Electromagnetically steering catheter control system and method thereof

Abstract

The present invention provides an electromagnetically steering catheter control system. An electromagnetically steering catheter control method driven by a server may include the steps of: setting a predicted procedure point by using patient image information obtained before a procedure; generating predicted path information by calculating a predicted path from an injection point of an electromagnetically steering catheter device to the predicted procedure point; generating predicted magnetic field information by calculating a magnetic field corresponding to a moving time from the injection point of the electromagnetically steering catheter device to the predicted procedure point by using the predicted path information; generating predicted procedure information by using the predicted path information and the predicted magnetic field information; generating simulation data obtained by simulating a predicted procedure by using the predicted procedure information; and generating procedure information by analyzing the simulation data.

Description

Self-steering catheter control system and method thereof

[0001] The present invention relates to a self-steering catheter control system and method thereof, and more particularly, to a self-steering catheter control system and method thereof capable of guiding a self-steering catheter so that it is easy to steer and insert within a blood vessel, while minimizing damage to the blood vessel wall during a procedure and enabling rapid and accurate entry to a procedure target site.

[0002] In general, a catheter is a medical device that is used to insert a tube into a patient's body to provide high-frequency treatment to the affected area, inject medical substances into the body, or drain body fluids.

[0003] When performing a procedure using the above catheter, there were cases where the tip of the catheter applied excessive pressure to the patient's affected area, causing damage to the affected area.

[0004] Conversely, if the tip of the catheter comes into contact with the affected area with too little pressure, the affected area may not be properly treated, so the pressure applied by the catheter to the affected area must be precisely measured according to the location and type of procedure.

[0005] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those skilled in the art.

[0006] (Prior literature)KR10-2019-0093953 A

[0007] The problem to be solved by the present invention is to provide a self-steering catheter control system and method thereof.

[0008] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0009] According to an embodiment of the present invention for solving the above-described problem, the self-steering catheter control method is a server-driven self-steering catheter control method, which may include: a step of setting an expected procedure point using patient image information acquired before a procedure; a step of calculating an expected path from an injection point of a self-steering catheter device to the expected procedure point to generate expected path information; a step of calculating a magnetic field corresponding to a travel time from the injection point of the self-steering catheter device to the expected procedure point using the expected path information to generate expected magnetic field information; a step of generating expected procedure information using the expected path information and the expected magnetic field information; a step of generating simulation data simulating the expected procedure using the expected procedure information; and a step of analyzing the simulation data to generate procedure information.

[0010] In one embodiment of the present invention, the photodetector is formed to protrude from the upper surface of the signal processing unit, excluding the gamma penetration hole, to the lower surface of the scintillation crystal unit, and the upper surface of the photodetector can be in direct contact with at least a portion of the lower surface of the scintillation crystal unit.

[0011] In one embodiment of the present invention, the step of generating the procedure information may include a step of generating procedure path information using the expected path information and the simulation data when the self-steering catheter device moves along the expected path information from the injection point of the self-steering catheter device to the expected procedure point and reaches the range of the expected procedure location.

[0012] In one embodiment of the present invention, the step of generating the procedure information may include a step of generating procedure magnetic field information using the expected magnetic field information and the simulation data when a range of a preset travel time is reached along the expected path information from the injection point of the magnetic steering catheter device to the expected procedure point.

[0013] In one embodiment of the present invention, the step of generating the expected path information may include a step of generating expected path information consisting of a path that can reach the expected procedure point in the shortest time by considering the priority among the movement speed of blood in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

[0014] In one embodiment of the present invention, the step of generating the expected magnetic field information may include a step of generating expected magnetic field information composed of a magnetic intensity that can reach the expected treatment point in the shortest time by considering priorities such as the movement speed of blood in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

[0015] In one embodiment of the present invention, the step of setting the expected treatment point may set the expected treatment point using patient image information in which a three-dimensional image such as a CT (Computed Tomographic) image or an MRI (Magnetic Resonance Imaging) image is combined with a two-dimensional image including the patient's appearance and depth information in real time without generating radiation during the treatment.

[0016] In addition, the self-steering catheter control system according to an embodiment of the present invention for solving the above-described problem may include: a self-steering catheter device inserted into a patient's body; and a management server that sets an expected procedure point using patient image information acquired before the procedure, calculates an expected path from an injection point of the self-steering catheter device to the expected procedure point, and generates expected path information; calculates a magnetic field corresponding to a travel time from the injection point of the self-steering catheter device to the expected procedure point using the expected path information, and generates expected magnetic field information; generates expected procedure information using the expected path information and the expected magnetic field information; generates simulation data simulating the expected procedure using the expected procedure information; and analyzes the simulation data to generate procedure information.

[0017] Other specific details of the present invention are included in the detailed description and drawings.

[0018] According to the present invention, a self-steering catheter can be guided so that it is easy to steer and insert within a blood vessel, while minimizing damage to the blood vessel wall during the procedure and enabling rapid and accurate entry to the target site for the procedure.

[0019] Accordingly, it can be effective in shortening the procedure time, minimizing patient discomfort, and minimizing damage to the blood vessel wall, thereby facilitating patient recovery after the procedure.

[0020] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0021] FIG. 1 is a conceptual diagram illustrating a self-steering catheter control system according to one embodiment of the present invention.

[0022] FIG. 2 is a drawing for explaining the detailed configuration of the self-steering catheter control system illustrated in FIG. 1.

[0023] FIG. 3 is a drawing for explaining a method for generating expected treatment information among the self-steering catheter control methods, which are one embodiment of the present invention.

[0024] FIG. 4 is a drawing for explaining a method for generating treatment information among the self-steering catheter control methods according to one embodiment of the present invention.

[0025] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided solely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the present invention, and the present invention is defined solely by the scope of the claims.

[0026] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and / or" includes each and any combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

[0027] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those skilled in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0029] FIG. 1 is a conceptual diagram for explaining a self-steering catheter control system according to one embodiment of the present invention, and FIG. 2 is a diagram for explaining a detailed configuration of the self-steering catheter control system illustrated in FIG. 1.

[0030] As illustrated in FIG. 1, a self-steering catheter control system (1) according to one embodiment of the present invention may include a self-steering catheter device (10) and a management server (20).

[0031] Here, the self-steering catheter device (10) and the management server (20) can transmit and receive data in real time by synchronizing using a wireless communication network. Wireless communication networks can support various long-distance communication methods, such as Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, and Radio Frequency (RF). Various communication methods such as LoRa (Long Range), LoRa (Long Frequency), etc. can be applied, but are not limited to these, and various widely known wireless communication or mobile communication methods can also be applied.

[0032] The self-steering catheter device (10) can operate using an application program (or application) in the present disclosure, and this application program can be downloaded from an external server or management server (20) via wireless communication.

[0033] A self-steering catheter device (10) such as this may include a main body (12) and a driving unit (14), as illustrated in FIG. 2.

[0034] The main body (12) may include a communication module (120), a path calculation module (122), a magnetic field calculation module (124), a storage module (126), and a control module (128).

[0035] The communication module (120) can transmit and receive data with the management server (20).

[0036] The path generation module (122) can generate path information using treatment location information based on standard data. That is, the path generation module (122) can generate expected path information expected during treatment and generate treatment path information using the expected path information.

[0037] Specifically, the path calculation module (122) can set an expected procedure point using patient image information acquired before the procedure, and then calculate expected path information from the injection point of the self-steering catheter device (10) to the expected procedure point based on standard data.

[0038] At this time, patient image information may be, but is not limited to, a 3D image, such as a computed tomographic (CT) image or magnetic resonance imaging (MRI) image, obtained before the procedure. Patient image information may be in the form of a video or image.

[0039] In addition, the path generation module (122) can generate treatment path information using expected path information generated based on simulated simulation data.

[0040] The magnetic field generation module (124) can generate magnetic field information using path information based on standard data.

[0041] Specifically, the magnetic field generation module (124) can generate expected magnetic field information corresponding to the travel time using expected treatment point and expected path information based on standard data.

[0042] In addition, the magnetic field generation module (124) can generate treatment magnetic field information using the expected magnetic field information generated based on simulated simulation data.

[0043] After setting the expected procedure point using the patient image information acquired before the procedure, the expected path information can be calculated based on standard data.

[0044] The storage module (126) can store data transmitted and received through the communication module (120) and data supporting various functions of the self-steering catheter device (10).

[0045] The storage module (126) can store a plurality of application programs (or applications) driven by the self-steering catheter device (10), data for the operation of the self-steering catheter device (10), and commands. At least some of these application programs can be downloaded from an external server via wireless communication.

[0046] The power module (126) can supply power to each component included in the self-steering catheter device (10) by receiving external power or internal power under the control of the control module (128). This power module (126) includes a battery (not shown), and the remaining battery level can be visually checked. The battery can be charged by connecting it to a 220V commercial power source or a USB to a laptop or computer. In addition, the battery part can be a 3.7V lithium-ion battery, which is a battery for a mobile phone and is the most economical and efficient secondary battery, so that the battery can be charged using a mobile phone battery charger. Alternatively, the battery can be a built-in battery or a replaceable battery.

[0047] When the control module (128) automatically operates the driving unit (12) and receives path information and magnetic field information from the driving unit (12), it can generate treatment information using the path information and magnetic field information based on standard data, and control the main body (14) based on the treatment information.

[0048] Specifically, when the control module (128) obtains patient image information about the patient's treatment site before the treatment, it can generate expected treatment information using expected path information and expected magnetic field information corresponding to the patient image information.

[0049] For example, when the control module (128) performs an expected procedure along the expected path information from the injection point of the magnetic steering catheter device (10) to the expected procedure point by using the expected magnetic field information uniformly generated in an arbitrary direction in three dimensions within the blood vessel, the control module (128) can generate expected procedure information including the expected magnetic field information and the expected path information.

[0050] In addition, the control module (128) can generate simulation data that simulates the procedure using expected procedure information based on standard data.

[0051] Specifically, the control module (128) can generate simulation data including result data of simulating the expected procedure along the expected path information and expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected procedure point using the expected procedure information.

[0052] Additionally, the control module (128) can generate treatment path information by analyzing simulation data based on standard data.

[0053] Specifically, the control module (128) analyzes the simulation data and, when the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected procedure point and reaches the range of the expected procedure location, the control module (128) can generate procedure path information using the standard data and the simulation data.

[0054] In contrast, the control module (128) analyzes the simulation data and, if the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected procedure point and does not reach the range of the expected procedure location, the control module (128) can regenerate the simulation data based on the standard data. That is, the control module (128) can repeatedly perform the generation of simulation data until the self-steering catheter device (10) reaches the range of the expected procedure location.

[0055] According to an embodiment, the control module (128) analyzes the simulation data to determine whether the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected procedure point and reaches the expected procedure location within the range of the preset expected movement time, and then can generate procedure path information using the standard data and the simulation data.

[0056] In contrast, the control module (128) analyzes the simulation data and, if the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected procedure point and does not reach the range of the expected procedure location within the range of the preset expected movement time, the control module (128) can regenerate the simulation data based on the standard data. That is, the control module (128) can repeatedly perform the generation of simulation data until the self-steering catheter device (10) reaches the range of the expected procedure location within the range of the preset expected movement time.

[0057] Additionally, the control module (128) can generate treatment magnetic field information by analyzing simulation data based on standard data.

[0058] Specifically, the control module (128) analyzes the simulation data and, when the magnetic steering catheter device (10) moves according to the expected path information and expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected procedure point and reaches the range of the expected procedure location within the range of the preset expected movement time, the control module (128) can generate procedure magnetic field information using the standard data and the simulation data.

[0059] In contrast, the control module (128) analyzes the simulation data and, if the magnetic steering catheter device (10) moves according to the expected path information and expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected procedure point and does not reach the range of the expected movement time set to the range of the expected procedure location, the control module (128) can regenerate the simulation data based on the standard data. That is, the control module (128) can repeatedly perform the generation of simulation data until the magnetic steering catheter device (10) reaches the range of the expected procedure location within the range of the expected movement time set.

[0060] According to an embodiment, the control module (128) analyzes the simulation data to determine whether the magnetic steering catheter device (10) moves along the expected path information and expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected procedure point and reaches the range of the expected procedure location, and when the magnetic steering catheter device (10) reaches the range of the expected procedure location, the control module (128) can generate procedure magnetic field information using the standard data and the simulation data.

[0061] In contrast, the control module (128) analyzes the simulation data and, if the magnetic steering catheter device (10) moves along the expected path information and expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected treatment point and does not reach the range of the expected treatment location, the simulation data can be regenerated based on the standard data. That is, the control module (128) can repeatedly perform simulation data generation until the magnetic steering catheter device (10) reaches the range of the expected treatment location.

[0062] In addition, the control module (128) can generate treatment information using treatment path information and treatment magnetic field information based on standard data.

[0063] In addition, the control module (128) may include a display that can output symbols, letters, numbers, etc. on the screen according to the operating state, a lamp that outputs by color change or blinking, or a speaker that outputs by audio, as a means for visually and audibly displaying the current operating state of the self-steering catheter device (10).

[0064] The driving unit (12) is a means that comes into direct contact with the body and can serve to inject a scaffold through a catheter at the catheter injection location. The driving unit (12) can be manually operated by a doctor or operated automatically.

[0065] The management server (20) may include a communication unit (22), a database unit (24), a monitoring unit (26), and a management control unit (28).

[0066] The communication unit (22) can transmit and receive data with the self-steering catheter device (10).

[0067] The database unit (24) can store data transmitted and received with the self-steering catheter device (10) via a wireless communication network.

[0068] The database unit (24) can store data supporting various functions of the management server (20). The database unit (24) can store a number of application programs (or applications) running on the management server (20), data for the operation of the management server (20), and commands. At least some of these application programs can be downloaded from an external server via wireless communication.

[0069] The monitoring unit (26) can monitor the operating status of the self-steering catheter device (10) by user operation, the operating status of the management server (20), and data transmitted and received between the self-steering catheter device (10) and the management server (20) through a screen. That is, by checking the usage status of the self-steering catheter device (10) in real time, it is possible to provide more convenience to the user and provide more trust to the user.

[0070] When the management control unit (28) receives path information and magnetic field information from the self-steering catheter device (10), it can generate treatment information using the path information and magnetic field information based on standard data, and control the main body (14) based on the treatment information.

[0071] According to an embodiment, when the management control unit (28) obtains patient image information about the patient's treatment site before the treatment, it can generate expected treatment information using expected path information and expected magnetic field information corresponding to the patient image information.

[0072] In addition, the management control unit (28) can create standard data by matching expected treatment information and treatment information using deep learning.

[0073] Although deep learning is described as being used in this example, it is not limited to this and machine learning techniques such as random forests and support vector machines can be used.

[0074] According to an embodiment, the management control unit (28) can generate standard data by matching expected treatment information, simulation data, and treatment information using deep learning.

[0075] In addition, the management control unit (28) can generate simulation data using expected treatment information based on standard data.

[0076] In addition, the management control unit (28) can generate treatment information using simulation data based on standard data.

[0077] Such a management server (20) may be implemented using hardware circuits (e.g., CMOS-based logic circuits), firmware, software, or a combination thereof. For example, it may be implemented using transistors, logic gates, and electronic circuits in various electrical structures.

[0078]

[0079] The operation of a self-steering catheter control system according to an embodiment of the present invention having such a structure is as follows. FIG. 3 is a drawing for explaining a method for generating expected treatment information among the self-steering catheter control methods according to an embodiment of the present invention, and FIG. 4 is a drawing for explaining a method for generating treatment information among the self-steering catheter control methods according to an embodiment of the present invention.

[0080] First, as shown in Fig. 3, the management server (20) can obtain patient image information before the procedure (S100).

[0081] Specifically, the management server (20) can obtain a 3D image, such as a CT image or MRI image, from 3D imaging equipment such as a CT, MRI, or cone beam CT before the procedure.

[0082] According to an embodiment, the management server (20) may be installed within an electromagnetic drive system to acquire a two-dimensional image including the patient's appearance and depth information in real time during the procedure. At this time, the two-dimensional image may include information acquired in real time, such as two or more CCD images (which may be acquired by a CCD camera) and depth information (which may be acquired using laser, ultrasound, etc.).

[0083] Depending on the embodiment, the management server (20) may also obtain an image aligned with a 3D image and a 2D image.

[0084] According to the embodiment, the management server (20) can generate standard data.

[0085] Next, the management server (20) can predict the treatment point using the patient image information acquired before the treatment and set the expected treatment point in the patient image information (S110).

[0086] Next, the management server (20) can calculate the expected path from the injection point of the self-steering catheter device (10) to the expected treatment point (S120).

[0087] Specifically, the management server (20) can generate expected path information consisting of a path that can reach the expected treatment point from the injection point in a short period of time based on standard data.

[0088] According to an embodiment, when generating expected path information, the management server (20) may generate expected path information consisting of a path that can reach the expected treatment point in the shortest time by considering priorities such as the speed of blood movement in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

[0089] Next, the management server (20) can calculate expected magnetic field information using expected path information based on standard data (S130).

[0090] Specifically, the management server (20) can generate expected magnetic field information consisting of magnetic strength that can reach the expected treatment point from the injection point in a short time using budget path information based on standard data.

[0091] According to an embodiment, when generating the expected magnetic field information, the management server (20) may generate the expected magnetic field information composed of a magnetic intensity that can reach the expected treatment point in the shortest time by considering the priority of the patient's blood flow speed in the blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, the patient's age, etc.

[0092] According to an embodiment, when generating the expected magnetic field information, the management server (20) may generate the expected magnetic field information consisting of a path and magnetic strength that can reach the expected treatment point in the shortest time by considering the priority of the patient's blood flow speed in the blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, the patient's age, etc.

[0093] Next, the management server (20) can generate expected treatment information using expected path information and expected magnetic field information based on standard data.

[0094] Specifically, the management server (20) can generate expected treatment information using expected path information and expected magnetic field information that can arrive from the injection point to the expected treatment point in a short period of time.

[0095] According to an embodiment, the management server (20) can generate expected treatment information using expected path information and expected magnetic field information that can reach the expected treatment point in the shortest time by considering priorities such as the speed of blood movement in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

[0096] Next, the management server (20) can generate treatment information by analyzing expected treatment information based on standard data, as illustrated in FIG. 4.

[0097] Specifically, the management server (20) can analyze expected treatment information (S200) and generate simulation data (S210).

[0098] For example, the management server (20) can generate simulation data including result data of simulating the expected procedure along the expected path information using the expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected procedure point using the expected procedure information.

[0099] Next, the management server (20) can analyze the simulation data to determine whether the expected treatment location range has been reached when moving according to the expected path information.

[0100] That is, the management server (20) can generate treatment path information using the expected path information and simulation data (S240) when the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected treatment point and reaches the range of the expected treatment location (S220), when it reaches within the range of the preset expected movement time according to the expected magnetic field information (S230), and can generate treatment magnetic field information using the expected magnetic field information and simulation data (S250).

[0101] Finally, the management server (20) can generate treatment information using treatment path information and treatment magnetic field information based on standard data (S260).

[0102] That is, the management server (20) can generate treatment information that can be quickly moved to the treatment location in a short period of time.

[0103] Meanwhile, if the self-steering catheter device (10) moves along the expected path information from the injection point of the self-steering catheter device (10) to the expected treatment point and does not reach the range of the expected treatment location (S220), the management server (20) can repeatedly execute the simulation until the range of the expected treatment location is reached.

[0104] For example, the management server (20) can repeatedly execute the simulation by modifying the expected path information so that the self-steering catheter device (10) can move and accurately reach the range of the expected treatment location.

[0105] In contrast, if the magnetic steering catheter device (10) moves along the expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected treatment point and does not reach the range of the preset expected movement time (S230), the management server (20) can repeatedly execute the simulation until the range of the expected movement time is reached.

[0106] For example, the management server (20) can repeatedly execute the simulation by modifying the expected magnetic field information so that the self-steering catheter device (10) can move and accurately reach the range of the expected movement time.

[0107] According to an embodiment, the management server (20) may repeatedly execute a simulation until the magnetic steering catheter device (10) moves along the expected path information and the expected magnetic field information from the injection point of the magnetic steering catheter device (10) to the expected treatment point and does not reach the range of the expected movement time set to the range of the expected treatment location (S230), until the range of the expected movement time to the range of the expected treatment location is reached.

[0108]

[0109] The steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or implemented by a combination thereof. The software module may reside in a random access memory (RAM), a read only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable recording medium well known in the art to which the present invention pertains.

[0110] While the embodiments of the present invention have been described above with reference to the attached drawings, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering the technical concept or essential features thereof. Therefore, the embodiments described above should be understood to be illustrative in all respects and not restrictive.

[0111] According to the present invention, a self-steering catheter can be guided so that it is easy to steer and insert within a blood vessel, while minimizing damage to the blood vessel wall during the procedure and enabling rapid and accurate entry to the target site for the procedure.

Claims

1. A method for controlling a self-steering catheter driven by a server, A step of setting the expected surgical point using patient image information acquired before the procedure; A step of generating expected path information by calculating an expected path from the injection point of a self-steering catheter device to the expected procedure point; A step of generating expected magnetic field information by calculating a magnetic field corresponding to the travel time from the injection point of the magnetic steering catheter device to the expected procedure point using the above expected path information; A step of generating expected treatment information using the above expected path information and the above expected magnetic field information; A step of generating simulation data that simulates the expected procedure using the above expected procedure information; and A method for controlling a self-steering catheter, comprising: a step of analyzing the above simulation data to generate treatment information.

2. In paragraph 1, The steps for generating the above treatment information are: A method for controlling a self-steering catheter, comprising: a step of generating procedure path information using the expected path information and the simulation data when the self-steering catheter device moves along the expected path information from the injection point of the self-steering catheter device to the expected procedure point and reaches the range of the expected procedure location.

3. In paragraph 1, The steps for generating the above treatment information are: A method for controlling a magnetic steering catheter, comprising: a step of generating treatment magnetic field information using the expected magnetic field information and the simulation data when a range of a preset travel time is reached along the expected path information from the injection point of the magnetic steering catheter device to the expected treatment point.

4. In paragraph 1, The step of generating the above expected path information is: A method for controlling a self-steering catheter, comprising: a step of generating predicted path information consisting of a path that can reach an expected procedure point in the shortest time by considering priorities among the patient's blood flow speed in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

5. In paragraph 1, The step of generating the above expected magnetic field information is: A method for controlling a magnetic steering catheter, comprising: a step of generating expected magnetic field information composed of magnetic strength that can reach an expected surgical point in the shortest time by considering priorities such as the speed of blood movement in the patient's blood vessels, the size of the blood vessels, the presence or absence of blood vessel blockage, and the patient's age.

6. In paragraph 1, The step of setting the above expected surgical point is: A method for controlling a magnetically steering catheter, which sets the expected procedure point by using patient image information obtained by combining a three-dimensional image, such as a CT (Computed Tomographic) image or an MRI (Magnetic Resonance Imaging) image, before the procedure and a two-dimensional image including the patient's appearance and depth information in real time without generating radiation during the procedure.

7. A self-steering catheter device inserted into the patient's body; and A magnetic steering catheter control system, comprising: a management server configured to set an expected procedure point using patient image information acquired before a procedure, generate expected path information by calculating an expected path from an injection point of the magnetic steering catheter device to the expected procedure point, generate expected magnetic field information by calculating a magnetic field corresponding to the travel time from the injection point of the magnetic steering catheter device to the expected procedure point using the expected path information, generate expected procedure information using the expected path information and the expected magnetic field information, generate simulation data simulating the expected procedure using the expected procedure information, and analyze the simulation data to generate procedure information.

8. A computer program stored on a computer-readable recording medium that is combined with a computer as hardware and enables the method of claim 1 to be performed.

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