Imaging apparatus and method for vascular network structure, and storage medium

Abstract

An imaging apparatus and method for a vascular network structure, and a storage medium. The imaging apparatus comprises an imaging device (210), an image processing device (220), and a magnetic field driving device (230). The imaging device (210) captures a developed image of a target area and transfers the developed image to the image processing device (220). The image processing device (220) determines, according to the developed image, an exploration direction and sends the determined exploration direction to the magnetic field driving device (230). The magnetic field driving device (230) drives, according to the exploration direction, a cluster of magnetically driven micro-robots in the vascular network within the target area to move. As the magnetic field drives the cluster of magnetically driven micro-robots to move, the imaging apparatus and method can achieve reverse flow in blood vessels or active movements in low-flow-rate obstructed or narrow branches, so that an accurate structure of the blood vessel network can be acquired, improving the accuracy of vascular network structure recognition.

Description

An imaging device, method and storage medium of a blood vessel network structure TECHNICAL FIELD

[0001] The present application relates to the field of microscopic imaging technology, and particularly relates to an imaging device, method and storage medium of a blood vessel network structure. BACKGROUND

[0002] Angiography is a method for imaging blood vessel structure, but at present, angiography is to use contrast agent to passively diffuse with blood and lymph fluid, and the range that can be reached is highly dependent on the flow field in blood vessels and lymph vessels, and cannot enter upstream branches against the flow direction or diffuse to embolism and narrow branches with low flow rate, so that an accurate structure image of the blood vessel network cannot be obtained.

[0003] Therefore, the prior art needs to be improved.

[0004] SUMMARY

[0005] In view of the above deficiencies in the prior art, the purpose of the present application is to provide an imaging device, method and storage medium of a blood vessel network structure, which overcomes the defect that an accurate blood vessel network structure image cannot be obtained when using angiography to image the blood vessel network structure in the prior art.

[0006] The technical scheme adopted by the present application to solve the technical problem is as follows:

[0007] In a first aspect, the embodiment discloses an imaging device of a blood vessel network structure, comprising: an imaging device, an image processing device and a magnetic field driving device; the image processing device is connected with the imaging device and the magnetic field driving device respectively;

[0008] The imaging device is used for shooting a developed image of a target region and transmitting the developed image to the image processing device; wherein the developed image is used to reflect distribution information of a position where a magnetic driving micro robot cluster is located, and the distribution information represents a blood vessel partial network structure;

[0009] The image processing device is used for receiving the developed image, determining an exploration direction according to the developed image, and sending the determined exploration direction to the magnetic field driving device;

[0010] The magnetic field driving device is used for driving the magnetic driving micro robot cluster in the blood vessel network in the target region to move according to the exploration direction.

[0011] Optionally, the magnetic field driving device comprises an electromagnetic coil assembly or a permanent magnet assembly; and the imaging device is an ultrasonic imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

[0012] Optionally, the imaging device comprises at least one top camera and / or at least one side camera, the top camera is arranged above the target area to take a top view of the target area, and the side camera is arranged on the side of the target area to take a side view of the target area.

[0013] In a second aspect, the embodiment discloses an imaging method of a blood vessel network structure, which is applied to the imaging device of the blood vessel network structure, and comprises the following steps of:

[0014] capturing a developed image of the target area by using the imaging device, and transmitting the developed image to an image processing device;

[0015] determining an exploration direction according to the developed image by using the image processing device, and transmitting the exploration direction to a magnetic field driving device;

[0016] driving a cluster of magnetic driving micro robots in the blood vessel network in the target area to move according to the exploration direction by using the magnetic field driving device;

[0017] re-executing the arrangement of capturing the developed image of the target area by using the imaging device until a preset number of developed images are obtained, wherein the preset number of developed images comprises a blood vessel network structure in the target area.

[0018] Optionally, the step of determining the exploration direction according to the developed image comprises:

[0019] separating a region where the cluster of magnetic driving micro robots is located and diffusion features from the developed image;

[0020] determining the exploration direction of the target area according to the region where the cluster of magnetic driving micro robots is located and the diffusion features.

[0021] Optionally, the diffusion features comprise branches, branch points and branch directions, and the step of determining the exploration direction of the target area according to the region where the cluster of magnetic driving micro robots is located and the diffusion features comprises:

[0022] determining whether a branch point exists in the target area according to intersection information contained in the target area where the cluster of magnetic driving micro robots is located;

[0023] if the branch point exists, determining a branch direction corresponding to the branch point according to branches connected to the branch point, and determining the exploration direction according to the branch direction.

[0024] Optionally, the step of determining the exploration direction of the target area according to the region where the cluster of magnetic driving micro robots is located and the diffusion features further comprises:

[0025] If there is no branch point, the exploration direction of the magnetic driving micro robot cluster is determined according to the distribution information of the magnetic driving micro robot cluster.

[0026] Optionally, the step of determining the exploration direction of the target area according to the region where the magnetic driving micro robot cluster is located and the diffusion characteristics further comprises:

[0027] The single branch point and the branch are described by using a data vector, the region where the branch point is located and the diffusion characteristics are spliced into a matrix structure by using the data vector, a vascular structure tree map is established, and the exploration direction is recorded in the vascular structure tree map.

[0028] Optionally, after the step of driving the magnetic driving micro robot cluster in the blood vessel network in the target area to move, the method further comprises:

[0029] It is judged whether the magnetic driving micro robot cluster stops moving for a long time, or whether the magnetic driving micro robot cluster moves to coincide with other branches, or whether the magnetic driving micro robot cluster diffuses out of the target area;

[0030] If so, the magnetic driving micro robot cluster is marked as stopping moving for a long time, or moving to coincide with other branches, or diffusing out of the target area, and then the exploration is completed, and the magnetic driving micro robot cluster is stopped from moving in the target area.

[0031] In a third aspect, the embodiment provides a computer readable storage medium, wherein the computer readable storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the steps of the imaging method of the vascular network structure. Advantages:

[0032] The embodiment discloses an imaging device, method and storage medium of a vascular network structure, the imaging device, the image processing device and the magnetic field driving device; the image processing device is connected with the imaging device and the magnetic field driving device respectively; the imaging device is used for photographing a developed image of a target area, and transmitting the developed image to the image processing device; the image processing device is used for receiving the developed image, determining an exploration direction according to the developed image, and sending the determined exploration direction to the magnetic field driving device; and the magnetic field driving device is used for driving a magnetic driving micro robot cluster in the blood vessel network in the target area to move according to the exploration direction. In the imaging device and method disclosed in the embodiment, the magnetic driving micro robot cluster is driven by the magnetic field, and the magnetic driving micro robot cluster can actively move in the blood vessel under the driving of the magnetic field, so that the accurate structure of the blood vessel network can be obtained, and the accuracy of the blood vessel network structure identification is improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Fig. 1 is a schematic diagram of the principle of passive angiography in the prior art and active angiography in the embodiment of the present application;

[0034] Fig. 2 is a schematic diagram of the principle structure of the imaging device for the vascular network structure in the embodiment of the present application;

[0035] Fig. 3 is a schematic diagram of the information processing flow in the imaging device in the embodiment of the present application;

[0036] Fig. 4 is a schematic diagram of the image processing process of the workspace top view in the embodiment of the present application;

[0037] Fig. 5 is a schematic diagram of the key steps of the active exploration process in the embodiment;

[0038] Fig. 6 is a schematic diagram of the principle of the algorithm corresponding to the exploration direction in the embodiment;

[0039] Fig. 7 is a schematic diagram of the principle of the branch connection reconstruction in the embodiment;

[0040] Fig. 8 is a flow chart of the imaging method in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0042] Angiography is a method for realizing the imaging of the vascular structure, which is often used to analyze whether the blood vessels are abnormal, and thus it is crucial to accurately display the imaging of the vascular structure. As shown in Fig. 1, in the current angiography, the contrast agent is usually used to passively diffuse with the blood and lymph fluid, and thus the range that the contrast agent can reach is highly dependent on the flow field in the vascular network structure. When facing the need to enter the upstream branch in the opposite direction of the flow or the embolism and narrow branch with low flow rate, the contrast agent cannot diffuse, and thus the complete imaging of the vascular network structure cannot be realized.

[0043] In combination with FIG. 1, the current magnetic driving micro-robot cluster is expected to become an active exploration tool for the blood vessel network because it can be remotely and accurately driven by a magnetic field. By injecting the driving micro-robot cluster into the blood vessel, the driving micro-robot cluster can flow with the blood in the blood vessel, and can realize the control of the flow direction under the driving of the magnetic field, so as to realize the all-around exploration of the blood vessel network structure, overcome the disadvantages that the contrast agent cannot enter the embolism and narrow branch with low flow rate and cannot realize the reverse flow when being passively diffused with the blood and lymph. Therefore, the magnetic driving micro-robot cluster driven by the time-varying magnetic field is used to flow in the blood vessel network to obtain a more accurate blood vessel network structure.

[0044] In view of the above problem of how to realize efficient and accurate guidance of the magnetic driving micro-robot cluster to complete the full coverage of the blood vessel network structure in the complex blood vessel network structure, the embodiment provides an imaging device and method for the blood vessel network structure. The image of the magnetic driving micro-robot cluster in the blood vessel network structure is obtained by using an imaging device, the regional position information and diffusion form features of the magnetic driving micro-robot cluster are obtained based on image recognition, and an accurate image of the blood vessel network structure can be obtained. Since the magnetic driving micro-robot cluster can realize the reverse flow into the upstream branch and the diffusion into the low flow rate embolism branch, the accurate recognition of the blood vessel network structure is realized.

[0045] In the following, the imaging device and method for the blood vessel network structure disclosed by the embodiment are further described in more detail in combination with the drawings provided by the embodiment.

[0046] In a first aspect, the embodiment provides an imaging device for the blood vessel network structure, as shown in FIG. 2, the imaging device comprises an imaging device 210, an image processing device 220 and a magnetic field driving device 230.

[0047] The image processing device 220 is connected with the imaging device 210 and the magnetic field driving device 230 respectively.

[0048] The imaging device 210 is used for shooting a developed image of a target region, and transmitting the developed image to the image processing device; wherein the developed image is used for reflecting the distribution information of the position where the magnetic driving micro-robot cluster is located, and the distribution information represents the blood vessel network structure.

[0049] The image processing device 220 is used for receiving the developed image, determining an exploration direction according to the developed image, and sending the determined exploration direction to the magnetic field driving device.

[0050] The magnetic field driving device 230 is used for driving the magnetic driving micro-robot cluster in the blood vessel network in the target region to move according to the exploration direction.

[0051] In a specific application embodiment, the magnetic field driving device comprises an electromagnetic coil assembly or a permanent magnet assembly. The imaging device is an ultrasound imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

[0052] In order to obtain more comprehensive information of the vascular network structure, the imaging device comprises at least one top camera and / or at least one side camera, the top camera is arranged above the target region to take a top view of the target region, and the side camera is arranged to take a side view of the target region. In combination with FIG. 1 and FIG. 3, a plurality of cameras are arranged on the imaging device, at least one camera is arranged above the target region to take a top view of the target region, and at least one camera is arranged on the side of the target region to take a side view of the target region.

[0053] In the process of taking the developed image of the target region by the imaging device, the magnetic driving micro-robot cluster is injected into the vascular network structure as a contrast agent. Specifically, the magnetic driving micro-robot cluster is a magnetic response developable substance, so it can meet the driving motion under the time-varying magnetic field, and its position can be located through image processing. In an embodiment, the magnetic driving micro-robot cluster can be a cluster of paramagnetic nanoparticles. Since the micro-robot in the magnetic driving micro-robot cluster is only the size of a nanoparticle, it can enter the narrow space inside the vascular network structure to achieve full coverage exploration of the vascular network structure.

[0054] Specifically, the magnetic driving device can generate a time-varying magnetic field, specifically, an electromagnetic coil or a permanent magnet can be used to generate a magnetic field, and its working range can cover the required imaging area. In a specific application process, the magnetic driving device generates a magnetic field with time-varying magnetic flux density, such as a rotating field or an oscillating field, and the magnetic driving micro-robot cluster can move in the direction driven by the time-varying magnetic field.

[0055] Further, the real-time position and morphology of the magnetic driving micro-robot cluster can be obtained by the imaging device. The developed image of the target region where the magnetic driving micro-robot cluster is located is taken in real time, and then the distribution information of the magnetic driving micro-robot cluster is obtained. Since the magnetic driving micro-robot cluster is driven by the time-varying magnetic field and dynamically diffuses in the vascular network structure, the target region can be continuously imaged in this step to obtain multiple distribution information of the magnetic driving micro-robot cluster in the vascular network structure. Specifically, in order to obtain the position information of the magnetic driving micro-robot cluster in the three-dimensional coordinate, the cameras arranged on the top and side of the target imaging region can be used to take images of the target imaging region respectively, and then the position information of the cluster in the three-dimensional coordinate can be obtained.

[0056] When the imaging device obtains the development image of the magnetic-driven micro-robot cluster in the blood vessel network structure for a duration period, the obtained development image is processed to identify the regional position information and diffusion form feature of the magnetic-driven micro-robot cluster in the blood vessel network structure. It is conceived that the regional position information is the regional position information of the blood vessel network structure, and the diffusion form feature is the form feature of the blood vessel network structure.

[0057] Specifically, as shown in FIG. 3, after the top view and the side view of the exploration target imaging region are obtained by image shooting, the image pre-processing is performed on the shot image to identify the regional position sequence and diffusion feature sequence, and the exploration direction decision and the tree map construction are performed according to the regional position sequence and diffusion feature sequence.

[0058] The image pre-processing in the above steps includes: cutting the target region from the shot top view and side view to realize the accurate identification of the information in the target imaging region. The top view is used to extract the x-axis and y-axis information, the side view is used to extract the z-axis information, and the tree map is constructed by combining the extracted x-axis, y-axis and z-axis information. The tree map is updated in real time according to the image sequence, and the direction decision is made according to the branch information in the image to obtain the optimal state decision. The driving magnetic field is generated based on the optimal state decision to control the movement of the magnetic-driven micro-robot cluster in the blood vessel. In an embodiment, the target region is a partial region containing blood vessels and lymphatic vessels, and the magnetic-driven micro-robot cluster is injected into the partial region. With the diffusion of the magnetic-driven micro-robot cluster, the partial region can be adjusted according to the exploration direction to obtain the accurate regional position and diffusion form feature of the magnetic-driven micro-robot cluster.

[0059] The regional position sequence includes a plurality of branch points and a plurality of branches, and the diffusion feature sequence includes the branch direction corresponding to each branch and the exploration direction.

[0060] Further, the region and diffusion form of the magnetic-driven micro-robot cluster are first separated from the development image to obtain the region and diffusion feature of the magnetic-driven micro-robot cluster. In an embodiment, the method for separating the magnetic-driven micro-robot cluster includes: separating the cluster region and form by the dynamic threshold image binarization method and the image difference method. As shown in FIG. 5, the image is first processed by the image difference method to obtain the difference image between the real-time image and the background image, and then the difference image is binarized to obtain the separated region and diffusion feature of the magnetic-driven micro-robot cluster.

[0061] Since the imaging device acquires the developed image of the target region at a preset time interval, the dynamic threshold image binarization method and the image difference method are required to be sequentially performed on each developed image to separate the region where the magnetic-driven micro robot cluster is located in the image and extract the image corresponding to the cluster.

[0062] Further, the region where the magnetic-driven micro robot cluster is located and the diffusion feature are the region skeleton information of the separated magnetic-driven micro robot cluster, which is the main structural information of the position of the magnetic-driven micro robot machine. The region skeleton information not only contains the contour information of the position of the magnetic-driven micro robot, but also contains the corresponding position information.

[0063] Based on whether there is an intersection point in the region corresponding to the region structure information, it is judged whether there is a branch point in the current target imaging region, and the blood vessel network structure is described and the exploration progress is recorded according to the branch point.

[0064] Specifically, the step of determining the exploration direction of the magnetic-driven micro robot cluster in the target region according to the region where the magnetic-driven micro robot cluster is located and the diffusion feature comprises:

[0065] Step S11, determining whether there is a branch point in the imaging region according to the intersection point information contained in the region where the magnetic-driven micro robot cluster is located.

[0066] Step S12, if there is a branch point, determining the branch direction corresponding to the branch point according to the vector connected by the branch point, and determining the optimal exploration direction according to the branch direction.

[0067] Step S13, if there is no branch point, judging the motion direction of the magnetic-driven micro robot cluster according to the position of the magnetic-driven micro robot cluster, and selecting sampling points at a fixed preset interval, obtaining the position coordinates of each sampling point, and recording the branch to which each sampling point belongs.

[0068] As shown in FIG. 4, if the region where the magnetic-driven micro robot cluster is located and the diffusion feature is the region skeleton information of the cluster, if the region skeleton information contains intersection point information, as shown in FIG. 4b, it is judged that there is a branch point in the target imaging region, then the branch direction is extracted according to the vector formed by the region skeleton endpoint and the branch point, the potential exploration direction is obtained, the unexplored branch with the maximum diffusion speed of the cluster is selected from the multiple unexplored branches determined by the branch point for exploration. If it is judged that there is no branch point, as shown in FIG. 4a, there is no branch point in the recording region corresponding to a, the motion direction of the cluster in the branch can be judged according to the historical diffusion position of the magnetic-driven micro robot cluster, and then the target imaging region of the image processing is adjusted according to the motion direction, and the front end of the magnetic-driven micro robot cluster is ensured to be always in the target imaging region.

[0069] After determining whether there is a branch point in the imaging area according to the intersection information contained in the area where the magnetic driving micro robot cluster is located, it is necessary to determine the branch direction corresponding to each branch point and the branch, explore the optimal unexplored branch, and determine whether the exploration is complete according to the explored branch information. If the exploration is complete, the three-dimensional vascular network structure can be reconstructed according to the explored information.

[0070] Specifically, as shown in FIG. 6, after the step of determining the plurality of branch points, the plurality of branches, the branch direction corresponding to the plurality of branches and the optimal exploration direction of the magnetic driving micro robot cluster in the target imaging area according to the area and diffusion characteristics of the magnetic driving micro robot cluster, the method further comprises the following steps:

[0071] Step S23, determining whether the magnetic driving micro robot cluster stops diffusing for a long time, or whether the magnetic driving micro robot cluster diffuses to coincide with other branches, or whether the magnetic driving micro robot cluster diffuses to the outside of the required exploration area.

[0072] Step S24, if the magnetic driving micro robot cluster stops diffusing for a long time, or the magnetic driving micro robot cluster diffuses to coincide with other branches, or the magnetic driving micro robot cluster diffuses to the outside of the required exploration area, marking that the branch exploration of the magnetic driving micro robot cluster that stops diffusing for a long time, or diffuses to coincide with other branches, or diffuses to the outside of the required exploration area is complete.

[0073] Step S25, continuously recording the diffusion state information of all branches until all branches are marked as exploration complete.

[0074] After determining the optimal exploration direction, the diffusion state information of the cluster needs to be recorded at the same time while controlling the magnetic driving micro robot cluster to diffuse along the optimal exploration direction. Whether the corresponding branch has been explored is determined according to the recorded diffusion state information, and the branch that has been explored is marked. After all nodes and all branches are marked as complete, the exploration process is complete.

[0075] In the above process of exploring the branch, the process of data extraction and collection can be performed synchronously, or the node and branch information can be collected first, and then the vascular network structure is obtained according to the collected information. In addition, if there is no branch point in the target area of image processing, sampling points are selected on the skeleton of the cluster area at fixed intervals, and the overhead view and side view of the area are obtained by imaging. The coordinate information and lumen diameter of the sampling points are calculated by image registration, and the branch to which the sampling point belongs is recorded. If there is a branch point in the target imaging area of image processing, the coordinate information of the branch point and the two ends of each branch is recorded.

[0076] Further, the step of determining the exploration direction of the target region according to the region and diffusion characteristics of the magnetic-driven micro-robot cluster further comprises:

[0077] The single branch point and branch are described by using a data vector, the region and diffusion characteristics are spliced into a matrix structure by using the data vector, the vascular structure tree map is established, and the exploration direction is recorded in the vascular structure tree map.

[0078] Specifically, the step of establishing the vascular structure tree map comprises:

[0079] For the branch with the start point and the end point being branch points, the direction from the start point to the end point is taken as the branch direction, and the included angle between the direction of the line connecting the last identified branch point in the branch to each scatter point and the branch direction corresponding to each branch is taken as the deviation angle, the connection order of the scatter points is determined by using the deviation angle and the distance between each scatter point and the last identified branch point, and the branch direction and the structure are restored according to the determined connection order of the scatter points.

[0080] For the branch with the start point being a branch point and the end point being unknown, the direction of the line connecting the last identified branch point in the branch is taken as the branch direction, and the included angle between the direction of the line connecting the last identified branch point in the branch to each scatter point and the branch direction corresponding to each branch is taken as the deviation angle, the connection order of the scatter points is determined by using the deviation angle and the distance between each scatter point and the last identified branch point, and the branch direction and the structure are restored according to the determined connection order of the scatter points.

[0081] When all the scatter points in the tree map are connected, or the distance between the remaining scatter points and the identified branch point exceeds the preset distance value, or the corresponding deviation angle between the last identified branch point and the branch end point exceeds the preset angle value, the last identified branch point coincides with the branch end point, and then the reconstructed tree map is obtained.

[0082] Further, in the determination of the branch direction, for the branch with the start point and the end point being branch points in the tree map, the line connecting the start point to the end point is taken as the branch direction. In combination with FIG. 7, the included angle between the line connecting the last identified branch point in the branch to the candidate scatter point and the trend direction is taken as the deviation angle, the target function is established by using the deviation angle and the distance as parameters, the value of the target function is smaller when the deviation angle is smaller and the distance is smaller, the scatter point connection order is calculated by optimizing the process to make the target function obtain the minimum value, the scatter points are connected according to the order, and the branch direction and the structure are restored.

[0083] For the branch in the tree map, the starting point is the branch node, and the ending point is unknown. The direction of the line connecting the last two points in the branch is the trend direction of the branch. The angle between the direction of the line connecting the last point in the branch to the candidate scatter point and the trend direction is the deviation angle. A target function is established using the deviation angle and the distance as parameters. The smaller the deviation angle and the distance, the smaller the value of the target function. The connection order of the scatter points is calculated by optimizing the target function to obtain the minimum value. The scatter points are connected according to the connection order, so as to restore the branch trend and structure.

[0084] When all the scatter point data in the branch are connected in order, or the remaining data points are far away from the connected points and have a large deviation angle, or the last connected point is close to the branch ending point, the branch reconstruction is completed. When all the branches are connected, the reconstruction is completed, and the vascular network structure diagram can be obtained.

[0085] The device disclosed in the embodiment uses a magnetic field to remotely drive the magnetically responsive visualizable substance, so that the magnetically responsive visualizable substance moves controllably with the magnetic field driving, thereby actively expanding the imaging range and increasing the recognition completeness of the vascular network structure. In the embodiment, the tree map is dynamically updated in real time according to the branch information, and the next guiding direction of the magnetically responsive visualizable substance can be automatically decided according to the tree map, so as to realize complete exploration and imaging of the vascular network structure.

[0086] Based on the imaging device, the embodiment further discloses an imaging method of a vascular network structure, as shown in FIG. 8. The imaging method is applied to the imaging device of the vascular network structure, and the imaging method comprises the following steps.

[0087] The embodiment discloses an imaging method of a vascular network structure, as shown in FIG. 8. The imaging method is applied to the imaging device of the vascular network structure, and the imaging method comprises the following steps.

[0088] In step S81, an imaging device is used to capture a visualized image of a target region, and the visualized image is sent to an image processing device.

[0089] In step S82, the image processing device determines an exploration direction according to the visualized image, and transmits the exploration direction to a magnetic field driving device.

[0090] In step S83, the magnetic field driving device drives a cluster of magnetic driving microrobots in the vascular network in the target region to move according to the exploration direction.

[0091] In step S84, the arrangement of capturing a visualized image of a target region by using an imaging device is re-executed until a preset number of visualized images are obtained, wherein the preset number of visualized images includes the vascular network structure in the target region.

[0092] Specifically, in the above method, the imaging device is used to take the developing image of the target region, and the developing image is sent to the image processing device; the image processing device is used to determine the exploration direction according to the developing image, and the magnetic field driving device is used to drive the motion of the cluster of magnetic driving microrobots in the vascular network in the target region according to the exploration direction, which is a cyclic process, that is, first, the imaging device is used to take the developing image of the target region, and then the plurality of developing images taken are sent to the image processing device, the image processing device determines the exploration direction according to the developing image, and transmits the determined exploration direction to the magnetic field driving device; the magnetic field driving device drives the motion of the cluster of magnetic driving microrobots in the vascular network in the target region according to the received exploration direction; the above steps are continuously repeated until a preset number of developing images are obtained, and the vascular network structure is obtained.

[0093] Further, the step of determining the exploration direction by the magnetic field driving device according to the developing image comprises:

[0094] Separating the area where the cluster of magnetic driving microrobots is located and the diffusion feature from the developing image; determining the exploration direction of the target region according to the area where the cluster of magnetic driving microrobots is located and the diffusion feature.

[0095] Further, the diffusion feature comprises branches, branch points and branch directions; the step of determining the exploration direction of the target region according to the area where the cluster of magnetic driving microrobots is located and the diffusion feature comprises:

[0096] According to the intersection information contained in the target area where the cluster of magnetic driving microrobots is located, it is determined whether there is a branch point in the target area; if there is a branch point, the branch direction corresponding to the branch point is determined according to the branch connected by the branch point, and the exploration direction is determined according to the branch direction; if there is no branch point, the exploration direction of the cluster of magnetic driving microrobots is determined according to the position of the cluster of magnetic driving microrobots.

[0097] Further, after the step of driving the cluster of magnetic responsive nanoparticles to move in the target region according to the exploration direction, the method further comprises:

[0098] It is judged whether the cluster of magnetic driving microrobots stops moving for a long time, or whether the cluster of magnetic driving microrobots moves to coincide with other branches, or whether the cluster of magnetic driving microrobots diffuses to the outside of the required exploration area;

[0099] If so, the cluster of magnetic driving microrobots is marked as stopping moving for a long time, or moving to coincide with other branches, or diffusing to the outside of the target region, and the exploration is completed, and the driving of the cluster of magnetic responsive nanoparticles to move in the target region is stopped.

[0100] Optionally, the step of determining the exploration direction of the target region according to the location and diffusion characteristics of the magnetic-driven micro-robot cluster further comprises:

[0101] The single branch point and branch are described by using data vectors, the location and diffusion characteristics are spliced into a matrix structure by using data vectors, a vascular structure tree map is established, and the exploration direction is recorded in the vascular structure tree map.

[0102] The method and system disclosed in the embodiment use the magnetic field to drive the magnetic-driven micro-robot cluster to actively diffuse in the blood vessel against the flow or in the low flow rate blocked or narrow branch, and identify the location information and diffusion mode characteristics of the cluster, so as to realize the full exploration of the blood vessel network, and further obtain a complete blood vessel network structure image, and improve the accuracy of the blood vessel network structure identification.

[0103] The embodiment provides a computer readable storage medium, the computer readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the imaging method of the blood vessel network structure.

[0104] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The application is intended to cover any variations, uses or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the application is indicated by the following claims.

[0105] The above-mentioned embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it should not be understood as the limitation to the patent scope of the present application. It should be pointed out that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. An imaging apparatus of a vascular network structure, characterized by comprising: The application relates to an imaging device, an image processing device and a magnetic field driving device. The image processing device is connected with the imaging device and the magnetic field driving device respectively. The imaging device is used for shooting a developing image of a target region and transmitting the developing image to the image processing device; the developing image is used for reflecting distribution information of a position where a magnetic driving micro robot cluster is located, and the distribution information represents a blood vessel partial network structure. The image processing device is used for receiving the developing image, determining an exploration direction according to the developing image, and transmitting the determined exploration direction to the magnetic field driving device. The magnetic field driving device is used for driving the magnetic driving micro robot cluster in the blood vessel network in the target region to move according to the exploration direction. The magnetic field driving device comprises an electromagnetic coil assembly or a permanent magnet assembly; and the imaging device is an ultrasonic imaging device, a magnetic resonance imaging device, a fluorescence imaging device or a photoacoustic imaging device.

2. The imaging apparatus of a vascular network structure according to claim 1, wherein The imaging device comprises at least one top camera and / or at least one side camera; the top camera is arranged above the target region and is used for shooting the target region from the top; and the side camera is arranged on the side of the target region and is used for shooting the target region from the side.

3. The imaging apparatus of a vascular network structure according to claim 1 or 2, characterized by, The application is applied to the imaging device of the blood vessel network structure according to any one of claims 1-3, and the imaging method comprises the following steps:

4. A method of imaging a vascular network structure, characterized by, Shooting a developing image of a target region by using an imaging device and transmitting the developing image to an image processing device; Determining an exploration direction according to the developing image by using the image processing device and transmitting the exploration direction to a magnetic field driving device; Driving the magnetic driving micro robot cluster in the blood vessel network in the target region to move by using the magnetic field driving device according to the exploration direction; Re-executing the arrangement of shooting the developing image of the target region by using the imaging device until a preset number of developing images are obtained, wherein the preset number of developing images comprises a blood vessel network structure in the target region. The step of determining the exploration direction according to the developing image comprises the following steps:

5. The method of imaging a vascular network structure according to claim 4, wherein, Separating a region where the magnetic driving micro robot cluster is located and diffusion features from the developing image; Determining the exploration direction of the target region according to the region where the magnetic driving micro robot cluster is located and the diffusion features. The diffusion features comprise branches, branch points and branch directions; and the step of determining the exploration direction of the target region according to the region where the magnetic driving micro robot cluster is located and the diffusion features comprises the following steps:

6. The method of imaging a vascular network structure according to claim 5, wherein, Determining whether a branch point exists in the target region according to intersection information contained in the target region where the magnetic driving micro robot cluster is located; If the branch point exists, determining a branch direction corresponding to the branch point according to branches connected with the branch point, and determining the exploration direction according to the branch direction. If the branch point does not exist, determining the exploration direction of the magnetic driving micro robot cluster according to the distribution information of the magnetic driving micro robot cluster.

7. The method of imaging a vascular network according to claim 6, wherein, ​ ​ 8. The method of imaging a vascular network structure according to claim 5, wherein, The step of determining the exploration direction of the target region according to the location and diffusion characteristics of the magnetic-driven micro-robot cluster further comprises: The single branch point and branch are described by using data vectors, the location and diffusion characteristics are spliced into a matrix structure by using data vectors, a vascular structure tree map is established, and the exploration direction is recorded in the vascular structure tree map.

9. The method of imaging a vascular network according to claim 4, wherein, The step of driving the magnetic-driven micro-robot cluster in the vascular network in the target region to move further comprises: It is judged whether the magnetic-driven micro-robot cluster stops moving for a long time, or whether the magnetic-driven micro-robot cluster moves to coincide with other branches, or whether the magnetic-driven micro-robot cluster diffuses out of the target region; If so, the magnetic-driven micro-robot cluster is marked as stopping moving for a long time, or moving to coincide with other branches, or diffusing out of the target region, the exploration is completed, and the magnetic-driven micro-robot cluster in the target region is stopped from moving.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the imaging method of the vascular network structure according to any one of claims 4-9.

Images