Method for providing a user interface for controlling a magnetic catheter by changing an external magnetic field, and a user interface providing device utilizing the same.

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 method for providing a user interface for controlling a magnetic catheter by changing an external magnetic field, and a user interface providing device utilizing the same. More specifically, the present invention relates to a method for providing a user interface that enables efficient control of a magnetic catheter by visualizing and displaying the direction of an external magnetic field generated for controlling a magnetic catheter, and updating and displaying the visualized information by changing the direction of the external magnetic field, and a user interface providing device utilizing the same. [Background technology]

[0002] A catheter is a thin tube made from medical material, used for procedures by inserting it into cavities, tubes, and blood vessels inside the patient's body.

[0003] However, in catheter-based procedures, the practitioner cannot directly observe the procedure space, so visualization tools that allow direct or indirect confirmation of the patient's internal organs are often used. However, in such cases, these visualization tools have the limitation of only providing one-way information to the practitioner.

[0004] Prior art (Korean Patent Publication No. 10-2245665) discloses an invention that uses ultrasound imaging to confirm the internal state 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, prior literature only discloses that ultrasound images and catheter position information are displayed on a screen for the operator to refer to; it does not disclose specific methods by which the system can interact with the user to accurately control the catheter.

[0006] Therefore, there is a need for a method that enables direct control of a catheter using an external magnetic field and provides a user interface that allows interaction between the user and the catheter control system, as a method for enhancing the accuracy of catheter procedures.

Summary of the Invention

Problems to be Solved by the Invention

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

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

[0009] Another object of the present invention is to provide a user interface that uses an external magnetic field to control the direction of a magnetic catheter and can continuously update and provide information regarding the direction of the corresponding external magnetic field.

[0010] Another object of the present invention is to provide a user interface that can assist in accurately calculating the current values that must be applied to each of the coils using 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 Problems

[0011] According to one embodiment of the present invention, a method for providing a user interface, comprising: (a) when a k-th target space image, captured with respect to a predetermined target space affected by an external magnetic field, using the k-th target space absolute coordinate point (where k is an integer of 1 or more) on the target space as the shooting reference point, is acquired from a target space image management device linked to a user interface providing device, (i) the user interface providing device performs a process to display the k-th target space image in a first area of ​​a display linked to the user interface providing device; and (ii) when information is confirmed that a k-th target space relative coordinate point, which is a relative coordinate point based on the k-th target space absolute coordinate point and corresponds to the position of a magnetic catheter located inside the target space, is selected, the user interface providing device performs a process to display a predetermined k-th selection display symbol on the k-th target space image at a position corresponding to the k-th target space relative coordinate point; and (b) after the position of the magnetic catheter has been changed since the time the k-th target space image was acquired, the target space is photographed again. When the time interval until the (k+1)th target space image is acquired is defined as the T_k time interval (the T_k time interval includes the T_k_1 time, T_k_2 time, ..., T_k_p time, where p is an integer of 2 or more), the time when the k relative coordinate point of the target space is selected is defined as the T_k_1 time, and the time when the external magnetic field is applied to or changed with respect to the k relative coordinate point of the target space is defined as the T_k_2 time to the T_k_p time, respectively, then (b1) the user interface providing device (i) the k (ii) A process to set up a predetermined k-th sub-coordinate space with the k-th relative coordinate point as the origin and coordinate axes corresponding to the k-th target space image by referring to the coordinate information of the image space image and the k-th relative coordinate point; and a process to acquire information regarding the direction the magnetic catheter is facing at time T_k_1 as the T_k_1 yaw and T_k_1 pitch, with reference to 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;(b2) The user interface providing device performs the process of (i) displaying the kth visualized coordinate space, visualized to correspond to the kth sub-coordinate space, in the 2_1 area of ​​the display; and (ii) displaying a predetermined T_k current graphic element in the kth visualized coordinate space in the direction corresponding to the T_k_1 yaw and T_k_1 pitch, with respect to the origin of the kth visualized coordinate space; (b3) At the T_k_q time point (where q is an integer between 2 and p), which is a specific time point among the T_k_2 time point to the T_k_p time point, the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information and T_k_q magnetic field generation start command information, which are information relating to the T_k_q magnetic field generated at the T_k_q time point, for the kth relative coordinate point from the T_k_(q-1) time point to the T_k_q time point Therefore, a method is provided in which, at time T_k_q, the user interface providing device performs the following steps repeatedly for each of the T_k_2 to T_k_p time points: (i) referring to the T_k_q yaw, the T_k_q pitch, and the T_k_q requested magnetic field strength information, the T_k current graphic element, which is displayed in the direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to time T_k_(q-1), changes the direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to time T_k_q; (ii) updating and displaying each of the T_k_q pitch to the T_k_p pitch in the 2_2 area of ​​the display; and (iii) updating and displaying the T_k_q requested magnetic field strength information in the 2_3 area of ​​the display.

[0012] In one example, after step (b) above, (c) after the T_k_p magnetic field is generated with respect to the k relative coordinate point of the target space at time T_k_p, and after the position of the magnetic catheter is moved and the target space is photographed again, the (k+1) target space image is obtained from the target space image management device, then (i) the user interface providing device performs a process to update and display the (k+1) target space image in the first area of ​​the display, and (ii) the (k+1) relative coordinate point of the target space corresponding to the position where the magnetic catheter was moved (the (k+1) relative coordinate point of the target space is the (k+1) If the target space image is captured again using the k absolute coordinate point of the target space as the shooting reference point, the selected coordinate point is a relative coordinate point with respect to the k absolute coordinate point of the target space; and if the (k+1) target space image is captured again using a different (k+1) absolute coordinate point of the target space as the shooting reference point, the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space. If information is confirmed that the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space, the user interface providing device performs a process to display a predetermined (k+1) selected display symbol on the (k+1) target space image at a position corresponding to the (k+1) relative coordinate point of the target space;and (d) the time interval from the time when the aforementioned (k+1) target space image is acquired until the time when the (k+2) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_(k+1) time interval (the aforementioned T_(k+1) time interval includes the T_(k+1)_1 time, T_(k+1)_2 time, ..., T_(k+1)_m time, where k is an integer of 1 or more and m is an integer of 2 or more), and the time when the aforementioned (k+1) target space relative coordinate point is selected is defined as Let the aforementioned time T_(k+1)_1 be the point in time when the external magnetic field is applied to or changed on the (k+1) relative coordinate point in the (k+1) target space, and let the respective points in time T_(k+1)_2 to T_(k+1)_m be the points in time T_(k+1)_2 to T_(k+1)_m, then (d1) the user interface providing device (i) refers to the coordinate information of the (k+1) target space image and the (k+1) relative coordinate point, and sets the (k+1) relative coordinate point as the origin, and the (k+1) target space (ii) Performing the process of setting up a predetermined (k+1)th sub-coordinate space having coordinate axes corresponding to the image; (ii) Performing the process of obtaining information regarding the direction the magnetic catheter is facing at time T_(k+1)_1 as the T_(k+1)_1 yaw and T_(k+1)_1 pitch with respect 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; (d) The user interface The device performs the process of (i) updating and displaying the (k+1) visualized coordinate space, visualized to correspond to the (k+1) sub-coordinate space, in the 2_1 area of ​​the display; and (ii) performing the process of displaying a predetermined T_(k+1) current graphic element in the (k+1) visualized coordinate space in directions corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch, with respect to the origin of the (k+1) visualized coordinate space;(d3) At the T_k_n time point (where n is an integer between 2 and m) which is a specific time point among the aforementioned T_(k+1)_2 time point to the aforementioned T_(k+1)_m time points, the information relating to the T_(k+1)_n magnetic field generated at the aforementioned T_(k+1)_n time point for the (k+1) relative coordinate point in the aforementioned (k+1) object space from the time point T_(k+1)_(n-1) until before the aforementioned T_(k+1)_n time point is the T If the yaw of _(k+1)_n, the pitch of the T_(k+1)_n, the requested magnetic field strength information of the T_(k+1)_n, and the magnetic field generation start command information of T_(k+1)_n are confirmed, then at the T_(k+1)_n time, the user interface providing device (i) refers to the T_(k+1)_n yaw, the T_(k+1)_n pitch, and the T_(k+1)_n requested magnetic field strength information respectively, and then the T_(k+ The process further includes: (i) a process of changing the T_(k+1) current graphic element, which is displayed in the 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 be displayed in the 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 area 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 area of ​​the display, repeating the process for each of the T_(k+1)_2 to T_(k+1)_m time points.

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

[0014] In one example, in step (d1), the user interface providing device refers to the T_k_p yaw, T_k_p pitch, and k reference coordinate axis of the T_k_p magnetic field generated with respect to the k relative coordinate point at time T_k_p, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information relating to the direction the magnetic catheter is facing with respect to the (k+1) reference coordinate axis at time T_(k+1)_1, so that they are the same as the direction corresponding to the T_k_p yaw and T_k_p pitch with respect to the k reference coordinate axis.

[0015] In one example, in step (a), the user interface providing device further performs the process of setting the k_1 direction corresponding to the horizontal direction of the k target space image as the image X axis, setting the direction orthogonal to the k_1 direction of the k target space image as the image Y axis as the k_2 direction corresponding to the vertical direction of the k target space image, and setting the coordinate axis perpendicular to the plane formed by the image X axis and the image Y axis as the image Z axis, wherein the k-th selected display symbol corresponding to the k target space relative coordinate point is determined by the coordinate value of the k target space relative coordinate point corresponding to the image Z axis such that at least one of the hue, lightness and saturation changes according to a predetermined criterion, and is displayed on the k target space image, and in step (c), the user interface The providing device updates and sets the first (k+1) direction corresponding to the horizontal direction of the (k+1) target space image as the image X-axis, updates and sets the second (k+1) direction corresponding to the vertical direction of the (k+1) target space image as the image Y-axis, updates and sets the coordinate axis perpendicular to the plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis, and further performs the process of updating and setting the first (k+1) selected display symbol corresponding to the (k+1) target space relative coordinate point as the image Z-axis, wherein the symbol is determined such that at least one of the hue, lightness and saturation changes according to the coordinate value of the (k+1) target space relative coordinate point corresponding to the image Z-axis, and is displayed on the second target space image.

[0016] In one example, the k visualization coordinate space and the (k+1) visualization coordinate space are each three-dimensional spaces, characterized in that they include the visualization X-axis, the visualization Y-axis orthogonal to the visualization X-axis, and the visualization Z-axis perpendicular to the plane formed by the visualization X-axis and the visualization Y-axis as coordinate axes, and the visualization X-axis, the visualization Y-axis, and the visualization Z-axis are each determined to correspond to the image X-axis, the image Y-axis, and the image Z-axis, respectively, and the T_k start graphics Each of the k 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 such that at least one of the hue, lightness, and saturation changes depending on the magnitude of the 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.

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

[0018] In one example, the external magnetic field is linked to the user interface providing device and is characterized by being generated by a predetermined coil system including a first coil to the j-th coil (each of the first coil to the j-th coil is to which a first current to the j-th current is applied to generate a first sub-magnetic field to the j-th sub-magnetic field, and each of the first sub-magnetic field to the j-th sub-magnetic field is superimposed to generate the external magnetic field), corresponding to the time T_k_q or the time T_(k+1)_m. Each of the first currents to the j currents that must be applied to each of the first coils to the j coils is characterized in that (i) at time T_k_q, the T_k_q magnetic field command corresponds to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information, and (ii) at time T_(k+1)_m, the T_k_m magnetic field command corresponds to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_(k+1)_m desired magnetic field strength information.

[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 coils to the j coil as the first current to the j current, the unit current magnetic field generated as the external magnetic field is related to the unit current magnetic field, and information on the unit current magnetic flux density measured in advance is stored in a unit current magnetic flux density table corresponding to each of the multiple measurement coordinate points in the overall coordinate points in the target space, and when the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), then A(P) is, JPEG0007849704000001.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) includes, and the said A xj (P) is the j_1 unit current magnetic flux density of the jth sub magnetic field generated by the jth coil so as to correspond to the object space X axis which is the first direction of the object space with respect to the said P, the said A vj (P) is the j_2 unit current magnetic flux density of the jth sub magnetic field generated by the jth coil so as to correspond to the object space Y axis which is the second direction of the object space orthogonal to the first direction of the object space with respect to the said P, the said A zj (P) is the j_3 unit current magnetic flux density of the jth sub magnetic field generated by the jth coil so as to correspond to the object space Z axis which is the third direction of the object space perpendicular to the plane formed by the object space X axis and the object space Y axis with respect to the said P), and is represented by a matrix such as, when the said magnetic field command of the T_k_qth or the T_(k + 1)_mth with respect to the said P is B ref When taking it as (P), the said B ref (P) is, as follows, A(P)I * JPEG0007849704000002.jpg19121 (the said I * is a matrix of the said first current to the said jth current respectively applied to each of the said first coil to the said jth coil, and i1 corresponding to each of the said first current to the said jth current * to i j * including) and is represented by, each of the said first current to the said nth current is calculated by the following formula JPEG0007849704000003.jpg2170 characterized by being calculated using.

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

[0021] Furthermore, according to another embodiment of the present invention, a user interface providing device includes at least one memory for storing instructions; and at least one processor configured to execute the instructions, wherein the processor performs a subprocess to: (1) when a k-th target space image, captured with respect to a predetermined target space affected by an external magnetic field, using the k-th target space absolute coordinate point (where k is an integer of 1 or more) on the target space as the shooting reference point, is obtained from a target space image management device linked to the user interface providing device, (i) to display the k-th target space image in a first area of ​​a display linked to the user interface providing device; and (ii) when information is confirmed that a k-th target space relative coordinate point, which is a relative coordinate point with respect to the k-th target space absolute coordinate point and corresponds to the position of a magnetic catheter located inside the target space, is selected, a predetermined k-th selection display symbol is displayed on the k-th target space image at a position corresponding to the k-th target space relative coordinate point;(2) The time interval from the time when the k-th target space image is acquired until the time when the (k+1)-th target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_k time interval (the T_k time interval includes the T_k_1 time, T_k_2 time, ..., T_k_p time, where p is an integer of 2 or more), the time when the k-th target space relative coordinate point is selected is defined as the T_k_1 time, and the time when the external magnetic field is applied to or changed on the k-th target space relative coordinate point is defined as the T_k_2 time to the T_k_p time, respectively. (2-1)(i) Referencing the coordinate information of the k-th target space image and the k-th target space relative coordinate point, the coordinate axis corresponding to the k-th target space image is defined with the k-th target space relative coordinate point as the origin. (i) A subprocess to set up a predetermined k-th sub-coordinate space having (ii) a subprocess to obtain information about the direction the magnetic catheter is facing at time T_k_1 as the T_k_1 yaw and T_k_1 pitch, with reference to 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; (ii) A subprocess to display the k-th visualized coordinate space, visualized to correspond to the k-th sub-coordinate space, in the 2_1 region of the display; (ii) A subprocess to display a predetermined T_k current graphic element in the k-th visualized coordinate space in the direction corresponding to the T_k_1 yaw and T_k_1 pitch, with reference to the origin of the k-th visualized coordinate space;(2-3) At a specific time T_k_q (where q is an integer between 2 and p) between the aforementioned T_k_2 and T_k_p time points, if information regarding the T_k_q magnetic field generated at time T_k_q with respect to the k relative coordinate point in the target space from after time T_k_(q-1) to before time T_k_q is confirmed, then at time T_k_q, (i) referencing the T_k_q yaw, T_k_q pitch, and T_k_q requested magnetic field strength information, the T_k_q magnetic field generation start command information corresponding to time T_k_(q-1) is confirmed, then at time T_k_q, (i) referencing the T_k_q yaw, T_k_q pitch, and T_k_q requested magnetic field strength information respectively, the T_k_(q-1) magnetic field generation start command information corresponding to time T_k_(q-1) is confirmed. An apparatus is provided that performs the following processes: (ii) a subprocess for changing the T_k current graphic element, which is displayed in the direction corresponding to the yaw and T_k_(q-1) pitch, to be displayed in the direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to the T_k_q time; (ii) a subprocess for updating and displaying each of the T_k_q pitch to the T_k_p pitch in the 2_2 area of ​​the display; and (iii) a subprocess for updating and displaying the T_k_q desired magnetic field strength information in the 2_3 area of ​​the display, repeating these processes for each of the T_k_2 time to the T_k_p time;

[0022] In one example, after process (2) above, the processor (3) after the T_k_p magnetic field is generated with respect to the k relative coordinate point of the target space at time T_k_p, and after the position of the magnetic catheter is moved after time T_k_p and the target space is photographed again, the (k+1) target space image is obtained from the target space image management device, then (i) the (k+1) target space image is updated and displayed in the first area of ​​the display, and (ii) the (k+1) relative coordinate point of the target space corresponding to the position where the magnetic catheter was moved (the (k+1) relative coordinate point of the target space is If information is confirmed that the (k+1) target space image is captured again using the k absolute coordinate point of the target space as the shooting reference point, it is a relative coordinate point with respect to the k absolute coordinate point of the target space; and if the (k+1) target space image is captured again using a different (k+1) absolute coordinate point of the target space as the shooting reference point, it is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space., then a sub-process is performed to display a predetermined (k+1) selected indicator symbol on the (k+1) target space image at a position corresponding to the (k+1) relative coordinate point of the target space;(4) The time interval from the time when the (k+1) target space image is acquired until the time when the (k+2) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_(k+1) time interval (the T_(k+1) time interval includes the T_(k+1)_1 time, T_(k+1)_2 time, ..., T_(k+1)_m time, where k is an integer of 1 or more and m is an integer of 2 or more), and the (k+1) target space relative coordinate point is selected. Let the time when the action is performed be time T_(k+1)_1, and let the time when the external magnetic field is applied to or changed on the (k+1) relative coordinate point be time T_(k+1)_2 to time T_(k+1)_m, respectively. (4-1)(i) Referencing the coordinate information of the (k+1) target space image and the (k+1) relative coordinate point, the (k+1) relative coordinate point is set as the origin and corresponds to the (k+1) target space image. (i) A subprocess to set up a predetermined (k+1)th subcoordinate space having coordinate axes; (ii) A subprocess to obtain information regarding the direction the magnetic catheter is facing at time T_(k+1)_1 as the T_(k+1)_1 yaw and T_(k+1)_1 pitch, with reference 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 subcoordinate space; (4-2) (i) A subprocess to update and display the (k+1)th visualized coordinate space, visualized to correspond to the (k+1)th subcoordinate space, in the 2_1 region of the display; (ii) A subprocess to display a predetermined T_(k+1)th current graphic element in the (k+1)th visualized coordinate space in the direction corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch, with reference to the origin of the (k+1)th visualized coordinate space;(4-3) At a specific time T_k_n (where n is an integer between 2 and m) between the aforementioned time T_(k+1)_2 and the aforementioned time T_(k+1)_m, the information relating to the T_(k+1)_n magnetic field generated at the aforementioned time T_(k+1)_n with respect to the aforementioned (k+1) relative coordinate point in the aforementioned space from the time T_(k+1)_(n-1) until before the aforementioned time T_(k+1)_n. If the T_(k+1)_n yaw, T_(k+1)_n pitch, T_(k+1)_n requested magnetic field strength information, and T_(k+1)_n magnetic field generation start command information are confirmed, then at the T_(k+1)_n time point, (i) refer to the T_(k+1)_n yaw, T_(k+1)_n pitch, and T_(k+1)_n requested magnetic field strength information respectively, corresponding to the T_(k+1)_(n-1) time point. The process further involves: (ii) a subprocess that changes the T_(k+1) current graphic element, which is displayed in the direction corresponding to the T_(k+1)_n yaw and T_(k+1)_n pitch, to the 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 subprocess that updates and displays each of the T_(k+1)_n pitch to the T_(k+1)_n pitch in the 2_2 area of ​​the display; and (iii) a subprocess that is repeated every T_(k+1)_2 time point to the T_(k+1)_m time point.

[0023] In one example, in process (2-1), the processor further performs a subprocess to acquire the T_k_p yaw and T_k_p pitch, which are information relating to the target direction of the T_k_p magnetic field generated at time T_k_p with respect to the k relative coordinate point in the target space; in process (2-2), the processor further performs a subprocess to display a predetermined T_k start graphic element in the direction corresponding to the T_k_1 yaw and T_k_1 pitch on the k visualized coordinate space with respect to the origin of the k visualized coordinate space, and (ii) display a predetermined T_k target graphic element in the direction corresponding to the T_k_p yaw and T_k_p pitch; in process (4-1), the processor The (4-2) process is characterized in that the processor further performs a subprocess to obtain the T_(k+1)_m yaw and T_(k+1)_m pitch, which are information relating to the 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) relative coordinate point in the (k+1) target space, and the (4-2) process further performs a subprocess to (i) display a predetermined T_(k+1) start graphic element in the direction corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch on the (k+1) visualized coordinate space with respect to the origin of the (k+1) visualized coordinate space, and (ii) display a predetermined T_(k+1) target graphic element in the direction corresponding to the T_(k+1)_m yaw and T_(k+1)_m pitch.

[0024] In one example, in the (4-1) process, the processor refers to the T_k_p yaw, T_k_p pitch, and k reference coordinate axis of the T_k_p magnetic field generated with respect to the k relative coordinate point in the target space at time T_k_p, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information relating to the direction the magnetic catheter is facing with respect to the (k+1) reference coordinate axis at time T_(k+1)_1, so that they are the same as the direction corresponding to the T_k_p yaw and T_k_p pitch with respect to the k reference coordinate axis.

[0025] In one example, in process (1), the processor further performs a sub-process in which it sets the k_1 direction corresponding to the horizontal direction of the k target space image as the image X-axis, sets the direction orthogonal to the k_1 direction of the k target space image as the image Y-axis as the k_2 direction corresponding to the vertical direction of the k target space image, and sets the coordinate axis perpendicular to the plane formed by the image X-axis and the image Y-axis as the image Z-axis, wherein the k-th selected display symbol corresponding to the k target space relative coordinate point is determined by the coordinate value of the k target space relative coordinate point corresponding to the image Z-axis such that at least one of the hue, lightness and saturation changes according to a predetermined criterion, and is displayed on the k target space image, and in process (3), the processor The sub-process further involves updating and setting the (k+1)_1 direction corresponding to the horizontal direction of the (k+1) target space image as the image X-axis, updating and setting the direction orthogonal to the (k+1)_1 direction of the (k+1) target space image as the (k+1)_2 direction corresponding to the vertical direction of the (k+1) target space image as the image Y-axis, and updating and setting the coordinate axis perpendicular to the plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis, wherein the (k+1) selected display symbol corresponding to the (k+1) target space relative coordinate point is determined such that at least one of the hue, lightness, and saturation changes according to the coordinate value of the (k+1) target space relative coordinate point corresponding to the image Z-axis, and is displayed on the second target space image.

[0026] In one example, the k visualization coordinate space and the (k+1) visualization coordinate space are each three-dimensional spaces, characterized in that they include the visualization X-axis, the visualization Y-axis orthogonal to the visualization X-axis, and the visualization Z-axis perpendicular to the plane formed by the visualization X-axis and the visualization Y-axis as coordinate axes, and the visualization X-axis, the visualization Y-axis, and the visualization Z-axis are each determined to correspond to the image X-axis, the image Y-axis, and the image Z-axis, respectively, and the T_k start graphics Each of the k 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 such that at least one of the hue, lightness, and saturation changes depending on the magnitude of the 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.

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

[0028] In one example, the external magnetic field is linked to the user interface providing device and is characterized by being generated by a predetermined coil system including a first coil to the j-th coil (each of the first coil to the j-th coil is to which a first current to the j-th current is applied to generate a first sub-magnetic field to the j-th sub-magnetic field, and each of the first sub-magnetic field to the j-th sub-magnetic field is superimposed to generate the external magnetic field), corresponding to the time T_k_q or the time T_(k+1)_m. Each of the first currents to the j currents that must be applied to each of the first coils to the j coils is characterized in that (i) at time T_k_q, the T_k_q magnetic field command corresponds to the T_k_q yaw, the T_k_q pitch, and the T_k_q desired magnetic field strength information, and (ii) at time T_(k+1)_m, the T_k_m magnetic field command corresponds to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_(k+1)_m desired magnetic field strength information.

[0029] In one example, when a predetermined unit current is applied to each of the first to j coils as the first to j current, the unit current magnetic field generated as the external magnetic field is related to the unit current magnetic field, and information on the unit current magnetic flux density measured in advance is stored in a unit current magnetic flux density table corresponding to each of the multiple measurement coordinate points in the overall coordinate points of the target space, wherein the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is P, one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), then A(P) is, JPEG0007849704000004.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) and the above A 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 target space, which is the first direction of the target space relative to P, and A yj (P) is the j_2 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 target space, which is the second direction of the target space that is orthogonal to the first direction of the target space with respect to P, and A zj (P) is the j_3 unit current magnetic flux density of the j sub-magnetic field generated by the j coil, such that P corresponds to the Z axis of the target space, which is the third direction of the target space perpendicular to the plane formed by the X axis and Y axis of the target space, and is represented by a matrix such that (P) corresponds to the Z axis of the target space, which is the third direction of the target space perpendicular to the plane formed by the X axis and Y axis of the target space, and the T_k_q magnetic field command or the T_(k+1)_m magnetic field command for P is B ref When (P) is set, the above B ref (P) is A(P)I as follows * JPEG0007849704000005.jpg18105 (I * This is a matrix of the first current to the j current applied to each of the first coil to the j coil, where i1 corresponds to each of the first current to the j current. * or i j * It is characterized by being expressed as (including), and each of the first current to the n current is given by the following formula JPEG0007849704000006.jpg1863 It is characterized by being calculated using [a specific method / tool].

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

[0031] This invention has the effect of controlling the direction of a magnetic catheter using an external magnetic field, interacting with the user to help the user confirm and set the position of the magnetic catheter, and also helping to change the direction of the external magnetic field.

[0032] Furthermore, the present invention has the effect of controlling the direction of a magnetic catheter using an external magnetic field, and continuously updating and providing information regarding the direction of the external magnetic field.

[0033] Furthermore, the present invention has the effect of enabling the accurate calculation of the current value that must be applied to each coil using a magnetic field generator in order to generate an external magnetic field for controlling the direction of the magnetic catheter. [Brief explanation of the drawing]

[0034] The following drawings, attached for use in describing embodiments of the present invention, represent only a portion of embodiments of the present invention, and a person with ordinary skill in the art to which the present invention pertains (hereinafter referred to as "ordinary art") can obtain the other drawings from these drawings without performing any inventive work.

[0035] [Figure 1] This is a simplified diagram of a user interface providing device that provides a user interface for controlling a predetermined magnetic catheter with an external magnetic field, according to one embodiment of the present invention. [Figure 2a] This diagram shows a simplified overview of the overall system in which a user interface providing device is used according to one embodiment of the present invention, and the coil system included therein. [Figure 2b] This diagram shows a simplified overview of the overall system in which a user interface providing device is used according to one embodiment of the present invention, and the coil system included therein. [Figure 3] This is a simplified flowchart illustrating one embodiment of the present invention, in which a user interface providing device acquires an image of a target space affected by an external magnetic field, determines the position of a magnetic catheter, and generates and changes the external magnetic field. [Figure 4a] This invention provides a simplified diagram illustrating a method for capturing an image of a target space affected by an external magnetic field, and the directions, coordinate space, and coordinate axes considered for changing the direction of a magnetic catheter within the target space. [Figure 4b] This invention provides a simplified diagram illustrating a method for capturing an image of a target space affected by an external magnetic field, and the directions, coordinate space, and coordinate axes considered for changing the direction of a magnetic catheter within the target space. [Figure 5a] This is a simplified illustration of one embodiment of the present invention, in which a user interface providing device provides a user interface on a linked display that enables the control of a predetermined magnetic catheter with an external magnetic field. [Figure 5b]This is a simplified illustration of one embodiment of the present invention, in which a user interface providing device provides a user interface on a linked display that enables the control of a predetermined magnetic catheter with an external magnetic field. [Modes for carrying out the invention]

[0036] The detailed description of the present invention, as described below, will refer to the accompanying drawings illustrating specific embodiments in which the present invention may be carried out to illustrate each object, each technical solution, and each advantage of the present invention. These embodiments will be described in sufficient detail so that a person of the ordinary skill can carry out the present invention.

[0037] Furthermore, throughout the detailed description and claims of the present invention, the word “including” and its variations thereof are not intended to exclude other technical features, additions, components, or steps. Other purposes, advantages, and characteristics of the present invention will be apparent to an ordinary person, partly from this description and partly from the practice of the present invention. The following examples and drawings are provided as illustrative examples and are not intended to limit the present invention.

[0038] Furthermore, the present invention encompasses all possible combinations of the embodiments shown herein. It should be understood that while the diverse embodiments of the present invention differ from one another, they do not necessarily have to be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention in relation to one embodiment. It should also be understood that the position or arrangement of individual components within each disclosed embodiment may be modified without departing from the spirit and scope of the invention. Therefore, the detailed descriptions below should not be taken as restrictive, and the scope of the present invention is limited only by the appended claims, along with all equivalent claims, provided they are adequately described. Similar reference numerals in the drawings refer to parts that are identical or have similar functions across various aspects.

[0039] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that persons with ordinary skill in the art to which the present invention pertains can easily implement the present invention.

[0040] Figure 1 is a simplified illustration of a user interface providing device that provides a user interface for controlling a predetermined magnetic catheter with an external magnetic field according to one embodiment of the present invention.

[0041] Referring to Figure 1, the user interface provider 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 assists in controlling the magnetic catheter 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 achieve desired system performance by utilizing 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 and switches; and electronic information storage systems such as networked storage (NAS) and storage area networks (SANs)) and computer software (i.e., instructions for making the computing devices function in a particular manner).

[0043] Furthermore, the processor of a computing device may include hardware configurations such as an MPU (Micro Processing Unit) or CPU (Central Processing Unit), cache memory, and data bus. The computing device may also further include operational structures and software configurations for applications that perform specific purposes.

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

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

[0046] The following describes a method for providing a user interface for controlling a predetermined magnetic catheter with an external magnetic field using the user interface providing device 110 configured in this way.

[0047] For reference, the following explanation of coordinate systems will be based on a three-dimensional Cartesian coordinate system. However, depending on the conditions of implementation of the invention, other coordinate systems such as a spherical coordinate system may be used in combination, and in such cases, a conversion process between coordinate systems may also be performed.

[0048] Figures 2a and 2b show a simplified overall system in which a user interface providing device is used according to one embodiment of the present invention, and the coil system included therein.

[0049] First, referring to Figure 2a, the user interface providing device 110, which provides a user interface for controlling a predetermined magnetic catheter with an external magnetic field, may be linked to a display 120 for displaying the user interface. One embodiment of the present invention, a user interface, is simply shown in Figures 5a and 5b, which will be described in detail below.

[0050] Furthermore, the user interface providing device 110 is linked to a predetermined coil system 130 that controls the generation and change of an external magnetic field, and can assist in generating or changing an external magnetic field in a target space 230 which includes a part of the treatment area of ​​a patient 10 receiving 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 has at least a part of its terminal end made of a material that bends under the influence of a magnetic field, and at this time, the material may include at least a part of a permanent magnet (N52), silicone (polydimethylsiloxane, PDMS), and a ferromagnetic material. Looking at Figure 2b, which shows 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 superimpose in the target space 230 to generate and change an external magnetic field.

[0051] Furthermore, the user interface providing device 110 may also be linked with a target space image management device 210, which assists the user interface providing device 110 in acquiring a target space image of the target space 230 captured according to predetermined shooting conditions and providing the user interface. In this case, the target space image management device 210 may also be linked with a target space image capturing device 220 for capturing an image of the target space 230, and the captured image may be, but is not limited to, a two-dimensional X-ray image.

[0052] Figure 3 is a simplified flowchart showing how, according to one embodiment of the present invention, the user interface providing device 110 acquires an image of the target space 230 affected by an external magnetic field, determines the position of the magnetic catheter, and generates and changes the external magnetic field.

[0053] Referring to Figure 3, the user interface provider 110 can first acquire the kth target space image from the target space image management device 210 (S101). At this time, the kth target space image may be captured using the kth target space absolute coordinate point on the target space 230 as the shooting reference point, thereby allowing the center point of the kth target space image to correspond to the kth target space absolute coordinate point.

[0054] Subsequently, the user interface providing device 110 can display the acquired k-th target space image in the first area of ​​the display 120 (S102). Figure 5a shows a simplified user interface displayed on the display 120 as one embodiment of the present invention. Referring to Figure 5a, it can be seen that the k-th target space image 301 is displayed in the first area on the right side of the display 120 along with a predetermined center display symbol corresponding to the k-th target space absolute coordinate point 311, which is the shooting reference point.

[0055] Subsequently, the user interface providing device 110 can refer to the k-th target space image 301 displayed on the display 120 as information regarding the position of the magnetic catheter, and either have the user directly input the information or have the information regarding the k-th target space relative coordinate point acquired automatically through a predetermined method, and can then display a predetermined k-th selection display symbol at the position corresponding to the k-th target space relative coordinate point (S103).

[0056] In this case, as an example of the invention, the k-th relative coordinate point in the target space is a single coordinate point on the target space 230, and therefore has a k-th absolute coordinate value which is a coordinate value predetermined with respect to the target space 230. However, in order to help the user interface providing device 110 to easily grasp its position, it can further calculate a k-th relative coordinate value which is a coordinate value relative to how far it is from the k-th absolute coordinate point 311, which is the shooting reference point of the k-th target space image 301, and display both the k-th absolute coordinate value and the k-th relative coordinate value together on the display 120. Referring again to Figure 5a, it can be seen that the k-th absolute coordinate value 541 and the k-th relative coordinate value 542 corresponding to the k-th relative coordinate point 320 are displayed in a specific partial area 540 at the upper right end, which is part of the first area on the right side of the display 120. For reference, in Figure 5a, for convenience, the absolute coordinate point 311 of the k-th target space is assumed to be the origin of the target space 230, and the k-th absolute coordinate value 541 and the k-th relative coordinate value 542 of the relative coordinate point 320 of the k-th target space are displayed identically. Furthermore, the position in which the k-th absolute coordinate value 541 and the k-th relative coordinate value 542 are displayed is not limited to a specific sub-region 540, but can also be displayed in a predetermined third region depending on the conditions for implementing the invention.

[0057] Furthermore, as another example of the invention, the user may be shown whether the entire system, including the user interface providing device 110, is currently operational 541, thereby enabling the user interface providing device 110 to help the user determine whether the magnetic catheter is currently controllable.

[0058] Furthermore, as another example of the invention, the user interface providing device 110 can display a predetermined k-th selection display symbol at a position corresponding to the k-th target space relative coordinate point 320, and the k-th selection display symbol may be a symbol of a predetermined form having a predetermined hue, lightness, and saturation. The user interface providing device 110 can set the coordinate axis corresponding to the horizontal direction as the image X-axis, the coordinate axis corresponding to the vertical direction as the image Y-axis, and the axis perpendicular to the plane formed by the image X-axis and image Y-axis as the image Z-axis, based on the state in which the k-th target space image 301 is displayed on the display 120. In this state, the user interface provider 110 can display the coordinate information of the k-th target space relative coordinate point 320 such that at least one of the hue, brightness, and saturation of the k-th selection display symbol changes depending on the coordinate value corresponding to the image Z axis. For example, when the coordinate value of the k-th target 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 can be adjusted and set so that the k-th selection display symbol is darker or lighter in the case of [0, 0, 2] than in the case of [0, 0, 1]. By doing so, the user interface provider 110 can assist the user in selecting the vertical coordinate corresponding to the image Z axis even when the k-th target space image 301 is a two-dimensional image.

[0059] Subsequently, the user interface provider 110 can set a predetermined k-th sub-coordinate space (S104). At this time, the k-th sub-coordinate space can be set to have corresponding coordinate axes by referring to the coordinate information corresponding to the previously acquired k-th target space image 301 and the coordinate information corresponding to the k-th target space relative coordinate point 320. Figure 4a shows a simplified method for capturing an image of a target space 230 affected 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 target space 230. Referring to Figure 4a, the k-th sub-coordinate space can be set up so that the k-th target space relative coordinate point 320 is the origin, and the coordinate axes include a horizontal axis 321 containing coordinate points corresponding to the horizontal direction of the k-th target space image 301 relative to the origin, a vertical axis 322 containing coordinate points corresponding to the vertical direction of the k-th target space image 301 relative to the origin, and an axis 323 that is perpendicular to the k-th target space image 301 relative to the origin. For reference, the term "sub-coordinate space" is used to explain that it is a coordinate space having different coordinate axes from the X-axis 231, Y-axis 232, and Z-axis 233 of the target space, which correspond to the target space 230. It should be made clear that the overall space of the "sub-coordinate space" can ultimately 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, 323 of the k-th sub-coordinate space. This can be set differently depending on the conditions for implementing the invention, but for the sake of convenience in the explanation below, we will assume that the axis in the direction with positive coordinate values ​​relative to the origin on the horizontal axis 321 is set as the k-th reference coordinate axis.

[0060] Furthermore, in the following, the time interval from when the k-th target space image 301 is acquired until the (k+1)-th target space image is acquired after the position of the magnetic catheter has been changed and the target space 230 has been photographed again is defined as the T_k time interval, and the T_k time interval includes the T_k_1 time point, T_k_2 time point, ..., T_k_p time points, where k is an integer greater than or equal to 1 and p is an integer greater than or equal to 2. It should also be made clear that the time when the k-th target space relative coordinate point 320 is selected is defined as the T_k_1 time point, and the time points when an external magnetic field is applied to or changed on the k-th target space relative coordinate point 320 are defined as the T_k_2 time point to the aforementioned T_k_p time point, respectively.

[0061] Subsequently, the user interface providing device 110 can acquire information regarding the direction the magnetic catheter is facing at time T_k_1 with respect to the k-th reference coordinate axis as the T_k_1 yaw and T_k_1 pitch (S105). At this time, in the k-th sub-coordinate space, when the axis with a positive coordinate value relative to the origin on the horizontal axis 321 is defined as the k-th reference coordinate axis, the T_k_1 yaw may be a value indicating how much it 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 it is tilted on the axis 323 which is perpendicular to the plane formed by the horizontal axis 321 and the vertical axis 322. Referring again to Figure 4a, the T_k_1 yaw and T_k_1 pitch can be determined so as to correspond to the direction 331 in which the magnetic catheter 20 is initially facing. At this time, the T_k_1 yaw and T_k_1 pitch can be input and obtained by the user in accordance with the conditions for carrying out the invention, or they can be automatically measured and obtained by the user interface providing device 110, and are not limited to either method.

[0062] Subsequently, the user interface providing device 110 can display the kth visualized coordinate space, visualized to correspond to the kth sub-coordinate space, in the 2_1 area of ​​the display (S106). At this time, the kth visualized coordinate space is a three-dimensional space and can include the visualized X-axis, the visualized Y-axis orthogonal to the visualized X-axis, and the visualized Z-axis perpendicular to the plane formed by the visualized X-axis and the visualized Y-axis as coordinate axes. In order to make this correspond to the kth target space image 301 displayed on the display 120, the user interface providing device 110 can determine that the visualized X-axis, visualized Y-axis, and visualized Z-axis correspond to each other by referring to the image X-axis, image Y-axis, and image Z-axis. Referring again to Figure 5a, it can be seen that the kth visualization coordinate space is displayed in the second-first region 520, which is located in the middle of the left side of the display 120, and that this kth visualization coordinate space includes the visualization X-axis 521, visualization Y-axis 522, and visualization Z-axis 523. It can also be confirmed that it is displayed in a manner that corresponds to the image X-axis, image Y-axis, and image Z-axis of the kth target space image 301 displayed on the right side of the display 120.

[0063] Subsequently, the user interface providing device 110 can be configured to display a predetermined T_k current graphic element in the direction corresponding to the T_k_1 yaw and T_k_1 pitch on the k-th visualization coordinate space, with reference to the origin of the k-th visualization coordinate space (S107). This visualizes and displays information regarding the direction in which the magnetic catheter is facing at the T_k_1 time point. Thereafter, the direction of the T_k current graphic element can be changed to correspond to the direction of the external magnetic field generated and changed with respect to the k-th target space relative coordinate point 320 at each T_k_2 to T_k_p time point included in the T_k time interval, which can be done through the following process.

[0064] The user interface providing device 110 can, at a specific time point T_k_q among the time points T_k_2 to T_k_p, confirm (S108) information related to the T_k_q magnetic field generated at time T_k_q with respect to the k-target space relative coordinate point 320, which includes the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information, and T_k_q magnetic field generation start command information. At this time, q is an integer between 2 and p. Furthermore, while the interval between each of the T_k_2 time point and the T_k_p time point may be set to be the same, it is not limited to this, and the interval between the T_k_(q-1) time point and the T_k_q time point may be set flexibly depending on whether or not the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information, and T_k_q magnetic field generation start command information are confirmed.

[0065] Subsequently, once the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information, and T_k_q magnetic field generation start command information are confirmed, at time T_k_q, the user interface providing device can refer to the confirmed T_k_q yaw, T_k_q pitch, and T_k_q requested magnetic field strength information and change the T_k current graphic element, which is displayed in the direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to time T_k_(q-1), to the direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to time T_k_q and display it (S109). At this time, the user interface providing device 110 can update and display the T_k_q pitch and T_k_p pitch, respectively in the 2_2 area of ​​the display 120, and update and display the T_k_q requested magnetic field strength information in the 2_3 area of ​​the display 120. In other words, as time elapses from the T_k_2 time point to the T_k_p time point, the direction of the T_k current graphic element in the k-th visualization coordinate space displayed in the 2_1 region of the display 120 can be continuously updated and displayed according to the direction of the external magnetic field corresponding to the T_k_2 time point to the T_k_p time point, respectively. That is, the user interface providing device 110 can determine (S110) whether the T_k_p time point has been reached and can repeat the process of updating and displaying the T_k current graphic element at each of the T_k_2 to T_k_p time points until the T_k_p time point is reached.

[0066] Referring again to Figure 5a, Figure 5a shows a user interface that can be provided as one embodiment of the present invention when a certain amount of time has elapsed since the T_k_1 time point and an external magnetic field is generated that is directed in a specific direction 333 relative to the k-th object space relative coordinate point 320. At this time, it can be seen that the T_k current graphic element 601 is displayed on the k-th visualized coordinate space displayed in the 2_1 region 520 of the display 120 so as to correspond to the specific direction 333. Based on the above explanation, it can be seen that the direction that the T_k current graphic element 601 is pointing in may be continuously updated and displayed after that time point.

[0067] Furthermore, as an example of the invention, if the target direction to which the magnetic catheter 20 should be directed can be predetermined with respect to the k-th object space relative coordinate point 320 when the last point in the T_k time interval, which is the T_k time interval, is reached, then the direction of the T_k_p magnetic field that must be generated with respect to the k-th object space relative coordinate point 320 at the T_k_p time interval to correspond to the target direction can be determined, and the user interface providing device 110 can acquire in advance the T_k_p yaw and T_k_p pitch corresponding to the determined direction of the T_k_p magnetic field up to the T_k_p time interval. Referring again to Figure 4a, if it is determined that when the T_k_p time interval is reached, the magnetic catheter 20 must be controlled to be directed to the left of the branching point 332, then the user interface providing device 110 can further acquire the T_k_p yaw and T_k_p pitch corresponding to the left of the branching point 332. At this time, information regarding the T_k_p yaw and T_k_p pitch corresponding to the target direction can be input and acquired by the user, or it can be automatically determined and acquired by the user interface providing device 110, and is not limited to either method. The user interface providing device 110 can display a predetermined T_k start graphic element in the direction corresponding to the T_k_1 yaw and T_k_1 pitch, and can display a predetermined T_k target graphic element in the direction corresponding to the T_k_p yaw and T_k_p pitch, thereby assisting the user in easily understanding the direction of the magnetic catheter 20 and the current direction of the corresponding external magnetic field by comparing it with the start direction and target direction. Referring again to Figure 5a, it can be confirmed that in the k-th visualization coordinate space displayed in the second-first region 520 of the display 120, the T_k start graphic element 602 corresponding to the direction 331 corresponding to the T_k_1 yaw and T_k_1 pitch is also displayed, and together with it, the T_k target graphic element 603 corresponding to the direction 332 corresponding to the T_k_p yaw and T_k_p pitch acquired earlier by the user interface providing device 110 is also displayed.

[0068] Furthermore, as another example of the invention, each of the T_k start graphic element 602, the T_k current graphic element 601, and the T_k target graphic element 603 can be displayed in the k-th visualization coordinate space such that at least one of the hue, lightness, and saturation changes depending on the magnitude of the numerical value corresponding to the visualization Z axis 523 in the k-th visualization coordinate space. For example, each of the T_k start graphic element 602, the T_k current graphic element 601, and the T_k target graphic element 603 can be divided into different hues, and can also be displayed in a darker or lighter color depending on the numerical value corresponding to the visualization Z axis 523 in the k-th visualization coordinate space, i.e., how much the visualization Z axis 523 is tilted in the positive or negative direction.

[0069] Subsequently, upon reaching the T_k_p time point, the T_k_p magnetic field can be generated for the k-th target space relative coordinate point 320, and the user interface providing device 110 can acquire the (k+1) target space image 302 from the target space image management device 210 (S111), which is a re-image of the target space 230 with the magnetic catheter 20 having moved to a new position after the T_k_p time point. At this time, the reference point for the (k+1)th target space image 302 may be the absolute coordinate point 311 of the kth target space, or it may be the absolute coordinate point of the (k+1)th target space which is different from the absolute coordinate point 311 of the kth target space. However, the relative coordinate point of the (k+1)th target space which is selected in accordance with the new position to which the magnetic catheter 20 has been moved is a relative coordinate point with respect to the absolute coordinate point 311 of the kth target space when the (k+1)th target space image 302 is captured again with the absolute coordinate point 311 of the kth target space as the reference point, and it may be a relative coordinate point with respect to the absolute coordinate point of the (k+1)th target space when the (k+1)th target space image 302 is captured again with the absolute coordinate point of the (k+1)th target space which is different from the absolute coordinate point 311 of the kth target space as the reference point.

[0070] Figure 4b shows an example of a (k+1)th target space image 302 that is captured again under different shooting conditions compared to the kth target space image 301 shown in Figure 4a. Referring to Figure 4b, the (k+1)th target space image 302 can be obtained by capturing it again at a changed shooting angle 327 while maintaining the shooting coordinate point at the kth target space absolute coordinate point 311, which is the same as that of the kth target space image 301. In such a state, if the (k+1)th target space relative coordinate point 340 is selected as the new position to which the magnetic catheter 20 has been moved, the new coordinate axes 341, 342, 343 forming the (k+1)th sub-coordinate space with the (k+1)th target space relative coordinate point 340 as the origin may be tilted by the amount of the changed shooting angle 327 compared to the coordinate axes 321, 322, 323 of the kth sub-coordinate space. Furthermore, the (k+1)th object space relative coordinate point 340 may be a relative coordinate point with respect to the kth object space absolute coordinate point 311.

[0071] Furthermore, in Figure 5b, as an embodiment of the present invention, the (k+1)th target space image 302, which was captured again in the process described above, is updated and displayed in the first area on the right side of the display 102, and correspondingly, the (k+1)th visualization coordinates, consisting of the new visualization X-axis 524, new visualization Y-axis 525, and 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, and the (k +1) The T_(k+1)_1 yaw and T_(k+1)_1 pitch values, based on the (k+1) reference coordinate axis corresponding to the positive direction of the horizontal axis 341 among the coordinate axes 341, 342, and 343 of the sub-coordinate space, are updated and displayed in the 2_2 region 510 of the display 120. Since it is assumed that the state before the command to generate an external magnetic field is issued at the T_(k+1)_1 point in time is assumed, the requested magnetic field strength information is processed as 0 and updated and displayed in the 2_3 region 530 of the display 120, which is shown in a simplified manner. Furthermore, on the (k+1) reference coordinate axis, the T_(k+1) current graphic element 604 is shown in the direction corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch values. The T_(k+1) current graphic element displayed at this time is obtained by capturing the (k+1) target space image 302 at an angle 327 that has changed compared to the k target space image 301. Therefore, the corresponding changed angle 327 is reflected, and at least one value among the hue, brightness, and saturation can be set differently compared to the T_k current graphic element 601 that was previously displayed at the T_k_p time point.

[0072] As an example of the invention, the T_k_p magnetic field generated at the k-th relative coordinate point 320 at the T_k_p time point also affects the same direction within a predetermined range relative to the k-th relative coordinate point 320. Therefore, if the magnetic catheter 20 moves within a predetermined range affected by the T_k_p magnetic field from the k-th relative coordinate point 320 after the T_k_p time point, the direction of the magnetic catheter 20 can be maintained and it can continue to move in the same direction. Once the movement of the magnetic catheter 20 is complete, the user interface providing device 110 can interrupt the generation of the T_k_p magnetic field using the coil system 130, and then perform the process of acquiring the (k+1)-th target space image 302 from the target space image management device 210. In other words, if, after the T_k_p time point, the magnetic catheter 20, which was located at the k-th target space relative coordinate point 320, moves to the (k+1)-th target space relative coordinate point 340, which is within a predetermined range that is affected in the same direction as the T_k_p magnetic field generated for the k-th target space relative coordinate point 320, the user interface providing device 110, after acquiring the (k+1)-th target space image 302, can, at the T_(k+1)_1 time point when the (k+1)-th target space relative coordinate point 340 is selected as the new position of the magnetic catheter 20, refer to the T_k_p yaw and T_k_p pitch and the k-reference coordinate axis as information regarding the direction the magnetic catheter 20 is facing, and set the T_(k+1)_1 yaw and T_(k+1)_1 pitch so that they are the same as that direction.For example, referring again to Figure 4b, as shown in Figure 4b, if the (k+1)th target space image 302 is captured again at a different shooting angle 327 compared to the kth target space image 301, 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. 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 target space image 302 will change direction to reflect the changed shooting angle 327. Therefore, the user interface provider 110 can refer to the T_k_p yaw and T_k_p pitch and set the T_(k+1)_1 yaw and T_(k+1)_1 pitch by also considering the reference kth reference coordinate axis.

[0073] As described above, the process after the (k+1)th object space image is acquired and the T_(k+1)th time interval begins, and the (k+1)th object space relative coordinate point is selected and the (k+1)th sub-coordinate space is established, is similar in content to the process after the kth object space image is acquired and the T_kth time interval begins, and the kth object space relative coordinate point is selected and the kth sub-coordinate space is established, so a detailed explanation will be omitted.

[0074] In the following section, as an example of the present invention, a specific method will be described in which a predetermined coil system 130 linked to a user interface providing device 110 generates an external magnetic field.

[0075] For reference, the content of the external magnetic field generated and changed by the coil system 130 in the T_k time interval, which is the time interval from when the k-th target space image 301 is acquired until the (k+1)th target space image 302 is acquired again, can be similarly applied to the T_(k+1) time interval, which is the time interval from when the (k+1)th target space image 302 is acquired until the (k+2)th target space image is acquired again. Therefore, only the case of the T_k time interval will be explained, and the explanation for the T_(k+1) time interval will be omitted.

[0076] In this invention, the external magnetic field 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 the j-th coil 211. At this time, the first current to the j-th current is applied to each of the first coil to the j-th coil 211 to generate the first sub-magnetic field to the j-th sub-magnetic field, and the first sub-magnetic field to the j-th sub-magnetic field is superimposed to generate the external magnetic field. The first current to the j-th current that must be applied to each of the first coil to the j-th coil 211 in accordance with the T_k_q time point can be determined by the T_k_q yaw, T_k_q pitch, and T_k_q desired magnetic field strength information corresponding to the T_k_q magnetic field command.

[0077] In this case, as an example of the invention, the user interface providing device 110 may store information regarding the unit current magnetic flux density measured in advance at each of the multiple measurement coordinate points in the overall coordinate points on the target space 230, in relation to the unit current magnetic field generated as an external magnetic field when a predetermined unit current is applied to each of the first to j-th coils 211 as the first to j-th current. When the k-th relative coordinate point 320 in the target space is P, which is one of the measurement coordinate points, and the unit current magnetic flux density table corresponding to P is A(P), then A(P) can be represented by the following matrix. JPEG0007849704000007.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 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, which is the first direction of the target space 230 with respect to P, Ayj (P) is the j_2 unit current magnetic flux density of the j-th sub-magnetic field generated by the j-th coil 211, corresponding to the Y-axis 232 of the target space, which is the second direction orthogonal to the first direction of the target space 230 with respect to P. zj (P) represents the j_3 unit current magnetic flux density of the j-th sub-magnetic field generated by the j-th coil 211, which corresponds to the Z-axis 233 of the target space, which is a third direction perpendicular to the plane formed by the X-axis 231 and Y-axis 232 of the target space with respect to P.

[0079] Then, the T_k_q magnetic field command for P is given by B ref When (P) is B ref (P) is A(P)I as follows * It can be expressed as follows. JPEG0007849704000008.jpg19104

[0080] At this time, I * This is a matrix for the first current to the j-th current applied to the first coil to the j-th coil 211, respectively, and i1 corresponds to each of the first current to the j-th current. * or i j * It can include...

[0081] Therefore, each of the first to nth currents can be calculated using the following formula. JPEG0007849704000009.jpg2063

[0082] Next, as an example of the invention, there may be cases where the k-th target spatial relative coordinate point 320 is not one of the measurement coordinate points. In such cases, the unit current magnetic flux density table corresponding to the k-th target spatial relative coordinate point 320 can be calculated by referring to each of the reference k-th specific unit current magnetic flux density tables corresponding to each of at least two or more reference k-th specific measurement coordinate points located within a predetermined range from the k-th target spatial relative coordinate point 320 and performing a predetermined correction. At this time, the correction method may be performed by a linear interpolation method, but is not limited thereto.

[0083] When configuring a catheter procedure 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 area and catheter individually for each system, and existing X-ray imaging devices and the like can be used as is to implement the present invention.

[0084] Furthermore, the embodiments of the present invention described above can be embodied in the form of program instructions that can be executed through various computer components and stored on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., individually or in combination. The program instructions stored on the computer-readable recording medium may be specifically designed and configured for the present invention or may be publicly known and usable by those skilled in the field 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 specifically configured to store and execute program instructions, such as ROMs, RAMs, and flash memory. Examples of program instructions include not only machine code, such as that produced by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices may be configured to operate as one or more software modules to perform the processing according to the present invention, and vice versa.

[0085] Although the present invention has been described above with specific details such as concrete components, limited embodiments, and drawings, these are provided only to aid in a more general understanding of the invention, and the invention is not limited to the above embodiments. A person with ordinary skill in the art to which the invention belongs can make various modifications and variations from this description.

[0086] Therefore, the concept of the present invention should not be limited to the embodiments described above, and it can be said that not only the claims described later, but also all modifications that are equivalent or equivalent to the claims of this invention, fall within the scope of the concept of the present invention.

Claims

1. A method for providing a user interface, (a) When a k-th target space image, captured with respect to a predetermined target space affected by an external magnetic field, using the k-th target space absolute coordinate point (where k is an integer of 1 or more) on the target space as the shooting reference point, is acquired from a target space image management device linked to a user interface providing device, (i) the user interface providing device performs a process to display the k-th target space image in a first area of ​​a display linked to the user interface providing device, and (ii) when information is confirmed that a k-th target space relative coordinate point, which is a relative coordinate point based on the k-th target space absolute coordinate point and corresponds to the position of a magnetic catheter located inside the target space, the user interface providing device performs a process to display a predetermined k-th selection display symbol on the k-th target space image at a position corresponding to the k-th target space relative coordinate point, (b) The time interval from the time when the k target space image is acquired until the time when the (k+1) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_k time interval (the T_k time interval includes the T_k_1 time, T_k_2 time, ..., T_k_p time, where p is an integer of 2 or more), the time when the k target space relative coordinate point is selected is defined as the T_k_1 time, and the external magnetic field is applied to the k target space relative coordinate point, Or, when each of the time points that are changed is defined as the T_k_2 time point to the T_k_p time point, (b1) the user interface providing device (i) refers to the coordinate information of the k target space image and the k target space relative coordinate points and sets the k target space relative coordinate points as the origin and the k sub-coordinate space coordinate axes corresponding to the k target space image (the k sub-coordinate space coordinate axes include a horizontal axis that includes coordinate points corresponding to the horizontal direction of the k target space image with respect to the origin, and the k sub-coordinate space coordinate axes are based on the origin (ii) A process to set up a predetermined kth sub-coordinate space having a vertical axis that includes a coordinate point corresponding to the vertical direction of the k-object space image, and an axis that is perpendicular to the k-object space image with respect to the origin; (ii) A process to acquire information regarding the direction the magnetic catheter is facing at time T_k_1 as the T_k_1 yaw and T_k_1 pitch, with respect to a predetermined kth reference coordinate axis that is a specific coordinate axis among the k-sub-coordinate space coordinate axes corresponding to the k-sub-coordinate space; (b) A process to set up a predetermined kth sub-coordinate space having a vertical axis that includes a coordinate point corresponding to the vertical direction of the k-object space image, and an axis that is perpendicular to the k-object space image with respect to the origin;(b3) At the T_k_q time point (where q is an integer between 2 and p) which is a specific time point among the T_k_2 time point to the T_k_p time point, if the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information and T_k_q magnetic field generation start command information, which are the information at the T_k_q time point, are confirmed for the k relative coordinate point from the T_k_(q-1) time point to the T_k_q time point, then at the T_k_q time point, the user interface providing device (i) refers to the T_k_q yaw, T_k_q pitch and T_k_q requested magnetic field strength information respectively and displays in the direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to the T_k_(q-1) time point (ii) a process to change the current graphic element of the T_k time in the direction corresponding to the T_k_q yaw and T_k_q pitch corresponding to the T_k_q time, and display it; (ii) a process to update and display the T_k_q pitch or T_k_p pitch (the T_k_p pitch being information relating to the direction the magnetic catheter is facing at the T_k_p time) and the T_k_q yaw or T_k_p yaw (the T_k_p yaw being information relating to the direction the magnetic catheter is facing at the T_k_p time) in the 2_2 area of ​​the display; and (iii) a process to update and display the T_k_q desired magnetic field strength information in the 2_3 area of ​​the display; A method that includes and repeats step (b3) at each of the time points T_k_2 to T_k_p.

2. After step (b) above, (c) After the T_k_p magnetic field is generated with respect to the k relative coordinate point of the target space at time T_k_p, if the position of the magnetic catheter is moved after time T_k_p and the (k+1) target space image is obtained from the target space image management device, then (i) the user interface providing device performs a process to update and display the (k+1) target space image in the first area of ​​the display, and (ii) the (k+1) relative coordinate point of the target space corresponding to the position where the magnetic catheter was moved (the (k+1) relative coordinate point of the target space image is If the k absolute coordinate point of the target space is used as the shooting reference point for re-shooting, the selected coordinate point is a relative coordinate point with respect to the k absolute coordinate point of the target space; and if the (k+1) target space image is used as the shooting reference point for re-shooting, the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space. If information is confirmed that the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space, the user interface providing device performs a process to display a predetermined (k+1) selected display symbol on the (k+1) target space image at a position corresponding to the (k+1) relative coordinate point of the target space. (d) The time interval from the time when the (k+1) target space image is acquired until the time when the (k+2) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_(k+1) time interval (the T_(k+1) time interval includes the T_(k+1)_1 time, T_(k+1)_2 time, ..., T_(k+1)_m time, where k is an integer of 1 or more and m is an integer of 2 or more), and the (k+1) target space When the time when a relative coordinate point is selected is defined as time T_(k+1)_1, and the time when the external magnetic field is applied to or changed on the (k+1) target space relative coordinate point is defined as time T_(k+1)_2 to time T_(k+1)_m, respectively, (d1) the user interface providing device (i) refers to the coordinate information of the (k+1) target space image and the (k+1) target space relative coordinate point and (k (i) A step of performing a process to set up a predetermined (k+1) sub-coordinate space with a relative coordinate point in the target space as the origin, having a (k+1) sub-coordinate space coordinate axis corresponding to the (k+1) target space image (the (k+1) sub-coordinate space coordinate axis includes a horizontal axis containing coordinate points corresponding to the horizontal direction of the (k+1) target space image with respect to the origin, a vertical axis containing coordinate points corresponding to the vertical direction of the (k+1) target space image with respect to the origin, and an axis perpendicular to the (k+1) target space image with respect to the origin); (ii) A step of performing a process to acquire information regarding the direction the magnetic catheter is facing at time T_(k+1)_1 as the T_(k+1)_1 yaw and T_(k+1)_1 pitch with respect to a predetermined (k+1) reference coordinate axis which is a specific (k+1) sub-coordinate space coordinate axis among the coordinate axes corresponding to the (k+1) sub-coordinate space;(d2) The user interface providing device performs the process of (i) updating and displaying the (k+1) visualized coordinate space, visualized to correspond to the (k+1) sub-coordinate space, in the second_1 area of ​​the display; and (ii) performing the process of displaying a predetermined T_(k+1) current graphic element in the (k+1) visualized coordinate space in directions corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch, with respect to the origin of the (k+1) visualized coordinate space;(d3) At the T_k_n time point (where n is an integer between 2 and m) which is a specific time point among the T_(k+1)_2 time point to the T_(k+1)_m time point, the T_(k+1)_n yaw, T_(k+1)_n pitch, and T_(k+1)_n desired magnetic field strength are the information at the T_(k+1)_n time point relative to the (k+1) target space from the T_(k+1)_(n-1) time point to the T_(k+1)_n time point. If the information and the T_(k+1)_n magnetic field generation start command information are confirmed, at the T_(k+1)_n time point, the user interface providing device (i) refers to the T_(k+1)_n yaw, the T_(k+1)_n pitch, and the T_(k+1)_n requested magnetic field strength information and displays in the direction corresponding to the T_(k+1)_(n-1) yaw and T_(k+1)_(n-1) pitch corresponding to the T_(k+1)_(n-1) time point. (ii) a process of changing the displayed T_(k+1) current graphic element in 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 it; (ii) a process of updating and displaying each of the T_(k+1)_n pitch or T_(k+1)_m pitch (the T_(k+1)_m pitch being information relating to the direction the magnetic catheter is facing at the T_(k+1)_m time point) and the T_(k+1)_n yaw or T_(k+1)_m yaw (the T_(k+1)_m yaw being information relating to the direction the magnetic catheter is facing at the T_(k+1)_m time point) in the 2_2 area 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 area of ​​the display; The method according to claim 1, further comprising the (d3) step being repeated every T_(k+1)_2 to T_(k+1)_m time points.

3. In the above step (b1), The user interface providing device further performs a process of acquiring the T_k_p yaw and T_k_p pitch, which are information relating to the target direction at time T_k_p, with respect to the k relative coordinate point in the target space. In the above (b2) stage, The user interface providing device further performs the process of (i) displaying a predetermined T_k start graphic element in the direction corresponding to the T_k_1 yaw and 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 target graphic element in the direction corresponding to the T_k_p yaw and T_k_p pitch on the k visualization coordinate space, In the (d1) stage, The user interface providing device further performs a process to acquire the T_(k+1)_m yaw and T_(k+1)_m pitch, which are information relating to the target direction at time T_(k+1)_m, with respect to the (k+1) relative coordinate point in the target space. In the (d2) stage, The method according to claim 2, characterized in that the user interface providing device further performs the process of (i) displaying a predetermined T_(k+1) start graphic element in the 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 the origin of the (k+1) visualization coordinate space, and (ii) displaying a predetermined T_(k+1) target graphic element in the 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 (d1) stage, The method according to claim 3, characterized in that the user interface providing device refers to the T_k_p yaw, T_k_p pitch, and k reference coordinate axis of the T_k_p magnetic field generated with respect to the k target space relative coordinate point at time T_k_p, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information relating to the direction toward the magnetic catheter with respect to the (k+1) reference coordinate axis at time T_(k+1)_1, so that they are the same as the direction corresponding to the T_k_p yaw and T_k_p pitch with respect to the k reference coordinate axis.

5. In step (a) above, The user interface providing device further performs the process of setting the k_1 direction corresponding to the horizontal direction of the k target space image as the image X-axis, setting the direction orthogonal to the k_1 direction of the k target space image as the image Y-axis as the k_2 direction corresponding to the vertical direction of the k target space image, and setting the coordinate axis perpendicular to the plane formed by the image X-axis and the image Y-axis as the image Z-axis. The k-th selected display symbol corresponding to the k-sensor relative coordinate point is characterized in that it is determined by the coordinate value of the k-sensor relative coordinate point corresponding to the image Z-axis such that at least one of the hue, lightness, and saturation changes according to a predetermined criterion, and is displayed on the k-sensor image. In step (c) above, The user interface providing device further performs the process of updating and setting the first (k+1) direction corresponding to the horizontal direction of the (k+1) target space image as the image X-axis, updating and setting the second (k+1) direction corresponding to the vertical direction of the (k+1) target space image as the image Y-axis, and updating and setting the coordinate axis perpendicular to the plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis. The method according to claim 3, characterized in that the (k+1) selected display symbol corresponding to the (k+1) relative coordinate point in the target space is determined such that at least one of the hue, lightness, and saturation changes according to the coordinate value of the (k+1) relative coordinate point in the target space corresponding to the Z axis of the image, and is displayed on the (k+1) target space image.

6. Each of the k-visualized coordinate space and the (k+1)-visualized coordinate space is a three-dimensional space characterized by including the visualized X-axis, the visualized Y-axis orthogonal to the visualized X-axis, and the visualized Z-axis perpendicular to the plane formed by the visualized X-axis and the visualized Y-axis as coordinate axes. Each of the visualization X-axis, visualization Y-axis, and visualization Z-axis is determined by referring to the image X-axis, image Y-axis, and image Z-axis, so as to correspond to each other. The method according to claim 5, characterized in that 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 such that at least one of the 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 step (a) above, The user interface providing device is further characterized by performing a process to display (i) the kth relative coordinate value obtained by relatively calculating the coordinate value of the k-th relative coordinate point in the k-th target space with the coordinate value of the k-th target space absolute coordinate point as the origin, and (ii) the kth absolute coordinate value obtained by converting the k-th relative coordinate value into a coordinate value within the target space, in a specific partial area or a predetermined third area that is at least a part of the first area of ​​the display. In step (c) above, The method according to claim 2, characterized in that the user interface providing device further performs a process of updating and displaying in a specific partial area or third area which is at least a part of the first area of ​​the display the (i) (k+1) relative coordinate value obtained by relatively calculating the coordinate value of the (k+1) relative coordinate value of the (k+1) target space relative coordinate value with the coordinate value of the (k+1) target space relative coordinate value as the origin, and (ii) the (k+1) absolute coordinate value obtained by converting the (k+1) relative coordinate value into a coordinate value within the target space.

8. The external magnetic field is linked to the user interface providing device and is characterized by being generated by a predetermined coil system including a first coil to a j-th coil (each of the first coil to the j-th coil is to which a first current to a j-th current is applied to generate a first sub-magnetic field to a j-th sub-magnetic field, and each of the first sub-magnetic field to the j-th sub-magnetic field is superimposed to generate the external magnetic field), The method according to claim 2, characterized in that each of the first currents to the j currents that must be applied to each of the first coils to the j coils corresponding to the T_k_q time or the T_(k+1)_m time is (i) 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 in the case of the T_k_q time, and (ii) determined by the T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_k_m desired magnetic field strength information in the case of the T_(k+1)_m time.

9. The user interface providing device is characterized in that, when a predetermined unit current is applied to each of the first coils to the j coil as the first current to the j current, the unit current magnetic field generated as the external magnetic field is related to the unit current magnetic field, and information on the unit current magnetic flux density measured in advance is stored in a unit current magnetic flux density table corresponding to each of the multiple measurement coordinate points in the overall coordinate points of the target space. Let P be one of the measurement coordinate points, where the k-sequence relative coordinate point or the (k+1)-sequence relative coordinate point is one such point. When A(P) is the unit current magnetic flux density table corresponding to P, then A(P) is: (where the 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 includes the A ｘｊ (P) is the j_1 unit current magnetic flux density of the jth sub-magnetic field generated by the jth coil so as to correspond to the target space X-axis which is the first direction of the target space with respect to the P, the A ｙｊ (P) is the j_2 unit current magnetic flux density of the jth sub-magnetic field generated by the jth coil so as to correspond to the target space Y-axis which is the second direction of the target space orthogonal to the first direction with respect to the P, the A ｚｊ (P) is the j_3 unit current magnetic flux density of the jth sub-magnetic field generated by the jth coil so as to correspond to the target space Z-axis which is the third direction of the target space perpendicular to the plane formed by the target space X-axis and the target space Y-axis with respect to the P), and is characterized by being represented by a matrix such as The T_k_q magnetic field command or the T_(k+1)_m magnetic field command for P is B ｒｅｆ When (P) is set, the above B ｒｅｆ (P) is A(P)I as follows ＊ (I ＊ This is a matrix of the first current to the j current applied to each of the first coil to the j coil, wherein i corresponds to each of the first current to the j current. １ ＊ or i ｊ ＊ It is characterized by being expressed as (including), Each of the above-mentioned currents, from the first current to the j-current, is given by the following formula The method according to claim 8, characterized in that it is calculated using

10. The method according to claim 9, characterized in that, if the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is calculated by (i) in the case of the k relative coordinate point in the target space, by performing a predetermined correction (the correction includes a linear interpolation method) by referring to each of the reference k specific unit current magnetic flux density tables corresponding to each of at least two or more reference k specific measurement coordinate points located within a predetermined range from the k relative coordinate point in the target space, and (ii) in the case of the (k+1) relative coordinate point in the target space, by performing the correction by referring to each of the reference (k+1) specific unit current magnetic flux density tables corresponding to each of at least two or more reference (k+1) specific measurement coordinate points located within a predetermined range from the (k+1) relative coordinate point.

11. A user interface providing device, At least one memory to store instructions, Includes at least one processor configured to execute the instructions, The processor performs the following subprocesses: (1) When a k-th target space image, captured with respect to a predetermined target space affected by an external magnetic field, using the k-th target space absolute coordinate point (where k is an integer of 1 or more) on the target space as the capture reference point, is obtained from a target space image management device linked to a user interface providing device, (i) the k-th target space image is displayed in a first area of ​​a display linked to the user interface providing device; and (ii) When information is confirmed that a k-th target space relative coordinate point, which is a relative coordinate point with respect to the k-th target space absolute coordinate point and corresponds to the position of a magnetic catheter located inside the target space, a predetermined k-th selection display symbol is displayed on the k-th target space image at a position corresponding to the k-th target space relative coordinate point;(2) The time interval from the time when the k target space image is acquired until the time when the (k+1) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_k time interval (the T_k time interval includes the T_k_1 time, T_k_2 time, ..., T_k_p time, where p is an integer of 2 or more), the time when the k target space relative coordinate point is selected is defined as the T_k_1 time, and the external magnetic field is created with respect to the k target space relative coordinate point. When each of the points in time at which the object is used or changed is defined as the T_k_2 point in time to the T_k_p point in time, (2-1) (i) referring to the coordinate information of the k object space image and the k object space relative coordinate points, the k sub-coordinate space coordinate axis corresponding to the k object space image is set with the k object space relative coordinate point as the origin (the k sub-coordinate space coordinate axis is a horizontal axis that includes coordinate points corresponding to the horizontal direction of the k object space image with respect to the origin, and (ii) A subprocess to set up a predetermined kth sub-coordinate space having a vertical axis including a coordinate point corresponding to the vertical direction of the kth target space image, and an axis perpendicular to the kth target space image with respect to the origin; (ii) A subprocess to acquire information regarding the direction the magnetic catheter is facing at time T_k_1 as the T_k_1 yaw and T_k_1 pitch, with respect to a predetermined kth reference coordinate axis which is a specific coordinate axis among the kth sub-coordinate space coordinate axes corresponding to the kth sub-coordinate space; (2-2) (i) A subprocess to display the kth visualized coordinate space, visualized to correspond to the kth sub-coordinate space, in the second_1 area of ​​the display; (ii) A subprocess to display a predetermined T_k current graphic element in the kth visualized coordinate space in the direction corresponding to the T_k_1 yaw and T_k_1 pitch, with respect to the origin of the kth visualized coordinate space;(2-3) At the T_k_q time point (where q is an integer between 2 and p) which is a specific time point among the T_k_2 time point to the T_k_p time point, if the T_k_q yaw, T_k_q pitch, T_k_q requested magnetic field strength information and T_k_q magnetic field generation start command information, which are the information for the T_k_q time point, are confirmed for the k relative coordinate point from the T_k_(q-1) time point to the T_k_q time point, then at the T_k_q time point, (i) referring to the T_k_q yaw, T_k_q pitch and T_k_q requested magnetic field strength information respectively, the T_k current graphic element displayed in the direction corresponding to the T_k_(q-1) yaw and T_k_(q-1) pitch corresponding to the T_k_(q-1) time point is changed to the T_k_ corresponding to the T_k_q time point An apparatus that performs the following steps: (ii) a subprocess to change and display the q yaw and T_k_q pitch in the direction corresponding to the q yaw and T_k_q pitch; (ii) a subprocess to update and display the T_k_q pitch or the T_k_p pitch (the T_k_p pitch being information relating to the direction the magnetic catheter is facing at the T_k_p time point) and the T_k_q yaw or the T_k_p yaw (the T_k_p yaw being information relating to the direction the magnetic catheter is facing at the T_k_p time point) in the 2_2 area of ​​the display; and (iii) a subprocess to update and display the T_k_q desired magnetic field strength information in the 2_3 area of ​​the display; and repeats the above (2-3) steps for each of the T_k_2 time point to the T_k_p time point.

12. After the process described in (2) above, The processor performs a subprocess to update and display the (k+1) target space image from the target space image management device if, after the T_k_p magnetic field is generated with respect to the k target space relative coordinate point at the T_k_p time, the position of the magnetic catheter is moved after the T_k_p time and the target space is photographed again, (i) the (k+1) target space image is updated and displayed in the first area of ​​the display, and (ii) the (k+1) target space relative coordinate point corresponding to the position where the magnetic catheter was moved (the (k+1) target space relative coordinate point is the (k+1) target space If the image is re-captured with the k absolute coordinate point of the target space as the shooting reference point, the selected coordinate point is a relative coordinate point with respect to the k absolute coordinate point of the target space; if the (k+1) target space image is re-captured with a different (k+1) absolute coordinate point of the target space as the shooting reference point, the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space. If information is confirmed that the selected coordinate point is a relative coordinate point with respect to the (k+1) absolute coordinate point of the target space, then a sub-process is performed to display a predetermined (k+1) selected indicator symbol on the (k+1) target space image at a position corresponding to the (k+1) relative coordinate point of the target space;and (4) The time interval from the time when the (k+1) target space image is acquired until the time when the (k+2) target space image is acquired after the position of the magnetic catheter has been changed and the target space has been photographed again is defined as the T_(k+1) time interval (the T_(k+1) time interval includes the T_(k+1)_1 time, T_(k+1)_2 time, ..., T_(k+1)_m time, where k is an integer of 1 or more and m is an integer of 2 or more), and the (k+1 ) Let the time when the relative coordinate point in the target space is selected be time T_(k+1)_1, and let the time when the external magnetic field is applied to or changed on the (k+1) relative coordinate point in the target space be time T_(k+1)_2 to time T_(k+1)_m, respectively, (4-1)(i) Referencing the coordinate information of the (k+1) target space image and the (k+1) relative coordinate point, the (k+1) relative coordinate (ii) A subprocess to set up a predetermined (k+1) subcoordinate space with a reference point as the origin and having coordinate axes of a (k+1) subcoordinate space corresponding to the (k+1) target space image (the (k+1) subcoordinate space coordinate axes include a horizontal axis containing coordinate points corresponding to the horizontal direction of the (k+1) target space image with respect to the origin, a vertical axis containing coordinate points corresponding to the vertical direction of the (k+1) target space image with respect to the origin, and an axis perpendicular to the (k+1) target space image with respect to the origin); (ii) A subprocess to set up a predetermined (k+1) reference coordinate axis which is a specific coordinate axis among the (k+1) subcoordinate space coordinate axes corresponding to the (k+1) subcoordinate space, and to obtain information regarding the direction the magnetic catheter is facing at time T_(k+1)_1 as the T_(k+1)_1 yaw and T_(k+1)_1 pitch;(4-2) (i) Performing a subprocess to update and display the (k+1) visualized coordinate space, visualized to correspond to the (k+1) subcoordinate space, in the second_1 area of ​​the display; (ii) Performing a subprocess to display a predetermined T_(k+1) current graphic element in the (k+1) visualized coordinate space in directions corresponding to the T_(k+1)_1 yaw and T_(k+1)_1 pitch, with respect to the origin of the (k+1) visualized coordinate space;(4-3) At the T_k_n time point (where n is an integer between 2 and m) which is a specific time point among the T_(k+1)_2 time point to the T_(k+1)_m time point, 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 are the information at the T_(k+1)_n time point relative to the (k+1) target space from the T_(k+1)_(n-1) time point to the T_(k+1)_n time point. If the magnetic field generation start command information is confirmed, at time T_(k+1)_n, (i) referring to the T_(k+1)_n yaw, the T_(k+1)_n pitch, and the T_(k+1)_n requested magnetic field strength information, the T_(k+1) current graphic element displayed in the direction corresponding to the T_(k+1)_(n-1) yaw and T_(k+1)_(n-1) pitch corresponding to time T_(k+1)_(n-1) will be changed to the T_(k+1) current graphic element corresponding to time T_(k+1)_n (ii) A subprocess to change and display the direction corresponding to the T_(k+1)_n yaw and T_(k+1)_n pitch, (ii) the T_(k+1)_n pitch or the T_(k+1)_m pitch (the T_(k+1)_m pitch is information regarding the direction the magnetic catheter is facing at the T_(k+1)_m time point) and the T_(k+1)_n yaw or the T_(k+1)_m yaw (the T_(k+1)_m yaw is information regarding the direction the magnetic catheter is facing at the T_(k+1)_m time point) The apparatus according to claim 11, further comprising: (iii) a subprocess of updating and displaying each of the information relating to the direction the catheter is pointing in the second_2 area of ​​the display; and (iii) a subprocess of updating and displaying the T_(k+1)_n desired magnetic field strength information in the second_3 area of ​​the display; and repeating the (4-3) step every T_(k+1)_2 time point to the T_(k+1)_m time point.

13. In the process described in (2-1), the processor further performs a subprocess to obtain the T_k_p yaw and T_k_p pitch, which are information relating to the target direction at time T_k_p, with respect to the k relative coordinate point in the target space. In the process described in (2-2) above, the processor further performs subprocesses such as (i) displaying a predetermined T_k start graphic element in the direction corresponding to the T_k_1 yaw and 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 target graphic element in the direction corresponding to the T_k_p yaw and T_k_p pitch. In the (4-1) process, the processor further performs a subprocess to obtain the T_(k+1)_m yaw and T_(k+1)_m pitch, which are information relating to the target direction at time T_(k+1)_m with respect to the (k+1) relative coordinate point in the target space, The apparatus according to claim 12, characterized in that, in the (4-2) process, the processor further performs a subprocess of (i) displaying a predetermined T_(k+1) start graphic element in the (k+1) visualization coordinate space with respect to the origin of the (k+1) visualization coordinate space in the direction corresponding to the T_(k+1)_1 yaw and the T_(k+1)_1 pitch, and (ii) displaying a predetermined T_(k+1) target graphic element in the direction corresponding to the T_(k+1)_m yaw and the T_(k+1)_m pitch.

14. The apparatus according to claim 13, wherein in the process described in (4-1), the processor refers to the T_k_p yaw, T_k_p pitch, and k reference coordinate axis of the T_k_p magnetic field generated with respect to the k relative coordinate point in the target space at time T_k_p, and sets the T_(k+1)_1 yaw and T_(k+1)_1 pitch, which are information relating to the direction toward the magnetic catheter with respect to the (k+1) reference coordinate axis at time T_(k+1)_1, so that they are the same as the direction corresponding to the T_k_p yaw and T_k_p pitch with respect to the k reference coordinate axis.

15. In the process described in (1) above, the processor further performs a sub-process in which it sets the k_1 direction corresponding to the horizontal direction of the k target space image as the image X-axis, sets the direction orthogonal to the k_1 direction of the k target space image as the image Y-axis as the k_2 direction corresponding to the vertical direction of the k target space image, and sets the coordinate axis perpendicular to the plane formed by the image X-axis and the image Y-axis as the image Z-axis. The k-th selected display symbol corresponding to the k-sensor relative coordinate point is characterized in that it is determined by the coordinate value of the k-sensor relative coordinate point corresponding to the image Z-axis such that at least one of the hue, lightness, and saturation changes according to a predetermined criterion, and is displayed on the k-sensor image. In the process described in (3) above, the processor updates and sets the first (k+1) direction corresponding to the horizontal direction of the (k+1) target space image as the image X-axis, updates and sets the second (k+1) direction corresponding to the vertical direction of the (k+1) target space image as the image Y-axis, which is orthogonal to the first (k+1) direction of the (k+1) target space image, and further performs a sub-process to update and set the coordinate axis perpendicular to the plane formed by the updated and set image X-axis and image Y-axis as the image Z-axis. The apparatus according to claim 13, characterized in that the (k+1) selected display symbol corresponding to the (k+1) relative coordinate point in the target space is determined such that at least one of the hue, lightness, and saturation changes according to the coordinate value of the (k+1) relative coordinate point in the target space corresponding to the Z axis of the image, and is displayed on the (k+1) target space image.

16. Each of the k-visualized coordinate space and the (k+1)-visualized coordinate space is a three-dimensional space characterized by including the visualized X-axis, the visualized Y-axis orthogonal to the visualized X-axis, and the visualized Z-axis perpendicular to the plane formed by the visualized X-axis and the visualized Y-axis as coordinate axes. Each of the visualization X-axis, visualization Y-axis, and visualization Z-axis is determined by referring to the image X-axis, image Y-axis, and image Z-axis, so as to correspond to each other. The apparatus according to claim 15, characterized in that 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 such that at least one of the 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 described in (1) above, the processor further performs a subprocess to display (i) the kth relative coordinate value obtained by relatively calculating the coordinate value of the k-th relative coordinate point in the k-th target space with the coordinate value of the k-th absolute coordinate point as the origin, and (ii) the kth absolute coordinate value obtained by converting the k-th relative coordinate value into a coordinate value within the target space, in a specific partial area or a predetermined third area that is at least a part of the first area of ​​the display. The apparatus according to claim 12, characterized in that, in the process of (3) above, the processor further performs a subprocess to update and display in the specific partial region or the third region which is at least a part of the first region of the display, the (i) the (k+1) relative coordinate value obtained by relatively calculating the coordinate value of the (k+1) relative coordinate point in the (k+1) target space with the coordinate value of the (k+1) target space relative coordinate value as the origin, and the (ii) the (k+1) absolute coordinate value obtained by converting the (k+1) relative coordinate value into a coordinate value in the target space.

18. The external magnetic field is linked to the user interface providing device and is characterized by being generated by a predetermined coil system including a first coil to a j-th coil (each of the first coil to the j-th coil is to which a first current to a j-th current is applied to generate a first sub-magnetic field to a j-th sub-magnetic field, and each of the first sub-magnetic field to the j-th sub-magnetic field is superimposed to generate the external magnetic field), The apparatus according to claim 12, wherein each of the first currents to the j currents that must be applied to each of the first coils to the j coils corresponding to the T_k_q time point or the T_(k+1)_m time point is (i) 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 in the case of the T_k_q time point, and (ii) determined by the T_k_m magnetic field command corresponding to the T_(k+1)_m yaw, the T_(k+1)_m pitch, and the T_k_m desired magnetic field strength information in the case of the T_(k+1)_m time point.

19. When a predetermined unit current is applied to each of the first coils to the j coil as the first current to the j current, the unit current magnetic field generated as the external magnetic field is related to the unit current magnetic field, and information on the unit current magnetic flux density measured in advance is stored in a unit current magnetic flux density table corresponding to each of the multiple measurement coordinate points in the overall coordinate points on the target space. When the k-sequence relative coordinate point or the (k+1)-sequence 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), then 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) includes, and A 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 target space, which is the first direction of the target space relative to P, and A ｙｊ (P) is the j_2 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 target space, which is the second direction of the target space that is orthogonal to the first direction of the target space with respect to P, and A zj (P) is the j_3 unit current magnetic flux density of the j sub-magnetic field generated by the j coil, which corresponds to the Z axis of the target space, which is the third direction of the target space perpendicular to the plane formed by the X axis and Y axis of the target space 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) is set, the above B ｒｅｆ (P) is as follows: A(P)I ＊ (I ＊ This is a matrix of the first current to the j current applied to each of the first coil to the j coil, wherein i corresponds to each of the first current to the j current. １ ＊ or i ｊ ＊ It is characterized by being expressed as (including), Each of the above-mentioned currents, from the first current to the j-current, is given by the following formula The apparatus according to claim 18, characterized in that it is calculated using

20. If the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is not one of the measurement coordinate points, the unit current magnetic flux density table corresponding to the k relative coordinate point in the target space or the (k+1) relative coordinate point in the target space is calculated by (i) in the case of the k relative coordinate point in the target space, by performing a predetermined correction (the correction includes a linear interpolation method) by referring to each of the reference k specific unit current magnetic flux density tables corresponding to each of at least two or more reference k specific measurement coordinate points located within a predetermined range from the k relative coordinate point in the target space, and (ii) in the case of the (k+1) relative coordinate point in the target space, by performing the correction by referring to each of the reference (k+1) specific unit current magnetic flux density tables corresponding to each of at least two or more reference (k+1) specific measurement coordinate points located within a predetermined range from the (k+1) relative coordinate point.

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