CN104188725A - Magnetic field generating device of cardiac magnetic navigation surgery system - Google Patents
Magnetic field generating device of cardiac magnetic navigation surgery system Download PDFInfo
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- CN104188725A CN104188725A CN201410424738.0A CN201410424738A CN104188725A CN 104188725 A CN104188725 A CN 104188725A CN 201410424738 A CN201410424738 A CN 201410424738A CN 104188725 A CN104188725 A CN 104188725A
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Abstract
Disclosed is a magnetic field generating device of a cardiac magnetic navigation surgery system. Eight superconducting magnets (7) are symmetrically arranged on a four-axis oblique coordinate axis formed by four oblique diagonal lines of a regular hexahedron. The center of a navigation area (4) is located at the original point of a four-axis oblique coordinate system, and a uniform magnetic field generated by the superconducting magnets (7) is arranged in the navigation area (4). Permanent magnet rings (24) are arranged in the front end of a catheter (23), and the permanent magnet rings (24) in the navigation area (4) bear torque applied by the uniform magnetic field to be parallel to the direction of the magnetic field. An input control unit (19) inputs a direction instruction to a controller (20), the controller (20) transforms the instruction into control signals to superconducting magnet power sources (21), the direction of the magnetic field in the navigation area (4) is adjusted by changing currents in the eight superconducting magnets (7), and therefore the direction of the end of the catheter (23) is controlled, and navigation on the catheter (23) is achieved.
Description
Technical field
The present invention relates to a kind of medical device, particularly a kind of field generator for magnetic for insertion type heart magnetic navigation system.
Background technology
Interventional cardiac procedures is widely applied at present clinically.The hospital that can implement at present interventional cardiac procedures adopts manual type intubation technique more.Its operation principle be doctor stand in patient at one's side under the guiding of X-ray machine imaging conduit hand-manipulated realize, in the process of intubate, make the head end of conduit realize certain turning to or bending and target approach by the seal wire of pulling back.Adopt can the diagnosis and treatment most of cardiovascular disease of manual cannula type interventional cardiac procedures, but for some complicated cases, manually cannula type interventional cardiac procedures system improves needing aspect guidance capability and positioning precision.Owing to getting involved, doctor is positioned at the other interruption of catheter bed or work in ground under X-ray irradiates, although there is radiation-proof garment, health is also subject to the damage of low dose of X ray unavoidably, and exposure suit is very heavy in addition, can make to get involved doctor very uncomfortable in operation process.In addition, manual type interventional cardiac procedures also has that manipulation speed is slow, operating time is long and the shortcoming such as positioning precision is low.Document [Sabine Ernst, et al., Initial Experience With Remote Catheter Ablation Using a Novel Magnetic Navigation System:Magnetic Remote Catheter Ablation, Circulation, March30,2004] provided a kind of magneto magnetic navigation interventional cardiac procedures system.Its operation principle is to utilize magnetic field to carry out the direct of travel of guide catheter, and makes conduit automatically arrive fast needed position by pusher.This magneto magnetic navigation system also combines with cardiac mapping system, makes to get involved doctor and can complete most of cardiovascular intervene operation away from operating-table, avoids X-ray to irradiate.Its core component is two hemispherical magnets that rotating permanent magnet forms, and hemispherical magnet produces spherical shimming district at heart of patient position.Permanent magnetic iron block is housed in end of conduit, just can adjusts the direction of advance of end of conduit by adjusting the direction in magnetic field, shimming district.Although magneto magnetic navigation interventional cardiac procedures system has realized the hope that gets involved doctor and can complete cardiovascular get involved under the condition away from operating-table hands, but because the magnetic field of magneto magnetic navigation interventional cardiac procedures system is produced by permanent magnet, the change of magnetic direction realizes by rotary hemispherical shape permanent magnet, be subject to the restriction of revolution space, magneto magnetic navigation interventional cardiac procedures system can only be implemented diagnosis and treatment to most cardiovascular disease, and the case that some are difficult to enter or locate is also difficult to treatment.In addition, owing to being subject to the restriction of machinery inertial and magnetic field intensity, the response speed of its navigation can be too not fast, and navigation accuracy also can be subject to certain restrictions.Adopt conventional electric magnet to realize heart magnetic navigation intervene operation can to improve speed and the performance accuracy of operation technique system, but its volume and power consumption are all huge, this has all limited the widespread adoption of the magnetic navigation interventional cardiac procedures system based on conventional electric magnet.
Summary of the invention
The deficiency that the object of the invention is to overcome field generator for magnetic in existing magneto magnetic navigation interventional cardiac procedures system, proposes a kind of field generator for magnetic for magnetic navigation interventional cardiac procedures system.The present invention has advantages of that field orientation is fast and magnetic field intensity is high.
Apparatus of the present invention comprise upper support frame, lower support frame, column, newel, superconducting magnet, superconducting magnet, detector for magnetic field, Input Control Element, controller, display unit, navigation area, and conduit.
Described upper support frame and lower support frame are two coaxial annular frame for movements of placing, and upper support frame and lower support frame are fixed together by four root posts, and the column described in four is evenly arranged and parallel with the mechanical axis of no-feathering heart of annular along hoop.Eight binding sites that upper support frame and lower support frame and four root posts form are positioned on eight summits of regular hexahedron on geometry.Eight newels are equipped with respectively at eight binding site places at upper support frame and lower support frame and column, eight newel length equates and all has a screw thread, eight newels are arranged symmetrically on the four axle oblique coordinates axles that formed with A axle, B axle, C axle and D axle, zero is positioned at the central point of upper support frame, lower support frame and four structures that column forms, and the angle between adjacent two coordinate axess is 70.5 °.Superconducting magnet has eight, is arranged on respectively on eight newels, and the two ends of superconducting magnet are fixed with clamp nut.Two superconducting magnets that are positioned at same coordinate axes are a pair of, and eight superconducting magnets are divided into four pairs.A pair of superconducting magnet is connected in series, and makes the rear magnetic direction producing of a pair of superconducting magnet energising identical.Detector for magnetic field is arranged on center, newel end, and detector for magnetic field is used for detecting the whether satisfied setting requirement of magnetic field intensity that superconducting magnet produces.A bulbous region of the intra-zone that navigation area surrounds for eight superconducting magnets, eight superconducting magnets produce the adjustable uniform magnetic field of direction in navigation area, and navigation area is centered close to the initial point of four axle oblique coordinates systems.The diameter of navigation area is less than the distance of detector for magnetic field to initial point.The output of the superconducting magnet described in every is connected to a pair of superconducting magnet that is positioned at same coordinate axes.Conduit is movable part, contacts with other parts machinery-free in apparatus of the present invention.Three permanent-magnetic clamps are housed in the front end of conduit.The working region of conduit is navigation area inside, and when conduit moves in navigation area, the magnetic field that superconducting magnet produces starts conduit to navigate.
The output of described Input Control Element connects the input of controller, and the output of controller is connected with display unit; The output of controller is connected with four superconducting magnets simultaneously, and each superconducting magnet is a pair of superconducting magnet power supply.After superconducting magnet energising, generate an electromagnetic field at navigation area, the Magnetic Field of detection is fed back to controller by detector for magnetic field.Described Input Control Element is instruction input block, needs the three-dimensional magnetic field direction of input appointment by getting involved doctor according to operation, and the simulation controlled quentity controlled variable that gets involved doctor's input is transformed the digital quantity that controller can be identified by Input Control Element, sends into controller.Three-dimensional magnetic direction is converted into the four direction of principal axis controlled quentity controlled variables that working control needs by controller, and apply the control strategy of response, then controlled quentity controlled variable passed to respectively to four superconducting magnets.Superconducting magnet described in every is to being positioned at a pair of superconducting magnet series-fed of same coordinate axes, and the central magnetic field direction producing after a pair of superconducting magnet energising is consistent.Eight superconducting magnets produce the electromagnetic field in four oblique axis directions.Because magnetic field is vector field, by adjusting four pairs of exciting currents in superconducting magnet, just can produce the steady magnetic field on any direction of some strength.The magnetic field that superconducting magnet produces is detected by detector for magnetic field, and the Magnetic Field of detection feeds back to controller, and to realize closed loop control, the magnetic direction that superconducting magnet is produced is consistent with the magnetic direction of getting involved doctor's input.Controller by the Magnetic Field detecting after treatment, is given display unit, and controller is inputted magnetic direction by Input Control Element simultaneously and sent display unit to, and display unit shows the actual measurement magnetic direction of specifying in magnetic direction and navigation area in real time.
Described superconducting magnet comprises refrigeration machine, low-temperature (low temperature) vessel, cold screen and superconducting coil.Low-temperature (low temperature) vessel is columnar structured hermetic container, has a warm hole to run through low-temperature (low temperature) vessel along the axis direction of low-temperature (low temperature) vessel.Described refrigeration machine is arranged on the upper end of low-temperature (low temperature) vessel, and the one-level cold head of refrigeration machine is positioned at low-temperature (low temperature) vessel inside.Cold screen is columnar structured, in axial direction has a through hole, and this through hole is coaxial with the warm hole of low-temperature (low temperature) vessel.Cold screen is placed in low-temperature (low temperature) vessel inside, is fixed on the upper end cover bottom of low-temperature (low temperature) vessel by pull bar, and the lower surface of the upper surface of cold screen and the one-level cold head of refrigeration machine is passed through together with bolted simultaneously.Described superconducting coil is cylindrical structural, has a through hole along central shaft.It is inner that superconducting coil is placed in cold screen, is fixed on the upper end cover bottom of low-temperature (low temperature) vessel by pull bar, and the lower surface of the upper surface of superconducting coil and the secondary cold head of refrigeration machine is passed through together with bolted simultaneously.
Described superconducting coil comprises central tube, end plate, insulation board and two cake.Central tube is metal circular tube structure, and two ends are processed with screw thread.Described two cakes, end plate and insulation board are round pie structure, and the axial line of two cakes, end plate and insulation board has manhole, and the diameter of through hole is identical with the external diameter of central tube.Two cakes are coaxial with insulation board, alternately arrange.The upper/lower terminal of two cakes and insulation board is placed with end plate; Central tube is through the through hole of two cakes, insulation board and end plate, end plate both sides bolted.
Described two cakes are belt material of high temperature superconduct coiling, and further, the belt material of high temperature superconduct of the two cakes of coiling is YBCO band.
Three permanent-magnetic clamps are housed in described catheter proximal end, the direction of permanent-magnetic clamp magnetic moment and permanent-magnetic clamp central axes, and point to end of conduit.Permanent-magnetic clamp in navigation area, be subject to the moment of torsion that uniform magnetic field applies, make the magnetic moment of permanent-magnetic clamp parallel with uniform magnetic field, permanent-magnetic clamp is parallel with external magnetic field.The moment of torsion that permanent-magnetic clamp is subject to is T
m=MBA
ml
msin (θ),
Wherein: the magnetic moment amplitude that M is permanent-magnetic clamp, B is the magnetic field intensity amplitude of permanent-magnetic clamp position, A
mfor the sectional area of permanent-magnetic clamp, L
mfor the axial length of permanent-magnetic clamp, the magnetic moment vector M that θ is permanent-magnetic clamp is with the angle between the magnetic field intensity B of permanent-magnetic clamp position.Just can control like this end direction of conduit by adjusting the direction of uniform magnetic field in navigation area.
The invention has the beneficial effects as follows: magnetic direction and the intensity that can facilitate and change fast navigation area by changing eight electric currents in superconducting magnet, save the mechanical bearing part that is used for changing magnetic direction in magneto magnetic navigation equipment, both improved the response speed of magnetic navigation system, reduce again noise of equipment, made the seek medical advice environment of patient in a relative comfort.In addition, because magnetic navigation device of the present invention is not subject to the restriction of revolution space, the magnetic field that can produce Arbitrary 3 D direction by controlling superconducting magnet electric current, making does not have dead angle to the navigation direction of conduit, can carry out Navigation Control to acute angle branch blood vessel or the larger position of blood vessel structure variation easily, the scope of application of having expanded insertion type operation on heart, has also improved success rate of operation.
Brief description of the drawings
Fig. 1 is the overall schematic of apparatus of the present invention.In figure: 1 upper support frame, 2 lower support framves, 3 columns, 4 navigation areas, 5 clamp nuts, 6 newels, 7 superconducting magnets;
The superconducting magnet 7 that Fig. 2 is apparatus of the present invention axis cutaway view in the plane.In figure: 8 refrigeration machines, 9 low-temperature (low temperature) vessels, 10 cold screens, 11 superconducting coils, the one-level cold head of 12 refrigeration machines, the secondary cold head of 13 refrigeration machines;
The superconducting coil 11 that Fig. 3 is apparatus of the present invention axis cutaway view in the plane.In figure: 14 central tubes, 15 pairs of cakes, 16 end plates, 17 insulation boards;
Fig. 4 is the electrical connection diagram of apparatus of the present invention.In figure: 19 Input Control Elements, 20 controllers, 18 display units, 21 superconducting magnets, 22 detector for magnetic field, 4 navigation areas, 7 superconducting magnets;
Fig. 5 is the conduit schematic diagram of apparatus of the present invention.In figure: 23 conduits, 24 permanent-magnetic clamps.
Detailed description of the invention
Further illustrate the present invention below in conjunction with the drawings and specific embodiments.
Apparatus of the present invention comprise upper support frame 1, lower support frame 2, column 3, newel 6, superconducting magnet 7, superconducting magnet 21, detector for magnetic field 22, Input Control Element 19, controller 20, display unit 18, navigation area 4, and conduit 23.
As shown in Figure 1, described upper support frame 1 and lower support frame 2 are two coaxial annular frame for movements of placing.Upper support frame 1 and lower support frame 2 are fixed together by four root posts 3.Four root posts 3 are evenly arranged along hoop, and with the axis parallel of annular frame for movement.Eight binding sites that upper support frame 1 and lower support frame 2 and four root posts 3 form are just in time positioned on eight summits of regular hexahedron on geometry.The equal in length of 6, eight newels 6 of eight newels is housed respectively on eight binding sites and all has screw thread.Eight newels 6 are arranged symmetrically on the four axle oblique coordinates axles that formed with A axle, B axle, C axle and D axle, zero is positioned at the central point of upper support frame 1, lower support frame 2 and structure that four columns 3 form, and the angle between adjacent two coordinate axess is 70.5 °.Superconducting magnet 7 has eight, is arranged on respectively on eight newels 6.The two ends of superconducting magnet 7 are fixing with clamp nut 5.Eight superconducting magnets, 7 distance four axle oblique coordinates are that the distance of initial point equates.Be positioned at two superconducting magnets 7 of same coordinate axes for a pair of, a pair of superconducting magnet 7 is connected in series, and makes the rear magnetic direction producing of a pair of superconducting magnet 7 energising identical.Eight superconducting magnets 7 are divided on four pairs of four axles that are distributed in four axle oblique coordinates systems.A bulbous region of the intra-zone that navigation area 4 surrounds for eight superconducting magnets 7, eight superconducting magnets 7 are at the adjustable uniform magnetic field of the interior generation direction of navigation area 4, and navigation area 4 is centered close to the initial point of four axle oblique coordinates systems.Detector for magnetic field 22 is arranged on the end center of newel 6 near navigation area 4, and detector for magnetic field 22 is used for detecting the whether satisfied setting requirement of magnetic field intensity that superconducting magnet 7 produces.The diameter of navigation area 4 is less than the distance of detector for magnetic field 22 to initial point.
Described upper support frame 1 and lower support frame 2 can be rectangle, ellipse or other shape, support the required mechanical strength of superconducting magnet 7 but will meet, and meet the requirement that eight superconducting magnets 7 spatially distribute along four axle oblique coordinates axial symmetry simultaneously.
Described column 3 can have certain radian or other ornamental appearance, supports the required mechanical strength of superconducting magnet 7 but will meet, and meets the requirement that eight superconducting magnets 7 spatially distribute along four axle oblique coordinates axial symmetry simultaneously.
As shown in Figure 2, described superconducting magnet 7 comprises refrigeration machine 8, low-temperature (low temperature) vessel 9, cold screen 10 and superconducting coil 11.Low-temperature (low temperature) vessel 9 is columnar structured hermetic container, has a warm hole to run through low-temperature (low temperature) vessel 9 along the axis direction of low-temperature (low temperature) vessel 9.Described refrigeration machine 8 is arranged on the upper end of low-temperature (low temperature) vessel 9, and the one-level cold head 12 of refrigeration machine 8 is positioned at low-temperature (low temperature) vessel 9 inside.Cold screen 10 is columnar structured, in axial direction has a through hole, and this through hole is coaxial with the warm hole of low-temperature (low temperature) vessel 9.Cold screen 10 is placed in low-temperature (low temperature) vessel 9 inside, is fixed on the upper end cover bottom of low-temperature (low temperature) vessel 9 by pull bar, and the lower surface of the upper surface of cold screen 10 and the one-level cold head 12 of refrigeration machine 8 is passed through together with bolted simultaneously.Described superconducting coil 11 is cylindrical structural, has a through hole along central shaft.Superconducting coil 11 is placed in cold screen 10 inside, is fixed on the upper end cover bottom of low-temperature (low temperature) vessel 9 by pull bar, and the lower surface of the upper surface of superconducting coil 11 and the secondary cold head 13 of refrigeration machine 8 is passed through together with bolted simultaneously.
As shown in Figure 3, described superconducting coil 11 comprises central tube 14, end plate 16, insulation board 17 and two cake 15.Central tube 14 is metal circular tube structure, and two ends are processed with screw thread.Described two cakes 25, end plate 16 and insulation board 17 are round pie structure, and the axial line of two cakes 25, end plate 16 and insulation board 17 has manhole, and the diameter of this through hole is identical with the external diameter of central tube 14.Two cakes 15 are coaxial with insulation board 17, alternately arrange, two cakes 15 are placed end plate 16 with the upper/lower terminal of insulation board 17, and central tube 14 is through the through hole of two cakes 15, insulation board 17 and end plate 16, end plate 16 both sides bolted.
Described two cakes 15 are belt material of high temperature superconduct coiling, and further, the belt material of high temperature superconduct of the two cakes 15 of coiling is YBCO band.
Because apparatus of the present invention structure on four axles is identical, be electrically connected also identically, only describe as an example of A axle example here.As shown in Figure 4, the output of Input Control Element 19 connects the input of controller 20, and the output of controller 20 is connected with display unit 18; Controller 20 simultaneously also with four superconducting magnets 21 is connected, and the Magnetic Field that detector for magnetic field 22 detects feeds back to controller 20.Described Input Control Element 19 is instruction input block, need the three-dimensional magnetic field direction of input appointment according to operation by getting involved doctor, the simulation controlled quentity controlled variable that gets involved doctor's input is converted into the digital quantity that controller 20 can be identified by Input Control Element 19, sends into controller 20.Three-dimensional magnetic direction is converted into the four direction of principal axis controlled quentity controlled variables that working control needs by controller 20, and apply the control strategy of response, then controlled quentity controlled variable passed to respectively to four superconducting magnets 21.Superconducting magnet 21 described in every is to being positioned at a pair of superconducting magnet 7 series-feds of same coordinate axes, and the central magnetic field direction producing after a pair of superconducting magnet 7 energisings is consistent.Eight superconducting magnets 7 produce four electromagnetic fields in oblique axis direction.Because magnetic field is vector field, by adjusting four pairs of exciting currents in superconducting magnet 7, just can produce the steady magnetic field on any direction of some strength.The magnetic field that superconducting magnet 7 produces is detected by detector for magnetic field 22, and the Magnetic Field of detection feeds back to controller 20, and to realize closed loop control, the magnetic direction that superconducting magnet 7 is produced is consistent with the magnetic direction of getting involved doctor's input.Controller 20 by the Magnetic Field detecting after treatment, give display unit 18, controller 20 is inputted magnetic direction by Input Control Element 19 simultaneously and is sent display unit 18 to, and display unit 18 shows the actual measurement magnetic direction of specifying in magnetic direction and navigation area 4 in real time.
Conduit 23 is movable part, contacts with other parts machinery-free in apparatus of the present invention.Permanent-magnetic clamp 24 is housed in the front end of conduit 23.The working region of conduit 23 is navigation area 4 inside, and conduit 23 moves to navigation area 4 when interior, and the magnetic field that superconducting magnet 7 produces starts conduit 23 to navigate.As shown in Figure 5, in described conduit 23 front ends, three permanent-magnetic clamps 24 are housed, the direction of permanent-magnetic clamp 24 magnetic moments and permanent-magnetic clamp 24 central axes, and point to conduit 23 ends.Permanent-magnetic clamp 24 in navigation area 4, be subject to the moment of torsion that uniform magnetic field applies, make the magnetic moment of permanent-magnetic clamp 24 parallel with uniform magnetic field, thereby make permanent-magnetic clamp 24 parallel with external magnetic field.The moment of torsion that permanent-magnetic clamp 24 is subject to is T
m=MBA
ml
msin (θ),
Wherein: M is the magnetic moment amplitude of permanent-magnetic clamp 24, B is the magnetic field intensity amplitude of permanent-magnetic clamp 24 positions, A
mfor the sectional area of permanent-magnetic clamp 24, L
mfor the axial length of permanent-magnetic clamp 24, θ is that the magnetic moment vector M of permanent-magnetic clamp 24 follows the angle between the magnetic field intensity B of permanent-magnetic clamp 24 positions.Just can control like this end direction of conduit 23 by adjusting the direction of navigation area 4 interior uniform magnetic fields.
The making material of described permanent-magnetic clamp 24 is neodymium iron boron.
Claims (9)
1. the field generator for magnetic of a heart magnetic navigation surgery systems, it is characterized in that, described field generator for magnetic comprises upper support frame (1), lower support frame (2), column (3), newel (6), superconducting magnet (7), superconducting magnet (21), detector for magnetic field (22), Input Control Element (19), controller (20), display unit (18), navigation area (4), and conduit (23); Described upper support frame (1) and lower support frame (2) are two coaxial annular frame for movements of placing, upper support frame (1) and lower support frame (2) are fixed together by four root posts (3), four root posts (3) are evenly arranged along hoop, and with the axis parallel of annular frame for movement; Upper support frame (1) and lower support frame (2) are positioned on eight summits of regular hexahedron with eight binding sites that four root posts (3) form on geometry; Eight newels (6) are housed respectively on eight binding sites, eight newels (6) are equal in length and all have a screw thread, eight newels (6) are arranged symmetrically on the four axle oblique coordinates axles that formed with A axle, B axle, C axle and D axle, zero is positioned at the central point that upper support frame (1), lower support frame (2) and four columns (3) form structure, and the angle between adjacent two coordinate axess is 70.5 °; It is upper that eight superconducting magnets (7) are arranged on respectively eight newels (6), and the clamp nut for two ends (5) of superconducting magnet (7) is fixing; Eight superconducting magnets (7) distance, four axle oblique coordinates are that the distance of initial point equates; Be positioned at two superconducting magnets (7) of same coordinate axes for a pair of, a pair of superconducting magnet (7) is connected in series, and makes the rear magnetic direction producing of a pair of superconducting magnet (7) energising identical; Eight superconducting magnets (7) are divided into four pairs, are arranged on four axles of four axle oblique coordinates systems; A bulbous region of the intra-zone that navigation area (4) surrounds for eight superconducting magnets (7), eight superconducting magnets (7) produce the adjustable uniform magnetic field of direction in navigation area (4), the initial point that is centered close to four axle oblique coordinates systems of navigation area (4); The diameter of navigation area is less than the distance of detector for magnetic field to initial point; Described detector for magnetic field (22) is arranged on newel (6) center, end; The output of described Input Control Element (19) connects the input of controller (20), and the output of controller (20) is connected with display unit (18); Controller (20) simultaneously also with four superconducting magnets (21) is connected, and the Magnetic Field that detector for magnetic field (22) detects feeds back to controller (20); The output of the superconducting magnet (21) described in every is connected to a pair of superconducting magnet (7) that is positioned at same coordinate axes; Described conduit (23) is movable part, contacts with other parts machinery-free; In conduit (23) front end, permanent-magnetic clamp (24) is housed, the working region of conduit (23) is navigation area (4) inside, conduit (23) moves to navigation area (4) when interior, and the magnetic field that superconducting magnet (7) produces starts conduit (23) to navigate.
2. according to field generator for magnetic claimed in claim 1, it is characterized in that, described superconducting magnet (7) comprises refrigeration machine (8), low-temperature (low temperature) vessel (9), cold screen (10) and superconducting coil (11); Low-temperature (low temperature) vessel (9) is columnar structured hermetic container, has a warm hole to run through low-temperature (low temperature) vessel (9) along the axis direction of low-temperature (low temperature) vessel (9); Described refrigeration machine (8) is arranged on the upper end of low-temperature (low temperature) vessel (9), and the one-level cold head (12) of refrigeration machine (8) is positioned at low-temperature (low temperature) vessel (9) inside; Cold screen (10) is columnar structured, in axial direction has a through hole, and this through hole is coaxial with the warm hole of low-temperature (low temperature) vessel (9); Cold screen (10) is placed in low-temperature (low temperature) vessel (9) inside, be fixed on the upper end cover bottom of low-temperature (low temperature) vessel (9) by pull bar, the upper surface of cold screen (10) and the lower surface of the one-level cold head (12) of refrigeration machine (8) are passed through together with bolted simultaneously; Described superconducting coil (11) is cylindrical structural, has a through hole along central shaft; Superconducting coil (11) is placed in cold screen (10) inside, be fixed on the upper end cover bottom of low-temperature (low temperature) vessel (9) by pull bar, the upper surface of superconducting coil (11) and the lower surface of the secondary cold head (13) of refrigeration machine (8) are passed through together with bolted simultaneously.
3. according to field generator for magnetic claimed in claim 2, it is characterized in that, described superconducting coil (11) comprises central tube (14), end plate (16), insulation board (17) and two cake (15); Central tube (14) is metal circular tube structure, and two ends are processed with screw thread; Described two cakes (15), end plate (16) and insulation board (17) are round pie structure, the axial line of two cakes (25), end plate (16) and insulation board (17) has manhole, and the diameter of through hole is identical with the external diameter of central tube (14); Two cakes (15) are coaxial with insulation board (17), alternately arrange, two cakes (15) are placed end plate (16) with the two ends up and down of insulation board (17); Central tube (14) is through the through hole of two cakes (15), insulation board (17) and end plate (16), end plate (16) both sides bolted.
4. according to field generator for magnetic claimed in claim 3, it is characterized in that, described two cakes (15) are belt material of high temperature superconduct coiling.
5. according to field generator for magnetic claimed in claim 3, it is characterized in that, described two cakes (15) are the coiling of YBCO band.
6. according to field generator for magnetic claimed in claim 1, it is characterized in that, the direction of permanent-magnetic clamp (24) magnetic moment in described conduit (23) front end and the central axes of permanent-magnetic clamp (24), and point to conduit (23) end; Permanent-magnetic clamp (24) is subject to the moment of torsion that uniform magnetic field applies in navigation area (4), makes the magnetic moment of permanent-magnetic clamp (24) parallel with uniform magnetic field, thereby makes permanent-magnetic clamp (24) parallel with external magnetic field; The moment of torsion that permanent-magnetic clamp (24) is subject to is T
m=MBA
ml
msin (θ),
Wherein: M is the magnetic moment amplitude of permanent-magnetic clamp (24), B is the magnetic field intensity amplitude of permanent-magnetic clamp (24) position, A
mfor the sectional area of permanent-magnetic clamp (24), L
mfor the axial length of permanent-magnetic clamp (24), θ is that the magnetic moment vector M of permanent-magnetic clamp (24) follows the angle between the magnetic field intensity B of permanent-magnetic clamp (24) position.
7. according to field generator for magnetic claimed in claim 6, it is characterized in that, the making material of described permanent-magnetic clamp (24) is neodymium iron boron.
8. according to field generator for magnetic claimed in claim 6, it is characterized in that, in described conduit (23) front end, three permanent-magnetic clamps (24) are housed.
9. according to field generator for magnetic claimed in claim 1, it is characterized in that, described Input Control Element (19) is instruction input block; Get involved the three-dimensional magnetic field direction that doctor needs input to specify according to operation, inputted simulation controlled quentity controlled variable is converted into the digital quantity that controller (20) can be identified by Input Control Element (19), sends into controller (20); Three-dimensional magnetic direction is converted into the four direction of principal axis controlled quentity controlled variables that working control needs by controller (20), and apply the control strategy of response, then controlled quentity controlled variable passed to respectively to four superconducting magnets (21); Every of described superconducting magnet (21) is to being positioned at a pair of superconducting magnet (7) series-fed of same coordinate axes, and the central magnetic field direction producing after a pair of superconducting magnet (7) energising is consistent; Eight superconducting magnets (7) produce the electromagnetic field in four oblique axis directions, the magnetic field that superconducting magnet (7) produces is detected by detector for magnetic field (22), the Magnetic Field detecting feeds back to controller (20), to realize closed loop control, the magnetic direction that superconducting magnet (7) is produced is consistent with the magnetic direction of getting involved doctor's input; Controller (20) by the Magnetic Field detecting after treatment, give display unit (18), controller sends Input Control Element (19) input magnetic direction to display unit (18) simultaneously, and display unit (18) shows the actual measurement magnetic direction of specifying in magnetic direction and navigation area (4) in real time.
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| CN106963492A (en) * | 2015-10-29 | 2017-07-21 | 香港生物医学工程有限公司 | Magnetic grappling robot system |
| CN110301883A (en) * | 2018-03-27 | 2019-10-08 | 美国西门子医疗系统股份有限公司 | The guide based on image for the tubulose network that navigates |
| CN111588465A (en) * | 2020-04-15 | 2020-08-28 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic treatment implant manipulation and navigation magnetic system and method |
| CN114145845A (en) * | 2021-12-03 | 2022-03-08 | 北京航空航天大学 | Magnetic navigation method and device for viscoangioplasty |
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| CN106963492A (en) * | 2015-10-29 | 2017-07-21 | 香港生物医学工程有限公司 | Magnetic grappling robot system |
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| CN110301883A (en) * | 2018-03-27 | 2019-10-08 | 美国西门子医疗系统股份有限公司 | The guide based on image for the tubulose network that navigates |
| CN110301883B (en) * | 2018-03-27 | 2022-06-03 | 西门子医疗有限公司 | Image-based guidance for navigating tubular networks |
| US11373330B2 (en) | 2018-03-27 | 2022-06-28 | Siemens Healthcare Gmbh | Image-based guidance for device path planning based on penalty function values and distances between ROI centerline and backprojected instrument centerline |
| CN111588465A (en) * | 2020-04-15 | 2020-08-28 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic treatment implant manipulation and navigation magnetic system and method |
| CN114145845A (en) * | 2021-12-03 | 2022-03-08 | 北京航空航天大学 | Magnetic navigation method and device for viscoangioplasty |
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