Device for targeting magnetic particle and method for targeting magnetic particles in multi-branch blood vessel

Abstract

A method for targeting magnetic particles in a multi-branch blood vessel, according to the present invention, may include the steps of: obtaining a blood vessel path in a multi-branch blood vessel; determining a movement path from an injection point of magnetic particles to a target point; determining a magnetic field-free region (FFR) around at least one blood vessel branch present on the movement path; and injecting magnetic particles into the injection point and moving the magnetic particles to the target point by using the magnetic field generated in the magnetic FFR.

Description

Magnetic particle targeting device and magnetic particle targeting method in multi-branched blood vessels

[0001] The present invention was made under the support of the Ministry of Trade, Industry and Energy under the project identification number 1415180101 and project number 20017903. The research management specialized institution of the said project is the Korea Industrial Technology Evaluation and Planning Institute, the research project name is "Bioindustry Technology Development", the research project name is "Active precision delivery of embolic particles for transarterial chemoembolization for the treatment of liver tumors, and a simulator for embolization training", the main institution is the Korea Micro Medical Robot Research Institute, and the research period is from January 1, 2024 to December 31, 2024.

[0002] The present invention relates to a magnetic particle targeting device and a magnetic particle targeting method in a multi-branch blood vessel, which can target magnetic particles to a target point of a multi-branch blood vessel by creating a field-free region (FFR) regardless of the location information of the magnetic particles.

[0003] Recently, active research and development has been conducted to guide and target micro- or nano-particles into blood vessels for drug therapy or embolization. Embolization uses embolic agents to artificially block blood flow, blocking blood vessels supplying nutrients and oxygen to specific lesions to kill them, or to control bleeding by identifying and blocking bleeding vessels. The most common procedure is transcatheter artery chemoembolization (TAE) for hepatocellular carcinoma. Other procedures include cerebral aneurysm embolization, bronchial artery embolization, and uterine artery embolization.

[0004] Conventional treatment methods involve inserting a microcatheter into the proximal blood vessel of the target area and injecting particles through the catheter channel to treat the target area. However, accessing the target area is difficult in narrow and complex blood vessels, and excessive access can damage the blood vessel.

[0005] In addition, existing micro- or nano-particles move within blood vessels by blood flow, making it difficult to accurately guide and target them to a desired location. Therefore, magnetic field targeting technologies that drive magnetic micro / nanoparticles combined with magnetic particles using a magnetic field are being developed recently.

[0006] However, the existing method utilizing the existing multi-electromagnet arrangement is based on the location of the magnetic particles, so it requires real-time location information of the magnetic particles, but it is difficult to confirm the real-time location of the magnetic particles with imaging equipment such as X-ray, so there are limitations in applying it to actual procedures.

[0007] The information contained in this background section is intended to enhance understanding of the background of the invention and may include matters that are not prior art and are already known to those of ordinary skill in the art.

[0008] The present invention proposes a magnetic particle targeting device and a magnetic particle targeting method in a multi-branch blood vessel, which can autonomously guide and target magnetic particles to a target point within a multi-branch blood vessel by creating a field-free region (FFR) based on a vascular path of a multi-branch blood vessel acquired in advance without recognizing the location information of the magnetic particles.

[0009] The method for targeting magnetic particles in a multi-branched blood vessel of the present invention comprises the steps of obtaining a vascular path of a multi-branched blood vessel, determining a movement path from an injection point of magnetic particles to a target point, generating a field-free region (FFR) around at least one blood vessel branch existing on the movement path, and injecting magnetic particles into the injection point and moving the magnetic particles to the target point using a magnetic field generated in the field-free region.

[0010] The magnetic field generated by the above-mentioned magnetic field free region (FFR) guides magnetic particles passing through the magnetic field control region (FFR control region, FCR) on the blood vessel branch toward the desired blood vessel direction, but magnetic particles passing through the safe zone or an area other than the blood vessel branch can naturally move along the blood flow.

[0011] The above magnetic field control range (FCR) can be determined based on the blood vessel radius in the blood vessel branch.

[0012] The step of generating the above-described field-free region (FFR) may include a step of determining a field-free region (FFR available region) aligned in a direction perpendicular to the flow direction around the blood vessel branch, and a step of determining an optimal location for generating a field-free point (FFP) within the field-free region.

[0013] The step of generating the above-described magnetic field free region (FFR) can simultaneously generate a magnetic field free region (FFR) around each branch blood vessel when the multi-branch blood vessel has multiple blood vessel branches.

[0014] The step of generating the above-mentioned magnetic field free region (FFR) can generate an isotropic magnetic field based on a magnetic field free point (FFP).

[0015] The method may further include a step of monitoring changes in the vascular structure of the multi-branched blood vessel and re-acquiring the vascular path of the multi-branched blood vessel when the vascular structure has changed.

[0016] The method may further include resetting a movement path to a target point based on the reacquired vascular path and regenerating a magnetic field free region (FFR) around a vascular branch existing on the reset movement path.

[0017] The magnetic particle targeting device in a multi-branch blood vessel of the present invention includes a path setting module that determines a movement path of magnetic particles from an injection point to a target point in a multi-branch blood vessel, and an FFR control module that generates a field-free region (FFR) around at least one blood vessel branch existing on the movement path, and guides the magnetic particles injected at the injection point to the target point using a magnetic field generated in the field-free region (FFR).

[0018] The above FFR control module guides magnetic particles passing through a blood vessel branch toward a desired blood vessel direction through a magnetic field generated by a magnetic field free region (FFR), but magnetic particles passing through a safe zone or an area other than a blood vessel branch can naturally move along the blood flow.

[0019] The above FFR control module can determine a magnetic field-free region (FFR available region) aligned in a direction perpendicular to the flow direction around a blood vessel branch based on a magnetic field control region (FFR control region, FCR), and determine an optimal location for generating a magnetic field-free point (FFP) within the magnetic field-free region.

[0020] The above magnetic field control range (FCR) can be determined based on the blood vessel radius in the blood vessel branch.

[0021] The above FFR control module can simultaneously generate a magnetic field free zone (FFR) around each branch blood vessel when the multi-branch blood vessel has multiple blood vessel branches.

[0022] The above FFR control module can generate an isotropic magnetic field based on a field-free point (FFP).

[0023] The above FFR control module can regenerate a magnetic field free zone (FFR) around a blood vessel branch existing on the changed movement path when the blood vessel structure of the multi-branch blood vessel is changed and the movement path of the magnetic particles is changed.

[0024] According to the present invention, an environment is provided in which magnetic particles can be effectively guided and targeted to a target point of a multi-branch blood vessel through the optimization of a field-free region (FFR) based on a dynamic model of magnetic particles within a blood vessel without recognizing the location of the magnetic particles through specific equipment (e.g., imaging equipment).

[0025] In addition, the present invention has high compatibility with the human body and medical equipment through the arrangement of external electromagnets and provides an effective environment for actual clinical application.

[0026] In addition, the present invention provides an environment in which magnetic particle targeting can be applied to narrow blood vessels and complex blood vessels, and can also be applied to blood vessels that fluctuate in real time.

[0027] FIG. 1 is a schematic diagram illustrating a magnetic particle targeting device in a multi-branched blood vessel according to one embodiment of the present invention.

[0028] Figure 2 is a diagram showing the multi-branched vascular structure around a liver tumor.

[0029] FIG. 3 is a drawing illustrating an example of generating a field-free region (FFR) to drive magnetic particles to a target point in a multi-branch blood vessel according to one embodiment of the present invention.

[0030] FIG. 4 is a diagram schematically illustrating a process of setting a movement path of magnetic particles along a vascular path of a multi-branched blood vessel and creating a field-free region (FFR) around the blood vessel branch to drive the magnetic particles to a target point according to one embodiment of the present invention.

[0031] Figure 5 is a diagram illustrating a dynamic model acting on magnetic particles inside a blood vessel.

[0032] FIG. 6 is a diagram illustrating an example of generating an isotropic field-free region (FFR) within a working space of a magnetic field driving system according to one embodiment of the present invention.

[0033] Figure 7 is a diagram illustrating the fluid flow inside a blood vessel channel when the flow velocity at the inlet is 20 mm / s.

[0034] FIG. 8 is a diagram illustrating an example of targeting magnetic particles to a fourth target blood vessel (OL4) using a field-free region (FFR) according to one embodiment of the present invention.

[0035] FIG. 9 is a diagram illustrating a process for estimating an optimal field-free region (FFR) within the magnetic field control region (FFR control region, FCR) of FIG. 8 according to one embodiment of the present invention.

[0036] FIG. 10 is a drawing illustrating an example of guiding magnetic particles to each target blood vessel by creating a field-free region (FFR) between each branch according to each target blood vessel according to one embodiment of the present invention.

[0037] Step of obtaining the vascular path of multi-branched blood vessels,

[0038] A step for determining the movement path from the injection point of magnetic particles to the target point.

[0039] A step of creating a field-free region (FFR) around at least one blood vessel branch existing on the above movement path, and

[0040] A step of injecting magnetic particles into the injection point and moving the magnetic particles to the target point using the magnetic field generated in the magnetic field-free zone.

[0041] A method for targeting magnetic particles in a multi-branched blood vessel comprising:

[0042] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention can be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description, and similar parts are designated with similar reference numerals throughout the specification.

[0043] Throughout the specification, when a part is said to "include" a component, this does not exclude other components, but rather implies the inclusion of other components, unless otherwise specifically stated. Furthermore, terms such as "part," "unit," and "module" used in the specification mean a unit that processes at least one function or operation, which may be implemented using hardware, software, or a combination of hardware and software.

[0044] Various embodiments are now described with reference to the drawings. In this specification, various descriptions are provided to facilitate understanding of the present disclosure. However, it will be apparent that these embodiments may be practiced without these specific details.

[0045] As used herein, the terms "component," "module," "system," and the like refer to computer-related entities, hardware, firmware, software, a combination of software and hardware, or an execution of software. For example, a component may be, but is not limited to, a procedure running on a processor, a processor, an object, a thread of execution, a program, and / or a computer. For example, both an application running on a computing device and the computing device may be a component. One or more components may reside within a processor and / or a thread of execution. A component may be localized within a single computer. A component may be distributed between two or more computers. Furthermore, these components may execute from various computer-readable media having various data structures stored therein. Components may communicate via local and / or remote processes, for example, by signals comprising one or more data packets (e.g., data from one component interacting with another component in a local system, a distributed system, and / or data transmitted to another system via a network such as the Internet via signals).

[0046] Furthermore, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or." That is, unless otherwise specified or clear from context, "X employs A or B" is intended to mean either of the natural inclusive permutations. That is, if X employs A; X employs B; or X employs both A and B, "X employs A or B" can apply to any of these cases. Furthermore, the term "and / or" as used herein should be understood to refer to and include all possible combinations of one or more of the associated items listed.

[0047] Additionally, the terms "comprises" and / or "comprising" should be understood to imply the presence of the features and / or components in question. However, it should be understood that the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other features, components, and / or groups thereof. Furthermore, unless otherwise specified or clear from the context to refer to the singular form, the singular in the specification and claims should generally be construed to mean "one or more."

[0048] And, the term "at least one of A or B" should be interpreted to mean "if it includes only A", "if it includes only B", or "if it is combined in the composition of A and B".

[0049] Those skilled in the art should further appreciate that the various illustrative logical blocks, configurations, modules, circuits, means, logics, and model steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, blocks, configurations, means, logics, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application. However, such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0050] The description of the disclosed embodiments is provided to enable a person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein may be applied to other embodiments without departing from the scope of the present disclosure. Therefore, the present invention is not limited to the embodiments disclosed herein. The present invention is to be construed in the widest scope consistent with the principles and novel features disclosed herein.

[0051] Now, with reference to FIGS. 1 to 10, a magnetic particle targeting device and a magnetic particle targeting method in a multi-branch blood vessel according to one embodiment of the present invention will be described in detail.

[0052] FIG. 1 is a schematic diagram illustrating a magnetic particle targeting device in a multi-branched blood vessel according to one embodiment of the present invention.

[0053] Referring to FIG. 1, a magnetic particle targeting device (100) in a multi-branch blood vessel according to one embodiment of the present invention generates a magnetic force by forming a field-free region (FFR) around a blood vessel branch through multiple electromagnets, and thereby guides magnetic particles (e.g., magnetic microparticles or magnetic nanoparticles) injected into a multi-branch blood vessel in a desired direction to target them to a target point.

[0054] A magnetic particle targeting device (100) according to one embodiment of the present invention can generate a new magnetic force direction by changing the positions of multiple electromagnets according to the vascular structure of a multi-branched blood vessel, thereby guiding and targeting magnetic particles to a target point. For example, a magnetic particle targeting device (100) according to one embodiment of the present invention can use blood flow as a driving force, and the magnetic force of multiple electromagnets can be used to change the direction of the magnetic particles.

[0055] The magnetic particle targeting device (100) of the present invention may include a blood vessel monitoring module (110), a path setting module (120), and an FFR control module (130) according to one embodiment of the present invention.

[0056] The above-mentioned vascular monitoring module (110) can analyze images captured by CT or MRI to obtain the vascular structure and vascular path of a multi-branched blood vessel. Here, the multi-branched blood vessel may include a vascular structure or region including at least one vascular branch. In addition, the vascular branch includes a region where one blood vessel branches into at least two blood vessels, and blood passing through the one blood vessel flows in different directions along the branched blood vessels.

[0057] The above vascular monitoring module (110) monitors changes in the vascular structure of the multi-branched blood vessel, and can re-acquire the vascular path of the multi-branched blood vessel when the vascular structure has changed.

[0058] The above path setting module (120) can determine a target point to target magnetic particles on a multi-branched blood vessel and set a movement path from the injection point of the magnetic particles to the target point based on the blood vessel path of the multi-branched blood vessel.

[0059] The above path setting module (120) may also reset the movement path to the target point based on the blood vessel path reacquired from the blood vessel monitoring module (110) when the blood vessel structure of the multi-branched blood vessel is changed.

[0060] The FFR control module (130) can generate a field-free region (FFR) around at least one blood vessel branch existing on the movement path from the injection point of the magnetic particles to the target point. In addition, the FFR control module (130) can guide the magnetic particles injected into the injection point to the target point using the magnetic field generated in the field-free region.

[0061] That is, the FFR control module (130) can guide magnetic particles passing through blood vessel branches toward a desired blood vessel direction through a magnetic field generated by a field-free region (FFR). At this time, magnetic particles passing through a safe region of the magnetic field control range (FFR control region (FCR)) or an area other than a blood vessel branch can naturally move along the blood flow.

[0062] The FFR control module (130) can determine a magnetic field-free region (FFR available region) aligned in a direction perpendicular to the flow direction around a blood vessel branch based on the state information of the magnetic particles and the magnetic field control region (FFR control region, FCR). In addition, the FFR control module (130) can determine an optimal position for generating the magnetic field-free point (FFP) within the magnetic field-free region. Here, the magnetic field control region (FFR control region, FCR) can be determined based on the blood vessel radius in the blood vessel branch.

[0063] The above FFR control module (130) can simultaneously generate multiple free magnetic field regions (FFR) around each branch blood vessel when the multi-branch blood vessel has multiple blood vessel branches. In addition, the FFR control module (130) can generate an isotropic magnetic field based on the free magnetic field point (FFP).

[0064] In addition, when the blood vessel structure of the multi-branch blood vessel is changed and the movement path of the magnetic particles is changed, the FFR control module (130) can regenerate a new magnetic field free zone (FFR) around the blood vessel branch existing on the changed movement path.

[0065] FIG. 2 is a drawing showing a multi-branched blood vessel structure around a liver tumor, and FIG. 3 is a drawing showing an example of driving magnetic particles to a target point in a multi-branched blood vessel by creating a field-free region (FFR) according to one embodiment of the present invention.

[0066] Referring to FIGS. 2 and 3, the present invention can inject magnetic nanocarriers (MNC), which are magnetic particles, by approaching the proximal part of a liver tumor blood vessel using a microcatheter (10). In addition, the present invention blocks the inflow blood vessel of the magnetic particles as if the microcatheter (10) inflated a balloon, and can control the flow in the blood vessel at a constant speed through a particle injection device. In addition, the present invention can simultaneously generate a magnetic field free point (FFP) between blood vessel branches that exists to reach the tumor through multiple electromagnets (20a to 20d) in which multiple electromagnets are arranged around the human body to avoid X-RAY interference. Here, the magnetic field free region (FFR) may include a region in which multiple magnetic field free points (FFPs) exist.

[0067] Through this, the magnetic particle targeting device (100) of the present invention can target the target location of the tumor by guiding the magnetic particles to a desired branch blood vessel through a magnetic force path (e.g., magnetic field strength and direction) based on blood flow and magnetic field free point (FFP).

[0068] FIG. 4 is a diagram schematically illustrating a process of setting a movement path of magnetic particles along a vascular path of a multi-branched blood vessel and creating a field-free region (FFR) around the blood vessel branch to drive the magnetic particles to a target point according to one embodiment of the present invention.

[0069] Referring to FIG. 4, a magnetic particle targeting device (100) according to one embodiment of the present invention can obtain a vascular structure and vascular path of a multi-branched blood vessel from CT or MRI (S110).

[0070] A magnetic particle targeting device (100) according to one embodiment of the present invention can determine a movement path from a point of injection of magnetic particles to a target point where the magnetic particles will reach based on a vascular path of a multi-branched blood vessel obtained in advance (S120).

[0071] A magnetic particle targeting device (100) according to one embodiment of the present invention can create a field-free region (FFR) around at least one blood vessel branch existing on the movement path (S130).

[0072] A magnetic particle targeting device (100) according to one embodiment of the present invention can inject magnetic particles into a multi-branch blood vessel through a microcatheter and move the magnetic particles to the target point using a magnetic field generated in the magnetic field free region (FFR) (S140 to S150).

[0073] In addition, the magnetic particle targeting device (100) according to one embodiment of the present invention can monitor changes in the blood vessel structure of the multi-branched blood vessel and, if the blood vessel structure is changed, re-acquire the blood vessel path of the multi-branched blood vessel.

[0074] In addition, the magnetic particle targeting device (100) according to one embodiment of the present invention can reset the movement path to the target point based on the re-acquired blood vessel path, and regenerate a magnetic field free region (FFR) around a blood vessel branch existing on the reset movement path.

[0075] Figure 5 is a diagram illustrating a dynamic model acting on magnetic particles inside a blood vessel.

[0076] Referring to FIG. 5, the present invention can create an optimal magnetic field free point (FFP) in a surgical space through a dynamic model of magnetic particles within a blood vessel.

[0077] The magnetic particle dynamic model can be used to estimate the position and velocity of magnetic particles in a dynamic environment within a blood vessel and to generate a magnetic field free point (FFP), which can be derived by the following mathematical equation 1.

[0078] [Mathematical Formula 1]

[0079]

[0080] Here, is the fluid viscosity, is the diameter of a spherical magnetic particle, is the fluid velocity within the blood vessels, and, represents the particle mass.

[0081] The force acting on a magnetic particle is called the magnetic force (F). mag ), drag force (F drag ), gravitational force, and buoyancy force, and based on this, the position x(t) and velocity of the magnetic particle according to the time change (t) can be derived.

[0082] FIG. 6 is a diagram illustrating an example of generating an isotropic field-free region (FFR) within a working space of a magnetic field driving system according to one embodiment of the present invention.

[0083] Referring to Fig. 6, the present invention provides an optimization method for uniformly (isotropically) generating a magnetic field map of a magnetic free point (FFP). The optimization algorithm of the present invention can derive the applied current (I) of multiple electromagnets with the goal of minimizing the difference between the three-axis magnetic field gradients Gx, Gy, and Gz based on the center of the magnetic free point (Objective Function, Min(Gx+Gy-2Gz)).

[0084] In addition, the present invention sets a space for minimizing the magnetic field gradient by inputting an arbitrary location (query point), an initial magnetic field gradient vector (initial gradient terms), and magnetic field information at k spatial locations (database of k points), and can determine a magnetic field information vector X(P) at an arbitrary location matrix D(p) at a specific interval in the set space.

[0085] In addition, the present invention can operate the algorithm until the magnetic field gradient is minimized through the relationship between the magnetic field information vector X(P) and the applied current (I) (A=X(p)I) (for example, real-time is secured within 25 ms of the optimal applied current derivation time).

[0086] Through this, the present invention can generate a magnetic field free point (FFP) whose magnetic field gradient is isotropic along each axis. Therefore, the present invention overcomes the limitation of existing technology in which the magnetic field free point (FFP) map is generated anisotropically, and can improve it to an isotropic magnetic field map, thereby providing an environment in which accurate and precise control is possible when driving magnetic particles.

[0087] FIG. 7 is a diagram illustrating a fluid flow inside a blood vessel channel when the flow velocity of the inlet is 20 mm / s, and FIG. 8 is a diagram illustrating an example of targeting magnetic particles to a fourth target blood vessel (OL4) using a field-free region (FFR) according to one embodiment of the present invention.

[0088] Referring to Figures 7 and 8, the vascular structure of the multi-branch blood vessel may be composed of one input blood vessel (one inlet) and six target blood vessels (six outlets). In addition, the injection rate (U) in the input blood vessel in the multi-branch blood vessel inlet) is 20 mm / s, the flow velocity within the blood vessel may vary depending on the location within the blood vessel.

[0089] A magnetic particle targeting device (100) according to one embodiment of the present invention can target magnetic particles to a fourth target blood vessel (OL4), which is a desired target point, by simultaneously generating a plurality of magnetic field free regions (FFR) for each blood vessel branch. In addition, the present invention can estimate the position and velocity of magnetic particles based on the intravascular magnetic particle dynamic model derived through FIG. 5, and based on the estimation result, when the magnetic particles reach a specific branch, the magnetic field free region (FFR) i ) can be created to guide the blood vessel in the desired direction.

[0090] For example, the present invention provides a plurality of magnetic field free zones (FFR) for each specific basin. i Inland FFR i+2 ) can be generated, and a magnetic field can be applied to the magnetic particle when the magnetic particle is within the magnetic field control range (FCR), which is the starting point (ai) to the ending point (bi). Here, the magnetic field control range (FCR) can be determined based on the blood vessel radius (Ri).

[0091] The present invention allows magnetic particles to move freely along blood flow in regions outside of the vascular branch or field control range (FCR). Furthermore, if magnetic particles exist within the safe region of the field control range (FCR), they can move naturally along the blood flow without being affected by the magnetic field of the field free region (FFR).

[0092] In addition, the present invention monitors changes in the structure of blood vessels until the magnetic particles reach the target area, and when the blood vessel structure is changed, a magnetic field free region (FFR) is sequentially generated around the changed blood vessel branch to guide the magnetic particles and target them to the target area.

[0093] FIG. 9 is a diagram illustrating a process for estimating an optimal field-free region (FFR) within the magnetic field control region (FFR control region, FCR) of FIG. 8 according to one embodiment of the present invention.

[0094] Referring to FIG. 9, the present invention can determine the i-th magnetic field free region generation region (FFRi available region) aligned perpendicular to the flow vector when the magnetic particle (MNP) is within the i-th magnetic field control range (FCRi) between specific branches.

[0095] And, the present invention is a free magnetic field generating region (FFR) i Based on the location of the magnetic particles within the available region, the location of the magnetic field free region (FFR) can be determined, and the magnetic force and flow speed generated at this time can be estimated.

[0096] Through this, the present invention can calculate the travel distance (MNP travel distance) and velocity (MNP velocity) of magnetic particles. The process described above can be repeated to create all magnetic field free regions (FFR) capable of magnetic particle guidance when magnetic particles exist within the magnetic field control range. In addition, the magnetic field free regions (FFR) can generate an isotropic magnetic field as described in FIG. 6.

[0097] In addition, the present invention can determine the optimal position (optimal FFR) of a magnetic field free region (FFR) within a magnetic field free region generation region (FFR available region) based on the following mathematical equations 2 to 4.

[0098] For example, the present invention provides a magnetic field free region (FFR) in the i-th branch through the criteria of mathematical expression 2. i) can be derived from the data (FiltDataCri1), and the magnetic field free zone generation area (FFR) in the i-th basin i You can determine the available region.

[0099] [Equation 2]

[0100]

[0101] Here, is all FFR data that can be generated based on the magnetic particle state in the i-th branch, is the magnetic particle state information, is FCR i It's starting time, is FCR i End time, is a magnetic field free zone (FFR) generation region i The sign of the available region (e.g., + if it is in the same direction as the normal vector of the fluid velocity, otherwise -), is the i-th magnetic field control range (FCR) i ) is the end position coordinate.

[0102] In addition, the magnetic field free region (FFR) derived from mathematical expression 2 i ) data (FiltDataCri1) is the magnetic particle (MNP) state information and magnetic field control range (FCR) according to the mathematical formula 3 below. i ) is calculated by calculating the Euclidean distance from the end position of the threshold value. ) can be re-derived as magnetic field free zone data (FiltDataCri2) that satisfies the condition.

[0103] [Equation 3]

[0104]

[0105] And, the magnetic field free zone data (FiltDataCri2) derived through the standard of mathematical expression 3 is converted to the i-th magnetic field control range (FCR) through mathematical expression 4 below. i) The final magnetic free region position (FFR) is determined based on the minimum distance between the magnetic particle (MNP) and the desired path (Pathway). i position) can be derived.

[0106] [Equation 4]

[0107]

[0108] Here, is the optimal FFR in the i-th branch i Location, is the i-th magnetic field control range (FCR) i ) represents the position error between the magnetic particle (MNP) at the end position and the required path (Pathway).

[0109] And, the present invention repeats the process of mathematical expressions 2 to 4 while the magnetic particles pass through the magnetic field control range to create a magnetic field free region (FFR). i ) and the process can be terminated after the magnetic particles pass through the magnetic field control range.

[0110] FIG. 10 is a drawing illustrating an example of guiding magnetic particles to each target blood vessel by creating a field-free region (FFR) between each branch according to each target blood vessel according to one embodiment of the present invention.

[0111] Referring to Figure 10, the present invention shows an example of guiding magnetic particles to each of six final target blood vessels when the fluid input speed is set to 20 mm / s. The present invention can create an optimal magnetic field free region (Optimal FFR) between each branch according to each target blood vessel. Through this, the present invention can control the magnetic field range (FCR) i ) can be confirmed that magnetic particles (MNPs) are effectively guided along the desired path and targeted to the final target point.

[0112] In this way, in one embodiment of the present invention, a magnetic particle targeting device and a magnetic particle targeting method in a multi-branch blood vessel provide an environment in which magnetic particles can be effectively guided and targeted to a target point in a multi-branch blood vessel by optimizing the generation of a field-free region (FFR) based on a dynamic model of magnetic particles within a blood vessel without recognizing the location of the magnetic particles through specific equipment (e.g., imaging equipment).

[0113] In addition, the present invention has high compatibility with the human body and medical equipment through the arrangement of external electromagnets and provides an effective environment for actual clinical application.

[0114] In addition, the present invention provides an environment in which magnetic particle targeting can be applied to narrow blood vessels and complex blood vessels, and can also be applied to blood vessels that fluctuate in real time.

[0115] The embodiments of the present invention described above are not implemented solely through devices and methods. They may also be implemented through programs that implement functions corresponding to the configurations of the embodiments of the present invention, or through recording media containing such programs. Such recording media may be executed not only on servers but also on user terminals.

[0116] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

[0117] The present invention proposes a magnetic particle targeting device and a magnetic particle targeting method in a multi-branch blood vessel, which can autonomously guide and target magnetic particles to a target point within a multi-branch blood vessel by creating a field-free region (FFR) based on a vascular path of a multi-branch blood vessel acquired in advance without recognizing the location information of the magnetic particles.

Claims

1. Step of obtaining the vascular path of multi-branched blood vessels, A step for determining the movement path from the injection point of magnetic particles to the target point. A step of creating a field-free region (FFR) around at least one blood vessel branch existing on the above movement path, and A step of injecting magnetic particles into the injection point and moving the magnetic particles to the target point using the magnetic field generated in the magnetic field-free zone. A method for targeting magnetic particles in a multi-branched blood vessel comprising:

2. In paragraph 1, The magnetic field generated by the above-mentioned free magnetic field region (FFR) is A method for targeting magnetic particles in a multi-branched blood vessel, characterized in that magnetic particles passing through a magnetic field control region (FFR control region, FCR) on a blood vessel branch are guided toward a desired blood vessel direction, while magnetic particles passing through a safe zone or an area other than a blood vessel branch naturally move along the blood flow.

3. In paragraph 2, The above magnetic field control range (FCR) is A method for targeting magnetic particles in a multi-branched blood vessel, characterized in that the targeting is determined based on the blood vessel radius in the blood vessel branch.

4. In paragraph 1, The step of creating the above magnetic field free region (FFR) is: A step of determining a magnetic field free region (FFR available region) aligned perpendicular to the flow direction around the blood vessel branch, and A step for determining the optimal location to create a field-free point (FFP) within the above magnetic field free zone creation area. A method for targeting magnetic particles in a multi-branched blood vessel comprising:

5. In paragraph 1, The step of creating the above magnetic field free region (FFR) is: A method for targeting magnetic particles in a multi-branch blood vessel, characterized in that when the multi-branch blood vessel has multiple blood vessel branches, a magnetic field free region (FFR) is simultaneously created around each branch blood vessel.

6. In paragraph 1, The step of creating the above magnetic field free region (FFR) is: A method for targeting magnetic particles in a multi-branched blood vessel, characterized by generating an isotropic magnetic field based on a field-free point (FFP).

7. In paragraph 1, A step of monitoring changes in the vascular structure of the above multi-branched blood vessel and re-acquiring the vascular path of the above multi-branched blood vessel when the vascular structure has changed. A method for targeting magnetic particles in a multi-branched blood vessel comprising:

8. In paragraph 7, A step of resetting the movement path to the target point based on the reacquired vascular path and regenerating the magnetic field free region (FFR) around the vascular branches existing on the reset movement path. A method for targeting magnetic particles in a multi-branched blood vessel comprising:

9. A path setting module that determines the movement path from the injection point of magnetic particles to the target point in a multi-branched blood vessel, and An FFR control module that creates a field-free region (FFR) around at least one blood vessel branch existing on the above movement path, and guides the magnetic particles injected at the injection point to the target point using the magnetic field created in the field-free region (FFR). A magnetic particle targeting device in a multi-branched blood vessel including:

10. In paragraph 9, The above FFR control module, A magnetic particle targeting device in a multi-branched blood vessel, characterized in that magnetic particles passing through a blood vessel branch are guided toward a desired blood vessel direction through a magnetic field generated by a field-free region (FFR), while magnetic particles passing through a safe zone or an area other than a blood vessel branch are naturally moved along the blood flow.

11. In paragraph 10, The above FFR control module, A magnetic particle targeting device in a multi-branched blood vessel, characterized in that a magnetic field-free region (FFR available region) is determined based on a magnetic field control region (FFR control region, FCR) and aligned in a direction perpendicular to the flow direction around a blood vessel branch, and an optimal location for generating a magnetic field-free point (FFP) within the magnetic field-free region is determined.

12. In paragraph 11, The above magnetic field control range (FCR) is A magnetic particle targeting device in a multi-branched blood vessel, characterized in that the targeting is determined based on the blood vessel radius in the blood vessel branch.

13. In paragraph 9, The above FFR control module, A magnetic particle targeting device in a multi-branch blood vessel, characterized in that when the multi-branch blood vessel has multiple blood vessel branches, a magnetic field free region (FFR) is simultaneously generated around each branch blood vessel.

14. In paragraph 9, The above FFR control module, A magnetic particle targeting device in a multi-branched blood vessel characterized by generating an isotropic magnetic field based on a field-free point (FFP).

15. In paragraph 14, The above FFR control module, A magnetic particle targeting device in a multi-branched blood vessel, characterized in that when the blood vessel structure of the multi-branched blood vessel is changed and the movement path of the magnetic particles is changed, a magnetic field free region (FFR) is regenerated around the blood vessel branches existing on the changed movement path.

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