CN-121971172-A - Magnetic field control system and method for magnetic micro-group multi-branch navigation

CN121971172ACN 121971172 ACN121971172 ACN 121971172ACN-121971172-A

Abstract

The invention provides a magnetic field control system and a method for magnetic micro-group multi-branch navigation. The control module obtains a first moving magnetic field gradient, a split magnetic field gradient and a second moving magnetic field gradient through the relationship between the magnetic field gradient and the size and the speed of the magnetic micro-clusters, and obtains a coil current value of the magnetic field generating device through the relationship between the coil current value, the position of the magnetic micro-clusters and the magnetic induction intensity; the magnetic field generation module is arranged to generate a uniform rotating magnetic field based on initial magnetic induction intensity to drive magnetic particles to gather to form magnetic micro-groups, navigate the magnetic micro-groups to the junction points of different branch positions based on a first moving magnetic field gradient, split the magnetic micro-groups into at least two sub-magnetic micro-groups based on a splitting magnetic field gradient, and navigate each sub-magnetic micro-group to different branch positions based on a second moving magnetic field gradient.

Inventors

Ai Zhaguer
LIU WEITING
SHEN YUTIAN
Liu Yirun
ZHANG XIAOKE
JIN BAICHENG
JU BINGFENG

Assignees

新昌县天姥实验室

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (11)

1. The magnetic field control system for magnetic micro-group multi-branch navigation is characterized by comprising a control module and a magnetic field generation module; The control module is used for obtaining a first moving magnetic field gradient, a split magnetic field gradient and a second moving magnetic field gradient according to the relationship between the magnetic field gradient and the size and the speed of the magnetic micro-groups, and obtaining a coil current value of the magnetic field generating device according to the relationship between the coil current value, the position of the magnetic micro-groups and the magnetic induction intensity; The magnetic field generating module is used for generating different magnetic fields by regulating and controlling the coil current value of the magnetic field generating device, and is further arranged to: based on preset initial magnetic induction intensity, generating a uniform rotating magnetic field, and driving a plurality of magnetic particles to gather to form magnetic micro-groups; navigating the magnetic micro-clusters to junctions of different branch positions based on the first moving magnetic field gradient; Splitting the magnetic micro-clusters into at least two sub-magnetic micro-clusters based on the split magnetic field gradient, wherein the size of each sub-magnetic micro-cluster is derived based on the amount of drug required for the corresponding branch location; each sub-magnetic micro-cluster is navigated to a different branch location based on the second moving magnetic field gradient.
2. The magnetic field control system for magnetic micro-cluster multi-branch navigation according to claim 1, wherein the generating a uniform rotating magnetic field based on a preset initial magnetic induction intensity comprises the steps of: Obtaining a coil current value of the magnetic field generating device based on a preset initial magnetic induction intensity; Obtaining alternating current frequency of coils of a magnetic field generating device based on preset initial magnetic induction intensity, wherein the coil current value and the alternating current frequency of each coil are the same; Adjusting a magnetic field generating device to generate a uniform rotating magnetic field based on the coil current value and the alternating current frequency; wherein the coil current value and the alternating current frequency are respectively expressed as follows: Wherein, the The coil current value in the uniform rotating magnetic field is represented, Indicating the preset initial magnetic induction intensity of the magnetic field, A proportionality constant representing the magnetic induction intensity and the coil current value, Indicating the ac frequency of the coil in the uniform rotating magnetic field, 、 And All of which represent the known coefficients of the system, Indicating the hysteresis phase of the particle chains between the magnetic particles with respect to the uniform rotating magnetic field.
3. The magnetic field control system for magnetic micro-cluster multi-branch navigation according to claim 1, wherein the relationship among the coil current value, the position of the magnetic micro-cluster and the magnetic induction intensity is expressed as follows: Wherein, the Time of presentation The time magnetic micro-group is located The magnetic induction intensity at the position is equal to that of the part, The unit magnetic induction intensity is represented by the formula, The contribution degree scale factor is represented by a graph, The number of coil pairs of the magnetic field generating means is shown, Representing the first of the magnetic field generating means The individual coils are at time The value of the current at the time of the measurement, Indicating the location of the magnetic micro-clusters , Representing the first of the magnetic field generating means The position of the individual coils on the working platform of the magnetic field generating device, Indicating the position of the magnetic micro-group to the first The distance of the individual coils is such that, Represents a small constant value, and the like, Representation and the first A unit vector in which the winding directions of the individual coils are identical.
4. The magnetic field control system for magnetic microbiota multi-branch navigation of claim 1, characterized in that the relationship of magnetic field gradient, magnetic microbiota size and velocity is expressed as follows: Wherein, the Time of presentation The time magnetic micro-group is located A magnetic field gradient at the location of the magnetic field, The coefficient of the known coefficient is represented by, Representing the material density of the magnetic particles, The volume of the magnetic particles is indicated, Representing the displacement of the centre of the magnetic field generating means to the position of the magnetic particles, The rotational angular velocity of the magnetic micro-clusters is represented, Represents the dimensionless geometric coefficient generated by the arrangement of the magnetic micro-groups, Indicating the magnetic permeability of the vacuum, Representing the magnetic moment vectors of the individual magnetic particles, Indicating the distance between the two magnetic particles, Representing the angle between the magnetic moment vector of a magnetic particle and the position vector, representing the position vector between the magnetic particle and another magnetic particle connected thereto, A correction factor representing the non-spherical cluster geometry, Representing the dynamic viscosity of the fluid in which the magnetic micro-clusters are located, Indicating the distance between the two magnetic particles, Indicating the velocity of the magnetic micro-clusters, Representing the dimensionless scale factor, Indicating the density of the fluid in which the magnetic micro-clusters are located, Representing the radius of the magnetic micro-clusters or sub-magnetic micro-clusters.
5. The magnetic field control system for magnetic micro-cluster multi-branch navigation of claim 1, wherein the navigation of the magnetic micro-cluster to the junction of different branch positions based on the first moving magnetic field gradient comprises the steps of: according to the radius of the magnetic micro-groups and the target magnetic micro-group velocity, combining the relationship among the magnetic field gradient, the size of the magnetic micro-groups and the velocity to obtain a first moving magnetic field gradient; determining a target coil of which the current value needs to be regulated according to the current position of the magnetic micro-cluster and the position of the junction; according to the relation among the first moving magnetic field gradient, the coil current value, the position of the magnetic micro group and the magnetic induction intensity, the current value of the target coil is obtained; And adjusting the target coil of the magnetic field generating device to generate a first gradient magnetic field based on the current value of the target coil, and navigating the magnetic micro-cluster to the junction.
6. The magnetic field control system for magnetic micro-cluster multi-branch navigation of claim 1, wherein the splitting of the magnetic micro-cluster into at least two sub-magnetic micro-clusters based on the split magnetic field gradient comprises the steps of: based on the radius of the magnetic micro-clusters, combining the relationship among the magnetic field gradient, the size of the magnetic micro-clusters and the speed to obtain an elongated magnetic field gradient, wherein the speed of the magnetic micro-clusters is zero; According to the gradient of the elongated magnetic field, adjusting a magnetic field generating device to generate a second gradient magnetic field, and stretching the magnetic micro-groups into elongated magnetic micro-groups; When the magnetic micro-clusters are stretched to a preset length, based on the split magnetic field gradient of each sub-magnetic micro-cluster, the magnetic field generating device is regulated to generate a third gradient magnetic field to split the elongated magnetic micro-cluster into at least two sub-magnetic micro-clusters, wherein the split magnetic field gradient of each sub-magnetic micro-cluster is obtained through the relation between the target radius of each sub-magnetic micro-cluster and the magnetic field gradient, the size and the speed of the magnetic micro-cluster, the target radius of each sub-magnetic micro-cluster is obtained according to the required medicine dosage at the corresponding branch position and the medicine dosage carried by each magnetic particle, and the speed of the magnetic micro-cluster is zero.
7. The magnetic field control system for multi-branch navigation of magnetic micro-clusters according to claim 6, wherein said adjusting the magnetic field generating means to generate a third gradient magnetic field based on the split magnetic field gradient of each sub-magnetic micro-cluster comprises the steps of: dividing a split boundary on the elongated magnetic micro-clusters based on a target radius of each sub-magnetic micro-cluster, thereby determining a boundary of each sub-magnetic micro-cluster; based on the volume equivalence principle, combining the boundary of each sub-magnetic micro-group to determine the equivalent sphere center position of each sub-magnetic micro-group; According to the split magnetic field gradient and the equivalent sphere center position of each sub-magnetic micro-group, solving and obtaining an adjusting coil and a corresponding coil current value by combining the relation among the coil current value, the position of the magnetic micro-group and the magnetic induction intensity; and adjusting a magnetic field generating device to generate a third gradient magnetic field based on the adjusting coil and the corresponding coil current value.
8. The magnetic field control system for magnetic micro-cluster multi-branch navigation of claim 1, wherein the navigation of each sub-magnetic micro-cluster to a different branch location based on the second moving magnetic field gradient comprises the steps of: Determining a moving magnetic field gradient of each sub-magnetic micro-cluster based on the radius and the preset speed of each sub-magnetic micro-cluster and combining the relationship among the magnetic field gradient, the size of the magnetic micro-cluster and the speed; determining a target coil needing to adjust current based on the current position and the branch position of each sub-magnetic micro-group; According to the gradient of the moving magnetic field of each sub-magnetic micro-group and the target coil needing current adjustment, solving and obtaining the current value of the target coil needing current adjustment by combining the relation among the current value of the coil, the position of the magnetic micro-group and the magnetic induction intensity; and based on the target coil needing current adjustment and the corresponding current value, adjusting a magnetic field generating device to generate a fourth gradient magnetic field, and navigating each sub-magnetic micro group to different branch positions.
9. A magnetic field control method for magnetic micro-cluster multi-branch navigation, implemented based on the magnetic field control system for magnetic micro-cluster multi-branch navigation according to any one of claims 1 to 8, characterized by comprising the steps of: based on preset initial magnetic induction intensity, generating a uniform rotating magnetic field, and driving a plurality of magnetic particles to gather to form magnetic micro-groups; navigation of the magnetic micro-clusters to the junction of different branch positions based on a first moving magnetic field gradient; Splitting the magnetic micro-clusters into at least two sub-magnetic micro-clusters based on split magnetic field gradients, wherein the size of each sub-magnetic micro-cluster is derived based on the amount of drug required for the corresponding branch location; navigating each sub-magnetic micro-cluster to a different branch location based on the second moving magnetic field gradient; the magnetic field generation device comprises a magnetic field generation device, a first moving magnetic field gradient, a split magnetic field gradient and a second moving magnetic field gradient, wherein the magnetic field generation device is used for generating different magnetic fields by regulating and controlling coil current values of the magnetic field generation device, the coil current values are obtained through the relation among the coil current values, the positions of magnetic micro groups and magnetic induction intensity, and the first moving magnetic field gradient, the split magnetic field gradient and the second moving magnetic field gradient are obtained through the relation among the magnetic field gradient and the size and the speed of the magnetic micro groups.
10. Computer can the storage medium is read and the data is read, the computer readable storage medium stores a computer program, the method of claim 9 being implemented when the computer program is executed by a processor.
11. A magnetic field control device for magnetic micro-cluster multi-branch navigation, comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor implements the method of claim 9 when executing the computer program.

Description

Magnetic field control system and method for magnetic micro-group multi-branch navigation Technical Field The invention relates to the technical field of electromagnetic driving, in particular to a magnetic field control system and method for magnetic micro-group multi-branch navigation. Background Targeting is a common treatment method, commonly used for treating cardiovascular diseases, and the like, and the prior art generates a magnetic field through a magnetic field control system arranged outside the body so as to guide a micro-robot carrying medicines to a target position. However, existing magnetic field control systems can only collectively control movement of a single cluster along a single path, and cannot decompose the cluster according to the amount of drug required at different locations, thereby lacking the ability to independently guide multiple sub-clusters along different bifurcation paths. This technical drawback limits its application in medical scenarios requiring multiple point synchronized intervention, failing to meet the need to administer simultaneous drug delivery to multiple lesions scattered in different locations. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a magnetic field control system and a magnetic field control method for magnetic micro-group multi-branch navigation. In order to solve the technical problems, the invention is solved by the following technical scheme: a magnetic field control system for magnetic micro-group multi-branch navigation comprises a control module and a magnetic field generation module; The control module is used for obtaining a first moving magnetic field gradient, a split magnetic field gradient and a second moving magnetic field gradient according to the relationship between the magnetic field gradient and the size and the speed of the magnetic micro-groups, and obtaining a coil current value of the magnetic field generating device according to the relationship between the coil current value, the position of the magnetic micro-groups and the magnetic induction intensity; The magnetic field generating module is used for generating different magnetic fields by regulating and controlling the coil current value of the magnetic field generating device, and is further arranged to: based on preset initial magnetic induction intensity, generating a uniform rotating magnetic field, and driving a plurality of magnetic particles to gather to form magnetic micro-groups; navigating the magnetic micro-clusters to junctions of different branch positions based on the first moving magnetic field gradient; Splitting the magnetic micro-clusters into at least two sub-magnetic micro-clusters based on the split magnetic field gradient, wherein the size of each sub-magnetic micro-cluster is derived based on the amount of drug required for the corresponding branch location; each sub-magnetic micro-cluster is navigated to a different branch location based on the second moving magnetic field gradient. As an implementation manner, the generating a uniform rotating magnetic field based on the preset initial magnetic induction intensity includes the following steps: Obtaining a coil current value of the magnetic field generating device based on a preset initial magnetic induction intensity; Obtaining alternating current frequency of coils of a magnetic field generating device based on preset initial magnetic induction intensity, wherein the coil current value and the alternating current frequency of each coil are the same; Adjusting a magnetic field generating device to generate a uniform rotating magnetic field based on the coil current value and the alternating current frequency; wherein the coil current value and the alternating current frequency are respectively expressed as follows: Wherein, the The coil current value in the uniform rotating magnetic field is represented,Indicating the preset initial magnetic induction intensity of the magnetic field,A proportionality constant representing the magnetic induction intensity and the coil current value,Indicating the ac frequency of the coil in the uniform rotating magnetic field,、AndAll of which represent the known coefficients of the system,Indicating the hysteresis phase of the particle chains between the magnetic particles with respect to the uniform rotating magnetic field. As an embodiment, the relationship among the coil current value, the position of the magnetic micro group, and the magnetic induction intensity is as follows: Wherein, the Time of presentationThe time magnetic micro-group is locatedThe magnetic induction intensity at the position is equal to that of the part,The unit magnetic induction intensity is represented by the formula,The contribution degree scale factor is represented by a graph,The number of coil pairs of the magnetic field generating means is shown,Representing the first of the magnetic field generating meansThe individual coils are at timeThe