CN104188725B - A kind of field generator for magnetic of heart magnetic navigation surgery systems - Google Patents
A kind of field generator for magnetic of heart magnetic navigation surgery systems Download PDFInfo
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- CN104188725B CN104188725B CN201410424738.0A CN201410424738A CN104188725B CN 104188725 B CN104188725 B CN 104188725B CN 201410424738 A CN201410424738 A CN 201410424738A CN 104188725 B CN104188725 B CN 104188725B
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Abstract
The field generator for magnetic of a kind of heart magnetic navigation surgery systems, eight superconducting magnets (7) are arranged symmetrically on the four axle oblique coordinates axles with four clinodiagonals formation of regular hexahedron.Navigation area (4) is centrally located at the initial point of four axle oblique coordinates systems, has the uniform magnetic field that superconducting magnet (7) produces in navigation area (4).Conduit (23) front end built with permanent-magnetic clamp (24), the moment of torsion applied by uniform magnetic field in navigation area (4) of permanent-magnetic clamp (24) and parallel with magnetic direction；Instruct to controller (20) by input control unit (19) input direction, controller (20) again by instruction morphing for control signal to superconducting magnet (21), the magnetic direction in navigation area (4) is adjusted by changing the size of electric current in eight superconducting magnets (7), thus control the end direction of conduit (23), it is achieved conduit (23) is navigated.
Description
Technical field
The present invention relates to a kind of medical device, fill particularly to a kind of magnetic field for insertion type heart magnetic navigation system
Put.
Background technology
Interventional cardiac procedures is widely applied at present the most.The many employings of hospital of interventional cardiac procedures can be implemented at present
Manual type intubation technique.Its operation principle is that doctor stands in patient's manual operations conduit realization under the guiding of X-ray machine imaging at one's side
, during intubating, make the head end of conduit realize certain turning to or bending and enter target by seal wire of pulling back.Use
Manual cannulation formula interventional cardiac procedures can with diagnosis and treatment major part cardiovascular disease, but for some complicated cases, manual cannulation formula
Interventional cardiac procedures system need to improve in terms of guidance capability and positioning precision.It is positioned at the other interruption of catheter bed owing to getting involved doctor
Or ground works under X-ray irradiates, although have radiation-proof garment, health is damaged by low dose of X-ray the most unavoidably, adds
Exposure suit the heaviest, intervention doctor can be made the most uncomfortable in operation process.Additionally, manual type interventional cardiac procedures is also
Have that manipulation speed is slow, operating time length 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] give a kind of magneto magnetic navigation Cardiac interventional hands
Art system.Its operation principle is the direct of travel utilizing magnetic field to guide conduit, and makes conduit the quickest by pusher
Position required for arrival.This magneto magnetic navigation system also combines with cardiac mapping system so that gets involved doctor and may be located remotely from
Operating-table completes major part cardiovascular interventional operation, it is to avoid X-ray irradiates.Its core component is that two rotating permanent magnets are formed
Hemispherical magnet, hemispherical magnet heart of patient position produce spherical shimming district.End of conduit is built with permanent magnetic iron block, logical
The direction crossing adjustment magnetic field, shimming district just can adjust the direction of advance of end of conduit.Magneto magnetic navigation interventional cardiac procedures system
Although achieve intervention doctor can complete the hope of cardiovascular intervention hands under conditions of away from operating-table, but due to magneto magnetic
The magnetic field of navigation interventional cardiac procedures system is produced by permanent magnet, and the change of magnetic direction is by rotary hemispherical shape permanent magnetism
Body realizes, and is limited by revolution space, and magneto magnetic navigation interventional cardiac procedures system can only be to most cardiovascular disease
Some cases being difficult to enter or position also are difficult to treat by sick enforcement diagnosis and treatment.Additionally, due to by machinery inertial and magnetic
The restriction of field intensity, the response speed of its navigation will not be too fast, and navigation accuracy also can be subject to certain restrictions.Use conventional electromagnetic
Ferrum realizes heart magnetic navigation and gets involved operation and can improve speed and the performance accuracy of operation technique system, but its volume and power consumption
The hugest, this all limits the widespread adoption of magnetic navigation interventional cardiac procedures system based on conventional electromagnetic ferrum.
Summary of the invention
It is an object of the invention to overcome the deficiency of field generator for magnetic in existing magneto magnetic navigation interventional cardiac procedures system, propose
A kind of field generator for magnetic for magnetic navigation interventional cardiac procedures system.The present invention has field orientation, and soon and magnetic field intensity is high
Advantage.
Apparatus of the present invention include upper support frame, lower bracing frame, column, newel, superconducting magnet, superconducting magnet, magnetic field
Detection device, input control unit, controller, display unit, navigation area, and conduit.
Described upper support frame and the annular frame for movement that lower bracing frame is two coaxial placements, upper support frame and lower bracing frame pass through
Four root posts are fixed together, and four described columns are circumferentially evenly arranged and parallel with the annular machinery axis of no-feathering heart.Upper support
Eight binding sites that frame and lower bracing frame and four root posts are constituted are positioned on eight summits of regular hexahedron on geometry.?
Upper support frame and lower bracing frame are respectively provided with eight newels at eight binding sites of column, and eight newel length are equal and equal
Having screw thread, eight newels are arranged symmetrically on the four axle oblique coordinates axles constituted with A axle, B axle, C axle and D axle, sit
Mark initial point is positioned at upper support frame, lower bracing frame and the central point of four formed structures of column, the folder between adjacent two coordinate axess
Angle is 70.5 °.Superconducting magnet has eight, is separately mounted on eight newels, and the two ends of superconducting magnet are solid with clamp nut
Fixed.Two superconducting magnets being positioned at same coordinate axes are a pair, and it is four right that eight superconducting magnets are divided into.A pair superconducting magnet series connection is even
Connect so that the magnetic direction produced after a pair superconducting magnet energising is identical.Detector for magnetic field is arranged on newel end centre bit
Putting, detector for magnetic field is used for detecting the magnetic field intensity the most satisfied setting requirement that superconducting magnet produces.Navigation area is eight and surpasses
A bulbous region within magnetic conductor area encompassed, it is adjustable uniformly that eight superconducting magnets produce direction in navigation area
Magnetic field, navigation area is centrally located at the initial point of four axle oblique coordinates systems.The diameter of navigation area is less than detector for magnetic field to initial point
Distance.The output of every described superconducting magnet is connected to be positioned at a pair superconducting magnet of same coordinate axes.Conduit is can
Mobile parts, contact with other parts mechanical in apparatus of the present invention.The front end of conduit is built with three permanent-magnetic clamps.The work of conduit
Being inside navigation area as region, when conduit moves to navigation area, the magnetic field that superconducting magnet produces starts to lead conduit
Boat.
The output of described input control unit connects the input of controller, and the output of controller is connected with display unit；Controller
Output be connected with four superconducting magnets simultaneously, each superconducting magnet is that a pair superconducting magnet is powered.Superconducting magnet is led to
Producing electromagnetic field at navigation area after electricity, the Magnetic Field of detection is fed back to controller by detector for magnetic field.Described input control
Unit processed is instruction input unit, by getting involved the direction, three-dimensional magnetic field that doctor needs input to specify according to operation, inputs control unit
The simulation controlled quentity controlled variable getting involved doctor's input is converted the digital quantity that controller can identify, sends into controller.Controller is by three-dimensional magnetic
Field direction is converted into the four direction of principal axis controlled quentity controlled variables that actual control needs, and applies the control strategy responded, then by controlled quentity controlled variable respectively
Pass to four superconducting magnets.Every described superconducting magnet is pointed to a pair superconducting magnet series connection confession of same coordinate axes
Electricity, the central magnetic field direction produced after a pair superconducting magnet energising is consistent.Eight superconducting magnets produce on four oblique axis directions
Electromagnetic field.Owing to magnetic field is vector field, by adjusting four to the exciting current in superconducting magnet, it is possible to produce some strength
Steady magnetic field on any direction.The magnetic field that superconducting magnet produces is detected by detector for magnetic field, the Magnetic Field of detection
Feed back to controller, to realize closed loop control, make the magnetic direction that superconducting magnet produces with getting involved the magnetic direction phase of doctor's input
Unanimously.Controller by the Magnetic Field of detection after treatment, gives display unit, and it is defeated that controller will input control unit simultaneously
Entering magnetic direction and send display unit to, display unit shows the actual measurement magnetic field side in appointment magnetic direction and navigation area in real time
To.
Described superconducting magnet includes refrigeration machine, low-temperature (low temperature) vessel, cold screen and superconducting coil.Low-temperature (low temperature) vessel is columnar structured close
Closing container, the direction, axis along low-temperature (low temperature) vessel has a temperature hole to run through low-temperature (low temperature) vessel.Described refrigeration machine is arranged on low-temperature (low temperature) vessel
Upper end, the one-level cold head of refrigeration machine is positioned at inside low-temperature (low temperature) vessel.Cold screen is columnar structured, in axial direction has a through hole, should
Through hole is coaxial with the warm hole of low-temperature (low temperature) vessel.Cold screen is placed in inside low-temperature (low temperature) vessel, is fixed on by pull bar under the upper end cover of low-temperature (low temperature) vessel
Portion, together with the upper surface of the coldest screen is fastened by bolts with the lower surface of the one-level cold head of refrigeration machine.Described superconducting coil
For cylindrical structural, there is a through hole along central shaft.Superconducting coil is placed in inside cold screen, is fixed on the upper of low-temperature (low temperature) vessel by pull bar
End cap bottom, together with the upper surface of superconducting coil is fastened by bolts with the lower surface of two grades of cold heads of refrigeration machine simultaneously.
Described superconducting coil includes central tube, end plate, insulation board and double cake.Central tube is metal circular tube structure, and two ends process
There is screw thread.Described double cakes, end plate and insulation board is round pie structure, and the axial line of double cakes, end plate and insulation board has circle
Through hole, the diameter of through hole is identical with the external diameter of central tube.Double cakes are coaxial with insulation board, are alternately arranged.Double cakes and insulation board upper,
Lower two ends are placed with end plate；Central tube is through double cakes, insulation board and the through hole of end plate, and end plate both sides bolt fastens.
Described double cakes are high-temperature superconductor band coiling, and further, the high-temperature superconductor band of the double cake of coiling is YBCO band
Material.
Described catheter proximal end is built with three permanent-magnetic clamps, and the direction of permanent-magnetic clamp magnetic moment is parallel with permanent-magnetic clamp central shaft, and sensing is led
Tube end.The moment of torsion applied by uniform magnetic field in navigation area of permanent-magnetic clamp so that the magnetic moment of permanent-magnetic clamp is put down with uniform magnetic field
OK, permanent-magnetic clamp is parallel with external magnetic field.The moment of torsion that permanent-magnetic clamp is subject to is Tm=M B Am·LmSin (θ),
Wherein: M is the magnetic moment amplitude of permanent-magnetic clamp, B is the magnetic field intensity amplitude of permanent-magnetic clamp position, AmFor permanent-magnetic clamp
Sectional area, LmFor the axial length of permanent-magnetic clamp, θ is that the magnetic moment vector M of permanent-magnetic clamp is with magnetic field intensity B of permanent-magnetic clamp position
Between angle.So just can control the end direction of conduit by the direction of uniform magnetic field in adjustment navigation area.
The invention has the beneficial effects as follows: can be facilitated by the electric current in eight superconducting magnets of change and quickly change navigation area
The magnetic direction in territory and intensity, eliminate in magneto magnetic navigation device for changing the mechanical bearing part of magnetic direction, both carried
The high response speed of magnetic navigation system, reduces again noise of equipment, makes patient be in the Hospital environment of a relative comfort.This
Outward, owing to the magnetic navigation device of the present invention is not limited by revolution space, any three can be produced by controlling superconducting magnet electric current
The magnetic field in dimension direction so that the navigation direction of conduit is not had dead angle, can tie acute angle branching blood vessels or blood vessel easily
The bigger position of structure variation carries out Navigation Control, extends the scope of application of insertion type operation on heart, also improves success rate of operation.
Accompanying drawing explanation
Fig. 1 is the overall schematic of apparatus of the present invention.In figure: 1 upper support frame, 2 times bracing frames, 3 columns, 4 navigation areas,
5 clamp nuts, 6 newels, 7 superconducting magnets；
Fig. 2 be apparatus of the present invention superconducting magnet 7 axis sectional view in the plane.In figure: 8 refrigeration machines, 9 low temperature
Container, 10 cold screens, 11 superconducting coils, the one-level cold head of 12 refrigeration machines, two grades of cold heads of 13 refrigeration machines；
Fig. 3 be apparatus of the present invention superconducting coil 11 axis sectional view in the plane.In figure: 14 central tubes, 15 pairs
Cake, 16 end plates, 17 insulation boards；
Fig. 4 is the electrical connection diagram of apparatus of the present invention.In figure: 19 input control units, 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
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Apparatus of the present invention include upper support frame 1, lower bracing frame 2, column 3, newel 6, superconducting magnet 7, superconducting magnet electricity
Source 21, detector for magnetic field 22, input control unit 19, controller 20, display unit 18, navigation area 4, and lead
Pipe 23.
As it is shown in figure 1, described upper support frame 1 and annular frame for movement that lower bracing frame 2 is two coaxial placements.Upper support
Frame 1 and lower bracing frame 2 are fixed together by four root posts 3.Four root posts 3 are circumferentially evenly arranged, and mechanical with annular
The axis parallel of structure.Eight binding sites that upper support frame 1 and lower bracing frame 2 and four root posts 3 are constituted are on geometry
It is placed exactly on eight summits of regular hexahedron.Eight newels 6, the length of eight newels 6 it is respectively provided with on eight binding sites
Spend equal and all have screw thread.Eight newels 6 are arranged symmetrically in the four axle obliques constituted with A axle, B axle, C axle and D axle
On coordinate axes, zero is positioned at upper support frame 1, lower bracing frame 2 and the central point of four formed structures of column 3, adjacent
Angle between two coordinate axess is 70.5 °.Superconducting magnet 7 has eight, is separately mounted on eight newels 6.Superconduction
The two ends of magnet 7 clamp nut 5 is fixed.The distance of eight superconducting magnet 7 distance four axle oblique coordinates system initial points is equal.Position
Two superconducting magnets 7 in same coordinate axes are a pair, and a pair superconducting magnet 7 is connected in series so that a pair superconducting magnet
The magnetic direction produced after 7 energisings is identical.Eight superconducting magnets 7 are divided into four on four axles being distributed in four axle oblique coordinates systems.
Navigation area 4 is a bulbous region within eight superconducting magnet 7 areas encompassed, and eight superconducting magnets 7 are in navigation area
Producing the adjustable uniform magnetic field in direction in territory 4, navigation area 4 is centrally located at the initial point of four axle oblique coordinates systems.Magnetic field detection fills
Putting 22 and be arranged on the newel 6 center, end near navigation area 4, detector for magnetic field 22 is used for detecting superconducting magnet
Whether 7 magnetic field intensities produced meet sets requirement.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 bracing frame 2 can be rectangle, ellipse or other shape, but support superconducting magnetic to be met
Mechanical strength required for body 7, meets eight superconducting magnets 7 spatially along the requirement of four axle oblique coordinates axial symmetry distributions simultaneously.
Described column 3 can have certain radian or other decorative appearance, but to meet required for support superconducting magnet 7
Mechanical strength, meets eight superconducting magnets 7 spatially along the requirement of four axle oblique coordinates axial symmetry distributions simultaneously.
As in figure 2 it is shown, described superconducting magnet 7 includes refrigeration machine 8, low-temperature (low temperature) vessel 9, cold screen 10 and superconducting coil 11.Low
Temperature container 9 is columnar structured hermetic container, and the direction, axis along low-temperature (low temperature) vessel 9 has a temperature hole to run through low-temperature (low temperature) vessel 9.
Described refrigeration machine 8 is arranged on the upper end of low-temperature (low temperature) vessel 9, and it is internal that the one-level cold head 12 of refrigeration machine 8 is positioned at low-temperature (low temperature) vessel 9.
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 put
Internal in low-temperature (low temperature) vessel 9, the upper end cover bottom of low-temperature (low temperature) vessel 9, the upper surface of the coldest screen 10 and system it is fixed on by pull bar
The lower surface of the one-level cold head 12 of cold 8 is fastened by bolts together.Described superconducting coil 11 is cylindrical structural, edge
Central shaft has a through hole.It is internal that superconducting coil 11 is placed in cold screen 10, is fixed on the upper end cover bottom of low-temperature (low temperature) vessel 9 by pull bar,
Together with the upper surface of superconducting coil 11 is fastened by bolts with the lower surface of two grades of cold heads 13 of refrigeration machine 8 simultaneously.
As it is shown on figure 3, described superconducting coil 11 includes central tube 14, end plate 16, insulation board 17 and double cake 15.Center
Cylinder 14 is metal circular tube structure, and two ends are threaded.Described double cakes 25, end plate 16 and insulation board 17 are round pie
Structure, the axial line of double cakes 25, end plate 16 and insulation board 17 has manhole, outside the diameter of this through hole is with central tube 14
Footpath is identical.Double cakes 15 are coaxial with insulation board 17, are alternately arranged, and the upper/lower terminal of double cakes 15 and insulation board 17 places end plate
16, central tube 14 is through double cakes 15, insulation board 17 and the through hole of end plate 16, and end plate 16 both sides bolt fastens.
Described double cakes 15 are high-temperature superconductor band coiling, and further, the high-temperature superconductor band of the double cake 15 of coiling is YBCO
Band.
Owing to apparatus of the present invention structure on four axles is identical, it is electrically connected the most identical, the most only illustrates as a example by A axle.
As shown in Figure 4, the output of input control unit 19 connects the input of controller 20, the output of controller 20 and display unit
18 connect；Controller 20 also with four superconducting magnets 21 simultaneously connect, the Magnetic Field of detector for magnetic field 22 detection
Feed back to controller 20.Described input control unit 19 is instruction input unit, is needed input by getting involved doctor according to operation
The direction, three-dimensional magnetic field specified, the simulation controlled quentity controlled variable getting involved doctor's input is converted into controller 20 and can know by input control unit 19
Other digital quantity, sends into controller 20.Three-dimensional magnetic direction is converted into four direction of principal axis that actual control needs by controller 20
Controlled quentity controlled variable, and apply the control strategy of response, then controlled quentity controlled variable is passed to respectively four superconducting magnets 21.Every described
Superconducting magnet 21 is pointed to a pair superconducting magnet 7 series-fed of same coordinate axes, produces after a pair superconducting magnet 7 energising
Raw central magnetic field direction is consistent.Eight superconducting magnets 7 produce the electromagnetic field on four oblique axis directions.Owing to magnetic field is vector
, by adjustment four to the exciting current in superconducting magnet 7, the steady magnetic field on any direction of some strength just can be produced.
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,
To realize closed loop control, the magnetic direction that the magnetic direction making superconducting magnet 7 produce inputs with getting involved doctor is consistent.Controller
20 by the Magnetic Field of detection after treatment, give display unit 18, and controller 20 is simultaneously by defeated for input control unit 19
Entering magnetic direction and send display unit 18 to, display unit 18 shows the actual measurement in appointment magnetic direction and navigation area 4 in real time
Magnetic direction.
Conduit 23 is movable part, contacts with other parts mechanical in apparatus of the present invention.The front end of conduit 23 is built with forever
Magnet ring 24.The working region of conduit 23 is that navigation area 4 is internal, when conduit 23 moves to navigation area 4, and superconducting magnet
7 magnetic fields produced start to navigate conduit 23.As it is shown in figure 5, described conduit 23 front end is built with three permanent-magnetic clamps
24, the direction of permanent-magnetic clamp 24 magnetic moment is parallel with permanent-magnetic clamp 24 central shaft, and points to conduit 23 end.Leading of permanent-magnetic clamp 24
The moment of torsion applied by uniform magnetic field in territory, navigating area 4 so that the magnetic moment of permanent-magnetic clamp 24 is parallel with uniform magnetic field, so that forever
Magnet ring 24 is parallel with external magnetic field.The moment of torsion that permanent-magnetic clamp 24 is subject to is Tm=M B Am·LmSin (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, AmFor forever
The sectional area of magnet ring 24, LmFor the axial length of permanent-magnetic clamp 24, θ is that the magnetic moment vector M of permanent-magnetic clamp 24 is with permanent-magnetic clamp 24
Angle between magnetic field intensity B of position.So just can be controlled by the direction of uniform magnetic field in adjustment navigation area 4
The end direction of conduit 23.
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 characterised in that described field generator for magnetic includes
Bracing frame (1), lower bracing frame (2), column (3), newel (6), superconducting magnet (7), superconducting magnet
(21), detector for magnetic field (22), input control unit (19), controller (20), display unit (18), lead
Territory, navigating area (4), and conduit (23)；Described upper support frame (1) and lower bracing frame (2) are two coaxial placements
Annular frame for movement, upper support frame (1) and lower bracing frame (2) are fixed together by four root posts (3), four root posts
(3) be circumferentially evenly arranged, and with annular frame for movement axis parallel；Upper support frame (1) and lower bracing frame (2) with
Eight binding sites that four root posts (3) are constituted are positioned on eight summits of regular hexahedron on geometry；Eight binding sites
On be respectively provided with eight newels (6), eight newel (6) length is equal and all has screw thread, and eight newels (6) are symmetrical
Be arranged on the four axle oblique coordinates axles constituted with A axle, B axle, C axle and D axle, zero be positioned at upper support frame (1),
Lower bracing frame (2) and the central point of four formed structures of column (3), the angle between adjacent two coordinate axess is 70.5 °；
Eight superconducting magnets (7) are separately mounted on eight newels (6), and the two ends of superconducting magnet (7) are with clamp nut (5)
Fixing；The distance of eight superconducting magnet (7) distance four axle oblique coordinates system initial points is equal；Two that are positioned at same coordinate axes super
Magnetic conductor (7) is a pair, and a pair superconducting magnet (7) is connected in series so that produce after a pair superconducting magnet (7) energising
Magnetic direction is identical；It is four right that eight superconducting magnets (7) are divided into, and is arranged on four axles of four axle oblique coordinates systems；Lead
Territory, navigating area (4) is a bulbous region within eight superconducting magnet (7) areas encompassed, eight superconducting magnets (7)
Producing direction adjustable uniform magnetic field in navigation area (4), navigation area (4) is centrally located at four axle oblique coordinates systems
Initial point；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 unit (19) connects the input of controller (20),
The output of controller (20) is connected with display unit (18)；Controller (20) also with four superconducting magnets (21) simultaneously
Connecting, the Magnetic Field that detector for magnetic field (22) detects feeds back to controller (20)；Every described superconducting magnet
(21) output is connected to be positioned at a pair superconducting magnet (7) of same coordinate axes；Described conduit (23) is movable part,
Contact with other parts mechanical；Conduit (23) front end is built with permanent-magnetic clamp (24), and the working region of conduit (23) is for leading
Inside territory, navigating area (4), when conduit (23) movement to navigation area (4) is interior, the magnetic field that superconducting magnet (7) produces starts
Conduit (23) is navigated.
2. according to the field generator for magnetic described in claim 1, it is characterised in that described superconducting magnet (7) includes 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 airtight
Container, the direction, axis along low-temperature (low temperature) vessel (9) has a temperature hole to run through low-temperature (low temperature) vessel (9)；Described refrigeration machine (8) is installed
In the upper end of low-temperature (low temperature) vessel (9), it is internal that the one-level cold head (12) of refrigeration machine (8) is positioned at low-temperature (low temperature) vessel (9)；Cold screen (10)
For columnar structured, in axial direction having a through hole, this through hole is coaxial with the warm hole of low-temperature (low temperature) vessel (9)；Cold screen (10) is put
Internal in low-temperature (low temperature) vessel (9), it is fixed on the upper end cover bottom of low-temperature (low temperature) vessel (9) by pull bar, the coldest screen (10) upper
Together with end face is fastened by bolts with the lower surface of the one-level cold head (12) of refrigeration machine (8)；Described superconducting coil (11)
For cylindrical structural, there is a through hole along central shaft；It is internal that superconducting coil (11) is placed in cold screen (10), is fixed on by pull bar
The upper end cover bottom of low-temperature (low temperature) vessel (9), the simultaneously upper surface of superconducting coil (11) and two grades of cold heads (13) of refrigeration machine (8)
Lower surface be fastened by bolts together.
3. according to the field generator for magnetic described in claim 2, it is characterised in that described superconducting coil (11) includes center
Cylinder (14), end plate (16), insulation board (17) and double cake (15)；Central tube (14) is metal circular tube structure, and two ends add
Work has screw thread；Described double cakes (15), end plate (16) and insulation board (17) is round pie structure, double cakes (25), end
The axial line of plate (16) and insulation board (17) has manhole, and the diameter of through hole is identical with the external diameter of central tube (14)；Double
Cake (15) is coaxial with insulation board (17), is alternately arranged, and end plate is placed at the two ends up and down of double cakes (15) and insulation board (17)
(16)；Central tube (14) is through double cakes (15), insulation board (17) and the through hole of end plate (16), end plate (16) both sides
Fasten with bolt.
4. according to the field generator for magnetic described in claim 3, it is characterised in that described double cakes (15) are hts band
Material coiling.
5. according to the field generator for magnetic described in claim 3, it is characterised in that described double cakes (15) are YBCO band
Material coiling.
6. according to the field generator for magnetic described in claim 1, it is characterised in that the described permanent magnetism in conduit (23) front end
The direction of ring (24) magnetic moment is parallel with the central shaft of permanent-magnetic clamp (24), and points to conduit (23) end；Permanent-magnetic clamp (24)
The moment of torsion applied by uniform magnetic field in navigation area (4) so that the magnetic moment of permanent-magnetic clamp (24) is parallel with uniform magnetic field,
So that permanent-magnetic clamp (24) is parallel with external magnetic field；The moment of torsion that permanent-magnetic clamp (24) is subject to is Tm=M B Am·LmSin (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, Am
For the sectional area of permanent-magnetic clamp (24), LmFor the axial length of permanent-magnetic clamp (24), θ is the magnetic moment vector M of permanent-magnetic clamp (24)
With the angle between magnetic field intensity B of permanent-magnetic clamp (24) position.
7. according to the field generator for magnetic described in claim 6, it is characterised in that the making material of described permanent-magnetic clamp (24)
For neodymium iron boron.
8. according to the field generator for magnetic described in claim 6, it is characterised in that described conduit (23) front end is built with three
Individual permanent-magnetic clamp (24).
9. according to the field generator for magnetic described in claim 1, it is characterised in that described input control unit (19) is for referring to
Make input block；Getting involved the direction, three-dimensional magnetic field that doctor needs input to specify according to operation, input control unit (19) is by defeated for institute
The simulation controlled quentity controlled variable entered is converted into the digital quantity that controller (20) can identify, sends into controller (20)；Controller (20) will
Three-dimensional magnetic direction is converted into the four direction of principal axis controlled quentity controlled variables that actual control needs, and applies corresponding control strategy, then will control
Amount processed passes to four superconducting magnets (21) respectively；Described superconducting magnet (21) every is pointed to same coordinate axes
A pair superconducting magnet (7) series-fed, the central magnetic field direction produced after the energising of a pair superconducting magnet (7) is consistent；Eight
Superconducting magnet (7) produces the electromagnetic field on four oblique axis directions, and the magnetic field that superconducting magnet (7) produces is filled by magnetic field detection
Putting (22) to detect, the Magnetic Field of detection feeds back to controller (20), to realize closed loop control, makes superconducting magnet (7)
The magnetic direction and the magnetic direction getting involved doctor's input that produce are consistent；At the Magnetic Field of detection is passed through by controller (20)
After reason, giving display unit (18), controller sends input control unit (19) input magnetic direction to display list simultaneously
Unit (18), the actual measurement magnetic direction in display unit (18) display appointment magnetic direction in real time and navigation area (4).
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| CN201410424738.0A CN104188725B (en) | 2014-08-26 | 2014-08-26 | A kind of field generator for magnetic of heart magnetic navigation surgery systems |
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| CN201410424738.0A CN104188725B (en) | 2014-08-26 | 2014-08-26 | A kind of field generator for magnetic of heart magnetic navigation surgery systems |
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| CN104188725B true CN104188725B (en) | 2016-08-24 |
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| SG11201803509XA (en) * | 2015-10-29 | 2018-05-30 | Bio Medical Eng Hk Ltd | Magnetic-anchored robotic system |
| 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 |
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