direction corresponding to the T_k_1-th yaw and T_k_1-th pitch on the k-th visualization coordinate space based on the origin of the k-th visualization coordinate space (S107). This is to visualize and display information on the direction in which the magnetic catheter is facing at the T_k_1-th time point by the user, and thereafter, the direction of the T_k-th current graphic element may be changed to correspond to the direction of the external magnetic field that is generated and changed with respect to the k-th object space relative coordinate point 320 for each of the T_k_2-th to T_k_p-th time points included in the T_k time period, and this may be performed through the following process.

[0064] At a time T_k_q, which is a specific time among the time T_k_2 to the time T_k_p, the user interface providing device 110 may check (S108) the T_k_q yaw, the T_k_q pitch, the T_k_q desired magnetic field strength information, and the T_k_q magnetic field generation start command information, which are information about the T_k_q magnetic field generated at the time T_k_q for the k object space relative coordinate point 320 from after the time T_k_(q-1) to before the time T_k_q, where q is an integer between 2 and p. In addition, the intervals between each of the T_k_2 time points through the T_k_p time points may be set to be the same, but this is not limited to this, and the intervals between the T_k_(q-1) time point and the T_k_q time point may be set variably depending on whether the T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information and T_k_q magnetic field generation start command information are confirmed.

[0065] Thereafter, if the T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information, and T_k_q magnetic field generation start command information are confirmed, the user interface providing device can change the T_k current graphic element displayed in a direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to the T_k_(q-1) time point by referring to the confirmed T_k_q yaw, T_k_q pitch, and T_k_q desired magnetic field strength information, to a direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to the T_k_q time point, and display it (S109). At this time, the user interface providing device 110 can update and display each of the T_k_q pitch to the T_k_p pitch in the 2_2 region of the display 120, and can update and display the T_k_q desired magnetic field strength information in the 2_3 region of the display 120. That is, as time passes from time T_k_2 to time T_k_p, the direction of the T_k-th current graphic element can be continuously updated and displayed in the k-th visualization coordinate space displayed in the 2_1 region of the display 120 according to the directions of the external magnetic field corresponding to time T_k_2 to time T_k_p, respectively. That is, the user interface providing device 110 can repeatedly perform a process of determining whether time T_k_p has been reached (S110) and updating and displaying the T_k-th current graphic element for each of time T_k_2 to time T_k_p until time T_k_p is reached.

[0066] Referring again to FIG. 5a, FIG. 5a shows a user interface that can be provided when an external magnetic field is generated in a specific direction 333 with respect to the kth object space relative coordinate point 320 after a certain time has elapsed since the T_k_1 time point, as one embodiment of the present invention. At this time, it can be seen that the T_kth current graphic element 601 is displayed in the kth visualization coordinate space displayed in the 2_1 area 520 of the display 120 so as to correspond to the specific direction 333, and based on the above description, it can be seen that the direction in which the T_kth current graphic element 601 is facing can be continuously updated and displayed after the relevant time point.

[0067] In addition, as an example of the invention, if a target direction to which the magnetic catheter 20 should move can be determined in advance based on the k-th object space relative coordinate point 320 when the magnetic catheter 20 reaches the T_k_p time point, which is the last time point of the T_k time period, the direction of the T_k_p magnetic field to be generated for the k-th object space relative coordinate point 320 at the T_k_p time point corresponding to the target direction can be determined, and the user interface providing device 110 can obtain the T_k_p yaw and T_k_p pitch corresponding to the determined T_k_p magnetic field direction before the T_k_p time point. Referring again to FIG. 4a, if it is determined that the magnetic catheter 20 should be controlled to move to the left direction 332 of the branch point when the T_k_p time point is reached, the user interface providing device 110 can further obtain the T_k_p yaw and T_k_p pitch corresponding to the left direction 332 of the branch point. At this time, information on the T_k_p yaw and T_k_p pitch corresponding to the target direction may be input and acquired by the user, or may be automatically determined and acquired by the user interface providing device 110, and is not limited to either one method. Also, the user interface providing device 110 may display a predetermined T_k start graphic element in a direction corresponding to the T_k_1 yaw and T_k_1 pitch, and may display a predetermined T_k target graphic element in a direction corresponding to the T_k_p yaw and T_k_p pitch, thereby supporting the user to easily understand the direction of the magnetic catheter 20 and the corresponding current direction of the external magnetic field in comparison with the start direction and the target direction. Referring again to FIG. 5a, it can be seen that the kth visualization coordinate space displayed in the 2_1 area 520 of the display 120 further displays a T_kth start graphic element 602 corresponding to the direction 331 corresponding to the T_k_1th yaw and T_k_1th pitch, and also displays a T_kth target graphic element 603 corresponding to the direction 332 corresponding to the T_k_pth yaw and T_k_pth pitch previously acquired by the user interface providing device 110.

[0068] As another example of the invention, each of the T_kth start graphic element 602, the T_kth current graphic element 601, and the T_kth target graphic element 603 may be displayed in the kth visualization coordinate space by determining that at least one of the hue, brightness, and saturation is changed according to the magnitude of the numerical value corresponding to the visualization Z-axis 523 in the kth visualization coordinate space. For example, each of the T_kth start graphic element 602, the T_kth current graphic element 601, and the T_kth target graphic element 603 may be displayed in a darker or lighter color according to the numerical value corresponding to the visualization Z-axis 523 of the kth visualization coordinate space, i.e., how much the visualization Z-axis 523 is tilted in the positive or negative direction.

[0069] Thereafter, when the T_k_p time point is reached, the T_k_p magnetic field can be generated for the kth object space relative coordinate point 320, and the user interface providing device 110 can obtain (S111) the (k+1)th object space image 302 from the object space image management device 210 by re-capturing the object space 230 with the magnetic catheter 20 moved to a new position after the T_k_p time point. In this case, the shooting reference point of the (k+1)th object space image 302 may be in a state where the kth object space absolute coordinate point 311 is maintained, or may be a (k+1)th object space absolute coordinate point different from the kth object space absolute coordinate point 311. However, the (k+1)th object space relative coordinate point selected corresponding to the new position to which the magnetic catheter 20 is moved may be a relative coordinate point based on the kth object space absolute coordinate point 311 if the (k+1)th object space image 302 is re-photographed using the kth object space absolute coordinate point 311 as the shooting reference point, and may be a relative coordinate point based on the (k+1)th object space absolute coordinate point if the (k+1)th object space image 302 is re-photographed using the (k+1)th object space absolute coordinate point different from the kth object space absolute coordinate point 311 as the shooting reference point.

[0070] 4b shows an example of a (k+1)th object space image 302 that is re-captured under changed imaging conditions compared to the kth object space image 301 shown in FIG. 4a. Referring to FIG. 4b, the (k+1)th object space image 302 can be re-captured and acquired at a changed imaging angle 327 while the imaging coordinate point is maintained at the kth object space absolute coordinate point 311 that is the same as that of the kth object space image 301. In this state, when the (k+1)th object space relative coordinate point 340 is selected as a new position to which the magnetic catheter 20 is moved, new coordinate axes 341, 342, and 343 forming the (k+1)th sub-coordinate space with the (k+1)th object space relative coordinate point 340 as the origin may be inclined by the changed imaging angle 327 compared to the coordinate axes 321, 322, and 323 of the kth sub-coordinate space. The (k+1)th object space relative coordinate point 340 may be a relative coordinate point with the kth object space absolute coordinate point 311 as the reference.

[0071] In addition, in FIG. 5b, according to one embodiment of the present invention, the (k+1)th object space image 302 photographed again in the above-described process is updated and displayed in the first area on the right side of the display 102, and the (k+1)th visualization coordinates consisting of a new visualization X-axis 524, a new visualization Y-axis 525, and a new visualization Z-axis 526 corresponding to the coordinate axes 341, 342, and 343 of the (k+1)th sub-coordinate space are updated and displayed in the 2_1 area 520 of the display 102. The T_(k+1)_1 yaw and T_(k+1)_1 pitch values ​​based on the (k+1)th reference coordinate axis corresponding to the positive direction of the horizontal axis 341 among the coordinate axes 341, 342, and 343 of the (k+1) sub-coordinate space are updated and displayed in the 2_2 area 510 of the display 120, and since it is assumed that the state before the command to generate an external magnetic field is issued is at the T_(k+1)_1 time point, the desired magnetic field strength information is processed as 0 and updated and displayed in the 2_3 area 530 of the display 120. In addition, on the (k+1)th reference coordinate axis, the T_(k+1)th current graphic element 604 is displayed in a direction corresponding to the T_(k+1)_1th yaw and T_(k+1)_1th pitch values. Since the (k+1)th object space image 302 is captured and acquired at a changed angle 327 compared to the kth object space image 301, the T_(k+1)th current graphic element displayed at this time reflects the changed angle 327 and can be displayed with at least one value among the hue, lightness, and saturation set differently compared to the T_k_pth current graphic element 601 previously displayed at time point T_k_p.

[0072] In addition, as an example of the invention, the T_k_p magnetic field generated for the kth object space relative coordinate point 320 at the T_k_p time point has an effect in the same direction even within a predetermined range based on the kth object space relative coordinate point 320, so that if the magnetic catheter 20 moves within a predetermined range influenced by the T_k_p magnetic field from the kth object space relative coordinate point 320 after the T_k_p time point, the direction of the magnetic catheter 20 can be maintained and moved in the same direction. When the movement of the magnetic catheter 20 is completed, the user interface providing device 110 can stop generating the T_k_p magnetic field using the coil system 130 and then perform a process of acquiring the (k+1)th object space image 302 from the object space image management device 210. That is, after time T_k_p, when the magnetic catheter 20 located at the kth object space relative coordinate point 320 moves to the (k+1)th object space relative coordinate point 340 located within a predetermined range influenced in the same direction as the T_k_p magnetic field generated for the kth object space relative coordinate point 320, the user interface providing device 110 can set the T_(k+1)_1 yaw and T_(k+1)_1 pitch to be the same as the direction in which the magnetic catheter 20 is heading, by referring to the T_k_p yaw and T_k_p pitch and the kth reference coordinate axis as information regarding the direction in which the magnetic catheter 20 is heading, at time T_(k+1)_1 when the (k+1)th object space relative coordinate point 340 is selected as the new position of the magnetic catheter 20 after the (k+1)th object space image 302 is acquired.For example, referring again to FIG. 4b, when the (k+1)th object space image 302 is photographed again at a changed photographing angle 327 compared to the kth object space image 301 as shown in FIG. 4b, the T_k_p yaw and T_k_p pitch values ​​are numerical values ​​based on the kth reference coordinate axis of the kth sub-coordinate space, and compared to the kth reference coordinate axis, the (k+1)th reference coordinate axis of the (k+1)th sub-coordinate space corresponding to the (k+1)th object space image 302 changes its axis direction to reflect the changed photographing angle 327. Therefore, the user interface providing device 110 can set the T_(k+1)_1 yaw and T_(k+1)_1 pitch by referring to the T_k_p yaw and T_k_p pitch and taking into consideration the kth reference coordinate axis serving as the reference.

[0073] As described above, the process after the (k+1)th object space image is acquired, the T_(k+1)th time interval is started, the (k+1)th object space relative coordinate point is selected, and the (k+1)th sub-coordinate space is set is similar to the process after the kth object space image is acquired, the T_kth time interval is started, the kth object space relative coordinate point is selected, and the kth sub-coordinate space is set, and therefore a detailed description thereof will be omitted.

[0074] Hereinafter, as an example of the present invention, a specific method for generating an external magnetic field by a predetermined coil system 130 linked to the user interface providing device 110 will be described.

[0075] For reference, the content of the coil system 130 generating and changing the external magnetic field in the T_k time period, which is the time period from when the kth object space image 301 is acquired to when the (k+1)th object space image 302 is acquired again, can be similarly applied to the T_(k+1) time period, which is the time period from when the (k+1)th object space image 302 is acquired to when the (k+2)th object space image is acquired again, so only the case of the T_k time period will be described and the description of the T_(k+1) time period will be omitted.

[0076] The external magnetic field in the present invention is linked to the user interface providing device 110 and can be generated and changed by a predetermined coil system 130 including the first coil to j-th coil 211. At this time, the first current to j-th current are applied to the first coil to j-th coil 211 correspondingly to generate the first sub-magnetic field to j-th sub-magnetic field, and the first sub-magnetic field to j-th sub-magnetic field are superimposed to generate the external magnetic field. And, the first current to j-th current to be applied to the first coil to j-th coil 211 corresponding to the T_k_q time point can be determined by the T_k_q magnetic field command corresponding to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information.

[0077] In this case, as an example of the invention, the user interface providing device 110 may store information on a unit current magnetic flux density previously measured at each of a plurality of measurement coordinate points among the global coordinate points in the object space 230 in relation to a unit current magnetic field generated as an external magnetic field when a predetermined unit current is applied as a first current to a jth current to each of the first coil to the jth coil 211 in a unit current magnetic flux density table corresponding to each of the measurement coordinate points. In addition, when the kth object space relative coordinate point 320 is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), A(P) can be expressed as a matrix as follows: JPEG2025510931000008.jpg1984

[0078] At this time, A(P) is A x1 (P) or A xj (P), A y1 (P) or A yj (P), and A z1 (P) or A zj (P) and A xj (P) is the j_1-th unit current magnetic flux density of the j-th sub-magnetic field generated by the j-th coil 211 so as to correspond to the X-axis 231 of the target space 230, which is the first direction of the target space 230 with respect to P, Ayj (P) is the j_2-th unit current magnetic flux density of the j-th sub-magnetic field generated by the j-th coil 211 so as to correspond to the Y-axis 232 of the target space, which is a second direction perpendicular to the first direction of the target space 230 with respect to P, A zj (P) means the j_3rd unit current magnetic flux density of the jth sub-magnetic field generated by the jth coil 211 to correspond to the target space Z-axis 233, which is a third direction perpendicular to the plane formed by the target space X-axis 231 and the target space Y-axis 232 with respect to P.

[0079] Then, the T_k_q magnetic field command for P is B ref When (P), B ref (P) is A(P)I as follows: * It can be expressed as: JPEG2025510931000009.jpg19104

[0080] At this time, I * are matrices of the first current to the jth current applied to the first coil to the jth coil 211, respectively, and i1 * Or i j * may include.

[0081] Therefore, each of the first current to the nth current can be calculated by the following formula: JPEG2025510931000010.jpg2063

[0082] Next, as an example of the present invention, the kth object space relative coordinate point 320 may not be one of the measurement coordinate points. In such a case, the unit current magnetic flux density table corresponding to the kth object space relative coordinate point 320 may be calculated by performing a predetermined correction with reference to each of the kth specific unit current magnetic flux density tables corresponding to at least two or more reference kth specific measurement coordinate points each within a predetermined range from the kth object space relative coordinate point 320. In this case, the correction method may be, but is not limited to, a linear interpolation method.

[0083] When configuring a catheter treatment system based on the present invention as described above, there is an advantage that it is not necessary to develop a new device for displaying and managing visualization information for the treatment space and catheters individually for each system, and existing X-ray imaging devices, etc. can be used as is to implement the present invention.

[0084] In addition, the above-described embodiments of the present invention may be embodied in the form of program instructions that can be executed by various computer components and stored in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions stored in the computer-readable recording medium may be specially designed and constructed for the present invention, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions, such as ROMs, RAMs, flash memories, and the like. Examples of program instructions include not only machine language codes, such as those produced by a compiler, but also high-level language codes executed by a computer using an interpreter, and the like. The hardware devices may be configured to operate as one or more software modules to execute the processes of the present invention, and vice versa.

[0085] Although the present invention has been described above using specific details such as specific components and limited examples and drawings, this is provided merely to aid in a more general understanding of the present invention, and the present invention is not limited to the above examples. Various modifications and variations may be made from such descriptions by those having ordinary knowledge in the technical field to which the present invention pertains.

[0086] Therefore, the concept of the present invention should not be limited to the embodiments described above, and all modifications equivalent to or equivalent to the scope of the claims, as well as the scope of the claims described below, are within the scope of the concept of the present invention.

Claims

1. A method for providing a user interface, comprising: (a) when a kth object space image, which is photographed with a kth object space absolute coordinate point (where k is an integer equal to or greater than 1) on a given object space affected by an external magnetic field, is acquired from an object space image management device linked to a user interface providing device, (i) the user interface providing device performs a process of displaying the kth object space image in a first region of a display linked to the user interface providing device, and (ii) when information is confirmed that a kth object space relative coordinate point, which is a relative coordinate point based on the kth object space absolute coordinate point and corresponds to a position of a magnetic catheter located within the object space, is selected, the user interface providing device performs a process of displaying a kth selection display symbol at a position corresponding to the kth object space relative coordinate point on the kth object space image; (b) a time interval from a time when the kth object space image is acquired to a time when the (k+1)th object space image is acquired by re-imaging the object space after the position of the magnetic catheter is changed is defined as a T_k-th time interval (the T_k-th time interval includes a T_k_1-th time point, a T_k_2-th time point, ..., a T_k_p-th time point, where p is an integer equal to or greater than 2), a time when the kth object space relative coordinate point is selected is defined as the T_k_1 time point, and times when the external magnetic field is applied to or changed on the kth object space relative coordinate point are defined as the T_k_2 time point to the T_k_p time point, respectively; (b1) the user interface providing device (i) refers to coordinate information of the kth object space image and the kth object space relative coordinate point, and corresponds to the kth object space image with the kth object space relative coordinate point as an origin. (ii) performing a process of acquiring information regarding a direction in which the magnetic catheter is facing at the T_k_1 time point as T_k_1 yaw and T_k_1 pitch based on a predetermined k-th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the k sub-coordinate space; (b2) the user interface providing device (i) performing a process of displaying the k-th visualization coordinate space visualized to correspond to the k sub-coordinate space in a 2_1 area of ​​the display; and (ii) performing a process of displaying a predetermined T_k current graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k visualization coordinate space based on an origin of the k visualization coordinate space;(b3) at a time T_k_q (where q is an integer between 2 and p) which is a specific time among the time T_k_2 to the time T_k_p, if T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information and T_k_q magnetic field generation start command information which are information regarding the T_k_q magnetic field generated at the T_k_q time point for the k object space relative coordinate point from after the time T_k_(q-1) to before the time T_k_q are confirmed, the user interface providing device: (i) generates the T_k_(q- 1) a process of changing the T_k current graphic element displayed in a direction corresponding to a T_k_(q-1) yaw and a T_k_(q-1) pitch corresponding to a time point to a direction corresponding to a T_k_q yaw and a T_k_q pitch corresponding to the T_k_q time point, and displaying the changed graphic element; (ii) a process of updating and displaying each of the T_k_q pitches through the T_k_p pitches in a 2_2 region of the display; and (iii) a process of updating and displaying the T_k_q desired magnetic field strength information in a 2_3 region of the display, for each of the T_k_2 time points through the T_k_p time points; The method includes:

2. After step (b), (c) after the T_k_p magnetic field is generated for the k object space relative coordinate point at the T_k_p time point, if the position of the magnetic catheter is moved after the T_k_p time point and the (k+1) object space image obtained by photographing the object space again is acquired from the object space image management device, (i) the user interface providing device performs a process of updating and displaying the (k+1) object space image in the first area of ​​the display, (ii) the (k+1) object space relative coordinate point (the (k+1) object space relative coordinate point corresponds to the position to which the magnetic catheter is moved) corresponding to the (k+1) object space image. when the (k+1)th object space image is photographed again with the k-th object space absolute coordinate point as the photographing reference point, the (k+1)th object space image is photographed again with the (k+1)th object space absolute coordinate point different from the k-th object space absolute coordinate point as the photographing reference point, the (k+1)th object space image is photographed again with the (k+1) ... (d) A time interval from a time when the (k+1)th object space image is acquired to a time when the (k+2)th object space image is acquired by photographing the object space again after the position of the magnetic catheter is changed is defined as a T_(k+1)th time interval (the T_(k+1)th time interval includes a T_(k+1)_1th time point, a T_(k+1)_2th time point, ..., a T_(k+1)_mth time point, where k is an integer equal to or greater than 1 and m is an integer equal to or greater than 2), and a time when the (k+1)th object space relative coordinate point is selected is defined as a T_(k+1)th time interval (the T_(k+1)th time point, a T_(k+1)_2th time point, ..., a T_(k+1)_mth time point, where k is an integer equal to or greater than 1 and m is an integer equal to or greater than 2). When a time point T_(k+1)_1 is taken as a time point, and the times at which the external magnetic field is applied or changed to the (k+1) object space relative coordinate point are taken as the T_(k+1)_2 to T_(k+1)_m times, respectively, (d1) the user interface providing device (i) calculates the (k+1) object space image by referring to coordinate information of the (k+1) object space image and the (k+1) object space relative coordinate point, with the (k+1) object space relative coordinate point as an origin. (ii) performing a process of setting a predetermined (k+1)th sub-coordinate space having a coordinate axis corresponding to a predetermined (k+1)th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1)th sub-coordinate space, and acquiring information regarding a direction in which the magnetic catheter is heading at the T_(k+1)_1 time point as T_(k+1)_1th yaw and T_(k+1)_1 pitch based on the predetermined (k+1)th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1)th sub-coordinate space; (d2) performing a process of acquiring information regarding a direction in which the magnetic catheter is heading at the T_(k+1)_1 time point as T_(k+1)_1th yaw and T_(k+1)_1 pitch based on the predetermined (k+1)th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1)th sub-coordinate space; The device performs a process of (i) updating and displaying the (k+1)th visualization coordinate space visualized to correspond to the (k+1)th sub-coordinate space in a 2_1 region of the display, and (ii) displaying a T_(k+1)th current graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1)th visualization coordinate space based on an origin of the (k+1)th visualization coordinate space;(d3) At a time T_k_n (n is an integer between 2 and m) which is a specific time among the time T_(k+1)_2 to the time T_(k+1)_m, if T_(k+1)_n yaw, T_(k+1)_n pitch, T_(k+1)_n desired magnetic field strength information and T_(k+1)_n magnetic field generation start command information are confirmed, which are information about the T_(k+1)_n magnetic field generated at the T_(k+1)_n time point with respect to the (k+1) object space relative coordinate point from after the T_(k+1)_(n-1) time point until before the T_(k+1)_n time point, the user interface providing device: (i) generates the T_(k+1)_n magnetic field generation start command information by referring to the T_(k+1)_n yaw, T_(k+1)_n pitch and T_(k+1)_n desired magnetic field strength information, respectively, at the time T_(k+1)_n a process of changing the T_(k+1) current graphic element displayed in a direction corresponding to the T_(k+1)_(n-1) yaw and T_(k+1)_(n-1) pitch corresponding to the (k+1)_(n-1) time point to a direction corresponding to the T_(k+1)_n yaw and T_(k+1)_n pitch corresponding to the T_(k+1)_n time point, (ii) a process of updating and displaying each of the T_(k+1)_n pitch to the T_(k+1)_n pitch in the 2_2 region of the display, and (iii) a process of updating and displaying the T_(k+1)_n desired magnetic field strength information in the 2_3 region of the display, for each of the T_(k+1)_2 time point to the T_(k+1)_m time point; The method of claim 1 further comprising:

3. In the step (b1), The user interface providing device further performs a process of acquiring T_k_p yaw and T_k_p pitch, which are information regarding a target direction of the T_k_p magnetic field generated at the T_k_p time point with respect to the kth object space relative coordinate point; In the step (b2), The user interface providing device further performs a process of (i) displaying a predetermined T_k-th start graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k visualization coordinate space based on an origin of the k visualization coordinate space, and (ii) displaying a predetermined T_k-th target graphic element in a direction corresponding to the T_k_p yaw and the T_k_p pitch on the k visualization coordinate space, In the step (d1), The user interface providing device further performs a process of acquiring T_(k+1)_m yaw and T_(k+1)_m pitch, which are information regarding a target direction of the T_(k+1)_m magnetic field generated at the T_(k+1)_m time point with respect to the (k+1) object space relative coordinate point; In the step (d2), 3. The method of claim 2, wherein the user interface providing device further performs a process of (i) displaying a predetermined T_(k+1)th start graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1) visualization coordinate space based on an origin of the (k+1) visualization coordinate space, and (ii) displaying a predetermined T_(k+1)th target graphic element in a direction corresponding to the T_(k+1)_m yaw and the T_(k+1)_m pitch on the (k+1) visualization coordinate space.

4. In the step (d1), 4. The method of claim 3, wherein the user interface providing device refers to the T_k_p yaw, T_k_p pitch and the kth reference coordinate axis of the T_k_p magnetic field generated for the kth object space relative coordinate point at the T_k_p time point, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information about the direction in which the magnetic catheter is heading based on the (k+1) reference coordinate axis at the T_(k+1)_1 time point, to be the same as the T_k_p yaw and T_k_p pitch based on the kth reference coordinate axis.

5. In the step (a), The user interface providing device further performs a process of setting a k_1th direction corresponding to a horizontal direction of the kth object space image as an image X-axis, setting a k_2th direction corresponding to a vertical direction of the kth object space image as a direction perpendicular to the k_1th direction of the kth object space image as an image Y-axis, and setting a coordinate axis perpendicular to a plane formed by the image X-axis and the image Y-axis as an image Z-axis, The kth selection display symbol corresponding to the kth object space relative coordinate point is determined so that at least one of hue, brightness, and saturation is changed according to a predetermined criterion according to a coordinate value of the kth object space relative coordinate point corresponding to the image Z-axis, and is displayed on the kth object space image; In the step (c), The user interface providing device further performs a process of updating and setting a (k+1)_1th direction corresponding to a horizontal direction of the (k+1)th object space image as the image X-axis, updating and setting a direction perpendicular to the (k+1)_1th direction of the (k+1)th object space image as a (k+1)_2th direction corresponding to a vertical direction of the (k+1)th object space image as the image Y-axis, and updating and setting a coordinate axis perpendicular to a plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis, The method of claim 2, wherein the (k+1)th selection display symbol corresponding to the (k+1)th object space relative coordinate point is determined to have at least one of hue, lightness, and saturation changed according to the coordinate value of the (k+1)th object space relative coordinate point corresponding to the image Z-axis, and is displayed on the second object space image.

6. Each of the k visualization coordinate space and the (k+1) visualization coordinate space is a three-dimensional space including a visualization X axis, a visualization Y axis perpendicular to the visualization X axis, and a visualization Z axis perpendicular to a plane formed by the visualization X axis and the visualization Y axis, as coordinate axes; The visualization X-axis, the visualization Y-axis, and the visualization Z-axis are determined to correspond to each other with reference to the image X-axis, the image Y-axis, and the image Z-axis, respectively; 6. The method of claim 5, wherein each of the T_k start graphic element, the T_k current graphic element, the T_k target graphic element, the T_(k+1) start graphic element, the T_(k+1) current graphic element, and the T_(k+1) target graphic element is determined so that at least one of hue, lightness, and saturation changes depending on the magnitude of a numerical value corresponding to the visualization Z-axis in the k visualization coordinate space or the (k+1) visualization coordinate space, and is displayed in the k visualization coordinate space or the (k+1) visualization coordinate space.

7. In the step (a), The user interface providing device further performs a process of displaying (i) a kth relative coordinate value obtained by relatively calculating a coordinate value of the kth object space relative coordinate point with respect to a coordinate value of the kth object space absolute coordinate point as an origin, and (ii) a kth absolute coordinate value obtained by converting the kth relative coordinate value into a coordinate value in the object space in a specific partial region that is at least a part of the first region of the display or a predetermined third region, In the step (c), 3. The method of claim 2, wherein the user interface providing device further performs a process of updating and displaying (i) a (k+1)th relative coordinate value obtained by relatively calculating the coordinate value of the (k+1)th object space relative coordinate point using the coordinate value of the (k+1)th object space absolute coordinate point as an origin, and (ii) a (k+1)th absolute coordinate value obtained by converting the (k+1)th relative coordinate value into a coordinate value in the object space in the specific partial area or the third area, which is at least a part of the first area of ​​the display.

8. The external magnetic field is generated by a predetermined coil system including a first coil through a jth coil, the first coil through the jth coil being connected to the user interface providing device, and a first current through a jth current are applied to the first coil through the jth coil, respectively, to generate a first sub-magnetic field through a jth sub-magnetic field, and the first sub-magnetic field through the jth sub-magnetic field are superimposed to generate the external magnetic field; 3. The method of claim 2, wherein the first current to the j current to be applied to the first coil to the j coil corresponding to the T_k_q time point or the T_(k+1)_m time point, respectively, are determined by a T_k_q magnetic field command corresponding to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information at the T_k_q time point, and (ii) by a T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_(k+1)_m desired magnetic field strength information at the T_(k+1)_m time point.

9. In the user interface providing device, when a predetermined unit current is applied to each of the first coil through the j coil as the first current through the j current, information regarding a unit current magnetic flux density previously measured at each of a plurality of measurement coordinate points among the global coordinate points in the target space in association with the unit current magnetic field generated as the external magnetic field is stored in a unit current magnetic flux density table corresponding to each of the measurement coordinate points, When the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), A(P) is: (The above A(P) is A ｘ１ (P) or A ｘｊ (P), A ｙ１ (P) or A ｙｊ (P), and A ｚ１ (P) or A ｚｊ (P) ｘｊ (P) is the j_1-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the X-axis of the object space, which is the first direction of the object space, with respect to P; A ｙｊ (P) is the j_2-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Y-axis of the object space, which is the second direction of the object space perpendicular to the first direction of the object space with respect to P; A ｚｊ (P) is the j_3-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the object space Z-axis, which is a third direction of the object space perpendicular to a plane formed by the object space X-axis and the object space Y-axis with respect to P, The T_k_q magnetic field command or the T_(k+1)_m magnetic field command for P is B ｒｅｆ When (P), the above B ｒｅｆ (P) is expressed as follows: A(P)I ＊ (See above I ＊ is a matrix of the first current through the j current applied to the first coil through the j coil, respectively, and corresponds to each of the first current through the j current. １ ＊ Or i ｊ ＊ (including Each of the first current to the nth current is expressed by the following formula:

9. The method of claim 8, wherein the calculation is performed using:

10. 10. The method of claim 9, wherein, when the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is calculated by: (i) in the case of the kth object space relative coordinate point, performing a predetermined correction (the correction includes a linear interpolation method) with reference to each of the reference kth specific unit current magnetic flux density tables corresponding to at least two or more reference kth specific measurement coordinate points within a predetermined range from the kth object space relative coordinate point; and (ii) in the case of the (k+1)th object space relative coordinate point, performing the correction with reference to each of the reference (k+1)th specific unit current magnetic flux density tables corresponding to at least two or more reference (k+1)th specific measurement coordinate points within a predetermined range from the (k+1)th object space relative coordinate point.

11. A user interface providing device, at least one memory for storing instructions; at least one processor configured to execute the instructions; The processor performs a process of: (1) when a kth object space image, which is captured with a kth object space absolute coordinate point (where k is an integer equal to or greater than 1) on a given object space affected by an external magnetic field, is acquired from an object space image management device linked to a user interface providing device, (i) performing a subprocess of displaying the kth object space image in a first region of a display linked to the user interface providing device; and (ii) when information is confirmed that a kth object space relative coordinate point, which is a relative coordinate point based on the kth object space absolute coordinate point and corresponds to the position of a magnetic catheter located within the object space, is selected, performing a subprocess of displaying a kth selection display symbol at a position corresponding to the kth object space relative coordinate point on the kth object space image; and (2) when a (k+1)th object space image is acquired by re-capturing the object space after the position of the magnetic catheter is changed from the time when the kth object space image was acquired, a time interval from the kth object space relative coordinate point to the kth object space image is defined as a T_k-th time interval (the T_k-th time interval includes a T_k_1-th time point, a T_k_2-th time point, ..., a T_k_p-th time point, where p is an integer equal to or greater than 2), a time point at which the kth object space relative coordinate point is selected is defined as the T_k_1-th time point, and times at which the external magnetic field is applied to or changed with respect to the kth object space relative coordinate point are defined as the T_k_2-th time point to the T_k_p-th time points, respectively; (2-1) (i) the kth object space image and the kth object space relative coordinate point (ii) performing a sub-process of setting a predetermined k-th sub-coordinate space having coordinate axes corresponding to the k-th object space image with reference to each coordinate information and with the k-th object space relative coordinate point as an origin; and (iii) performing a sub-process of acquiring information regarding the direction in which the magnetic catheter is heading at the T_k_1 time point as T_k_1 yaw and T_k_1 pitch based on a predetermined k-th reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the k-th sub-coordinate space;(2-2) (i) performing a sub-process of displaying the k-th visualization coordinate space visualized to correspond to the k-th sub-coordinate space in the 2_1 region of the display, and (ii) performing a sub-process of displaying a predetermined T_k-th current graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k-th visualization coordinate space based on the origin of the k-th visualization coordinate space; (2-3) confirming, at a time T_k_q (where q is an integer between 2 and p) which is a specific time among the time T_k_2 to the time T_k_p, T_k_q yaw, T_k_q pitch, T_k_q desired magnetic field strength information and T_k_q magnetic field generation start command information which are information regarding the T_k_q magnetic field generated at the T_k_q time with respect to the k-th object space relative coordinate point from after the time T_k_(q-1) to before the time T_k_q. If so, at the time T_k_q, the apparatus performs the following sub-processes: (i) referring to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information, the T_k current graphic element displayed in a direction corresponding to the T_k_(q-1) yaw and the T_k_(q-1) pitch corresponding to the time T_k_(q-1) is changed to a direction corresponding to the T_k_q yaw and the T_k_q pitch corresponding to the time T_k_q, (ii) a sub-process of updating and displaying each of the T_k_q pitch to the T_k_p pitch in a 2_2 region of the display; and (iii) a process of repeatedly performing the sub-process of updating and displaying the T_k_q desired magnetic field strength information in a 2_3 region of the display for each of the T_k_2 to T_k_p times.;

12. After the process (2), The processor (3) performs a sub-process of: (i) updating and displaying the (k+1)th object space image in the first area of ​​the display when the (k+1)th object space image obtained by photographing the object space again after the position of the magnetic catheter is moved after the time T_k_p after the T_k_p magnetic field is generated for the kth object space relative coordinate point at the time T_k_p; and (ii) updating the (k+1)th object space relative coordinate point (the (k+1)th object space relative coordinate point corresponds to the (k+1)th object space image) in the first area of ​​the display when the (k+1)th object space image corresponds to the (k+1)th object space image. a sub-process for displaying a predetermined (k+1)th selection indication symbol at a position corresponding to the (k+1)th object space relative coordinate point on the (k+1)th object space image when the (k+1)th object space image is photographed again with the kth object space absolute coordinate point as the photographing reference point, and when the (k+1)th object space image is photographed again with the (k+1)th object space absolute coordinate point different from the kth object space absolute coordinate point as the photographing reference point, the (k+1)th object space selection indication symbol is selected;and (4) a time interval from a time when the (k+1)th object space image is acquired to a time when the (k+2)th object space image is acquired by re-imaging the object space after the position of the magnetic catheter is changed is defined as a T_(k+1)th time interval (the T_(k+1)th time interval includes a T_(k+1)_1th time point, a T_(k+1)_2th time point, ..., a T_(k+1)_mth time point, where k is an integer of 1 or more and m is an integer of 2 or more), and the (k+1)th object space relative coordinate point is selected. When the time point at which the external magnetic field is applied to the (k+1) object space relative coordinate point is defined as the T_(k+1)_1 time point, and the time points at which the external magnetic field is applied to or changed with respect to the (k+1) object space relative coordinate point are defined as the T_(k+1)_2 time point to the T_(k+1)_m time point, respectively, (4-1)(i) refers to the (k+1) object space image and the coordinate information of the (k+1) object space relative coordinate point, and calculates a coordinate corresponding to the (k+1) object space image with the (k+1) object space relative coordinate point as an origin. (ii) performing a sub-process of acquiring information regarding the direction in which the magnetic catheter is heading at the T_(k+1)_1 time point as the T_(k+1)_1 yaw and T_(k+1)_1 pitch based on a predetermined (k+1) reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space; (4-2) (i) performing a sub-process of acquiring information regarding the direction in which the magnetic catheter is heading at the T_(k+1)_1 time point as the T_(k+1)_1 yaw and T_(k+1)_1 pitch based on a predetermined (k+1) reference coordinate axis, which is a specific coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space; (ii) performing a sub-process of updating and displaying the (k+1)th visualization coordinate space visualized to correspond to the (k+1)th sub-coordinate space in the 2_1 region of the display; and (ii) performing a sub-process of displaying a predetermined T_(k+1)th current graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1)th visualization coordinate space based on the origin of the (k+1)th visualization coordinate space;(4-3) At a time T_k_n (where n is an integer between 2 and m) which is a specific time among the time T_(k+1)_2 to the time T_(k+1)_m, information on a magnetic field T_(k+1)_n generated at the time T_(k+1)_n for the (k+1) object space relative coordinate point from after the time T_(k+1)_(n-1) to before the time T_(k+1)_n If the T_(k+1)_n yaw, the T_(k+1)_n pitch, the T_(k+1)_n desired magnetic field strength information, and the T_(k+1)_n magnetic field generation start command information are confirmed, at the T_(k+1)_n time point, (i) the T_(k+1)_n yaw, the T_(k+1)_n pitch, and the T_(k+1)_n desired magnetic field strength information are respectively referred to, and the T_(k+1)_n magnetic field generation start command information corresponding to the T_(k+1)_(n-1) time point is generated.

12. The apparatus of claim 11, further comprising: a sub-process for changing the T_(k+1) current graphic element displayed in a direction corresponding to the (k+1)_(n-1) yaw and T_(k+1)_(n-1) pitch to a direction corresponding to the T_(k+1)_n yaw and T_(k+1)_n pitch corresponding to the T_(k+1)_n time point, and displaying the graphic element; (ii) a sub-process for updating each of the T_(k+1)_n pitch to the T_(k+1)_n pitch to be displayed in the 2_2 region of the display; and (iii) a process for repeatedly performing the sub-process for updating the T_(k+1)_n desired magnetic field strength information to be displayed in the 2_3 region of the display for each of the T_(k+1)_2 to T_(k+1)_m time points.;

13. In the process (2-1), the processor further performs a sub-process of acquiring T_k_p yaw and T_k_p pitch, which are information regarding a target direction of the T_k_p magnetic field generated at the T_k_p time point with respect to the k object space relative coordinate point; In the process (2-2), the processor further performs a sub-process of (i) displaying a predetermined T_k-th start graphic element in a direction corresponding to the T_k_1 yaw and the T_k_1 pitch on the k visualization coordinate space with respect to the origin of the k visualization coordinate space, and (ii) displaying a predetermined T_k-th target graphic element in a direction corresponding to the T_k_p yaw and the T_k_p pitch on the k visualization coordinate space, In the process (4-1), the processor further performs a sub-process of acquiring T_(k+1)_m yaw and T_(k+1)_m pitch, which are information regarding a target direction of the T_(k+1)_m magnetic field generated at the T_(k+1)_m time point with respect to the (k+1) object space relative coordinate point; 13. The device of claim 12, wherein in the process (4-2), the processor further performs the sub-process of (i) displaying a predetermined T_(k+1)th start graphic element in a direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch on the (k+1) visualization coordinate space with respect to an origin of the (k+1) visualization coordinate space, and (ii) displaying a predetermined T_(k+1)th target graphic element in a direction corresponding to the T_(k+1)_m yaw and the T_(k+1)_m pitch on the (k+1) visualization coordinate space.

14. 14. The device of claim 13, wherein in the process (4-1), the processor refers to the T_k_p yaw, T_k_p pitch and the kth reference coordinate axis of the T_k_p magnetic field generated for the kth object space relative coordinate point at the T_k_p time point, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information about the direction in which the magnetic catheter is heading based on the (k+1) reference coordinate axis at the T_(k+1)_1 time point, to be the same as the direction corresponding to the T_k_p yaw and T_k_p pitch based on the kth reference coordinate axis.

15. In the process (1), the processor further performs a sub-process of setting a k_1th direction corresponding to a horizontal direction of the kth object space image as an image X-axis, setting a direction perpendicular to the k_1th direction of the kth object space image as a k_2th direction corresponding to a vertical direction of the kth object space image as an image Y-axis, and setting a coordinate axis perpendicular to a plane formed by the image X-axis and the image Y-axis as an image Z-axis; The kth selection display symbol corresponding to the kth object space relative coordinate point is determined so that at least one of hue, brightness, and saturation is changed according to a predetermined criterion according to a coordinate value of the kth object space relative coordinate point corresponding to the image Z-axis, and is displayed on the kth object space image; In the process (3), the processor further performs a sub-process of updating and setting a (k+1)_1-th direction corresponding to a horizontal direction of the (k+1) object space image to the image X-axis, updating and setting a direction perpendicular to the (k+1)_1-th direction of the (k+1) object space image as a (k+1)_2-th direction corresponding to a vertical direction of the (k+1) object space image to the image Y-axis, and updating and setting a coordinate axis perpendicular to a plane formed by the updated and set image X-axis and image Y-axis to the image Z-axis; The device of claim 12, characterized in that the (k+1)th selection display symbol corresponding to the (k+1)th object space relative coordinate point is determined to have at least one of hue, lightness, and saturation changed depending on the coordinate value of the (k+1)th object space relative coordinate point corresponding to the image Z-axis, and is displayed on the second object space image.

16. Each of the k visualization coordinate space and the (k+1) visualization coordinate space is a three-dimensional space including a visualization X axis, a visualization Y axis perpendicular to the visualization X axis, and a visualization Z axis perpendicular to a plane formed by the visualization X axis and the visualization Y axis, as coordinate axes; The visualization X-axis, the visualization Y-axis, and the visualization Z-axis are determined to correspond to each other with reference to the image X-axis, the image Y-axis, and the image Z-axis, respectively; 16. The device of claim 15, wherein each of the T_k start graphic element, the T_k current graphic element, the T_k target graphic element, the T_(k+1) start graphic element, the T_(k+1) current graphic element, and the T_(k+1) target graphic element is determined so that at least one of hue, lightness, and saturation changes depending on the magnitude of a numerical value corresponding to the visualization Z-axis in the k visualization coordinate space or the (k+1) visualization coordinate space, and is displayed in the k visualization coordinate space or the (k+1) visualization coordinate space.

17. In the process (1), the processor further performs a sub-process of: (i) displaying a kth relative coordinate value obtained by relatively calculating a coordinate value of the kth object space relative coordinate point with respect to a coordinate value of the kth object space absolute coordinate point as an origin, and (ii) displaying the kth absolute coordinate value obtained by converting the kth relative coordinate value into a coordinate value in the object space in a specific partial region that is at least a part of the first region of the display or a predetermined third region; 13. The device of claim 12, wherein in the process (3), the processor further performs a sub-process of updating and displaying (i) a (k+1)th relative coordinate value obtained by relatively calculating the coordinate value of the (k+1)th object space relative coordinate point using the coordinate value of the (k+1)th object space absolute coordinate point as an origin, and (ii) a (k+1)th absolute coordinate value obtained by converting the (k+1)th relative coordinate value into a coordinate value within the object space in the specific partial area or the third area, which is at least a part of the first area of ​​the display.

18. The external magnetic field is generated by a predetermined coil system including a first coil through a jth coil, the first coil through the jth coil being connected to the user interface providing device, and a first current through a jth current are applied to the first coil through the jth coil, respectively, to generate a first sub-magnetic field through a jth sub-magnetic field, and the first sub-magnetic field through the jth sub-magnetic field are superimposed to generate the external magnetic field; 13. The apparatus of claim 12, wherein each of the first current to the j current to be applied to each of the first coil to the j coil corresponding to the T_k_q time point or the T_(k+1)_m time point is determined by a T_k_q magnetic field command corresponding to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information at the T_k_q time point, and is determined by a T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_(k+1)_m desired magnetic field strength information at the T_(k+1)_m time point.

19. When a predetermined unit current is applied to each of the first coil through the j coil as the first current through the j current, information regarding a unit current magnetic field generated as the external magnetic field at each of a plurality of measurement coordinate points among the global coordinate points in the target space and previously measured in advance is stored in a unit current magnetic flux density table corresponding to each of the measurement coordinate points, When the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), A(P) is: (The above A(P) is A ｘ１ (P) or A ｘｊ (P), A ｙ１ (P) or A ｙｊ (P), and A ｚ１ (P) or A ｚｊ (P) ｘｊ (P) is the j_1-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the X-axis of the object space, which is the first direction of the object space, with respect to P; A ｙｊ (P) is the j_2-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the Y-axis of the object space, which is the second direction of the object space perpendicular to the first direction of the object space with respect to P; A zj (P) is the j_3-th unit current magnetic flux density of the j sub-magnetic field generated by the j coil so as to correspond to the object space Z-axis, which is a third direction of the object space perpendicular to a plane formed by the object space X-axis and the object space Y-axis with respect to P, The T_k_q magnetic field command or the T_(k+1)_m magnetic field command for P is B ｒｅｆ When (P), the above B ｒｅｆ (P) is expressed as follows: A(P)I ＊ (I ＊ is a matrix of the first current through the j current applied to the first coil through the j coil, respectively, and corresponds to each of the first current through the j current. １ ＊ Or i ｊ ＊ (including Each of the first current to the nth current is expressed by the following formula:

20. The apparatus of claim 18, wherein the calculation is performed using:

20. 20. The apparatus of claim 19, wherein, when the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the kth object space relative coordinate point or the (k+1)th object space relative coordinate point is calculated by: (i) in the case of the kth object space relative coordinate point, performing a predetermined correction (the correction includes a linear interpolation method) with reference to each of the reference kth specific unit current magnetic flux density tables corresponding to at least two or more reference kth specific measurement coordinate points within a predetermined range from the kth object space relative coordinate point; and (ii) in the case of the (k+1)th object space relative coordinate point, performing the correction with reference to each of the reference (k+1)th specific unit current magnetic flux density tables corresponding to at least two or more reference (k+1)th specific measurement coordinate points within a predetermined range from the (k+1)th object space relative coordinate point.

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