AU2022244782A1 - Intravascular nano robot apparatus, optimized control system, and method - Google Patents

Intravascular nano robot apparatus, optimized control system, and method Download PDF

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AU2022244782A1
AU2022244782A1 AU2022244782A AU2022244782A AU2022244782A1 AU 2022244782 A1 AU2022244782 A1 AU 2022244782A1 AU 2022244782 A AU2022244782 A AU 2022244782A AU 2022244782 A AU2022244782 A AU 2022244782A AU 2022244782 A1 AU2022244782 A1 AU 2022244782A1
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Sicong TAN
Yongxue TAN
Hao Yu
Mengfei YU
Zhiying Yu
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Abstract

An intravascular nano robot apparatus, an optimized control system, and a regulation method. The intravascular nano robot apparatus is delivered into a blood vessel by using a needle catheter, and the nano robot imitates the swimming of a jellyfish by using a dual-mode of neural network improved method self-learning control and remote control, tours the blood vessel, flexibly expands the blood vessel, monitors in real time, and intelligently identifies vascular stenosis, plaque, and embolism. The nano robot carries and places a stent (106) to support the blood vessel; and an intravascular embolism is ablated by using a laser or radiofrequency apparatus (209) and a drug is accurately delivered to the embolism location. The delivery of the nano robot into a blood vessel can reduce the risk of external surgery, achieve basically non-invasive, real-time monitoring and optimized control, and effectively prevent the occurrence of major intravascular diseases.

Description

Description
INTRAVASCULAR NANO ROBOT APPARATUS, OPTIMIZED CONTROL SYSTEM, AND METHOD TECHNICAL FIELD
[0001]The present invention belongs to the technical field of artificial intelligence robot health medical devices, and relates to the technical field of nano-robots, image intelligent recognition method, remote control and autonomous neural network learning and optimization theory related technology.
BACK GROUND
[0002]At present, the present application is applied to the field of medical treatment, and in the process of blood vessel inspection, the accuracy of recognition is due to various human factor analysis. Real-time monitoring of various vascular diseases such as blood vessel stenosis, plaque, embolism is limited, the requirement for accuracy of vascular surgery is high, and due to various human factors, the treatment effect is poor. There are many professional limit to recognize illness. Specialist has poor mastery degree to the illness state, and cannot monitor various data in the blood vessel in real time, such as blood vessel stenosis, plaque, embolism, such as slow discovery, difficult treatment, poor effect, inaccurate treatment proposal of embolism dosing, and smooth and good blood circulation.
[0003]The blood vessel can be fed into the blood vessel by needle tube and the catheter, in order to reduce the risk of in-vitro surgery, real-time monitoring, optimal control in the blood vessel, and no trauma is realized efficiently.
[0004]The remote control by neural network method to improve autonomous neural network learning control and by remote control dual mode method to realize the flexible blood vessel itinerant expansion.
[0005]The position of the stent to be placed in the positioning blood vessel is intelligently recognized, and the nano-robot is guided to move to the surgical position, place the stent, expand the stent, support the blood vessel, expand the blood vessel, ablate the embolism in the blood vessel by laser, the radio frequency and other devices, and restore blood supply.
[0006]An intelligent recognition method for real-time collection of images in blood vessels, image data in blood vessels, and sensor data diseases.
[0007]The nano-robot is used to assist in recognizing and solving disease problems on blood vessel, solving the problems of vascular stenosis, ablation plaque, solving embolism, quantitatively and accurately feeding drugs, according to the size and degree of plaque embolism, and effectively preventing major diseases in blood vessels.
THE CONTENT OF THE INVENTION
[0009]The objective of the present invention is to overcome the shortcomings and deficiencies and provide intravascular nano-robot device, which can be fed into blood vessel by needle tube and catheter, collect sensor data in real time, intelligently recognize diseases, solve vascular stenosis, ablate plaque, solve embolism, solve the problems of human diagnosis and treatment errors, reduce the risk of in-vitro surgery, and achieve basic non-invasive surgery.
[0010]The present invention provides remote control by neural network method to improve autonomous learning and remote control of dual-mode mediation of nano-robot parameters, and flexible cruise expansion in blood vessels.
[0011]The present invention also provides method for intelligently recognizing intravascular embolization, comprising positioning the position of the stent, positioning the position of the stent to be placed, moving the stent to surgical site by guiding nano-robot to move, placing the stent, stretching the stent, supporting blood vessels, expanding blood vessels, and recovering blood supply.
[0012]The present invention also provides device for ablating endovascular embolism by nano-robot laser radio frequency device, which assists in recognizing and solving diseases in blood vessels, and solves major diseases such as vascular stenosis and ablation plaques, solving embolism, and effectively preventing diseases such as intravascular diseases.
[0013]By controlling the nano-robot remote client, surgical operation errors of medical staff are solved, image recognition such as vascular stenosis, plaque and embolism in blood vessels is improved, high efficiency is achieved, and clinical cases are flexibly solved.
Description
[0014]The technical solution of the present invention is as follows:
[0015]Blood vessel real-time monitoring, blood vessel expansion, embolism ablation nano-robot device, optimal control system, intravascular image autonomous recognition method, and itinerant expansion method are characterized in that the nano-robot device for real-time monitoring, blood vessel expansion and embolism ablation in blood vessels comprises:
[0016]Robot main control system, wherein, the robot main control system is connected to in-vitro imaging system and controls the nano-robot apparatus. The nano-robot device comprises: visual recognition module, multi-sensing module, driving device, guide wire, guide tube, pressure device, jellyfish-like balloon device, stent, laser, radio frequency device, and accurate dosing device.
[0017]The visual identification module includes ultrasonic probe, nano microscope and other in-vivo imaging and in-vitro imaging system connection and communication, and is used for collecting and intelligently recognizing various disease images in blood vessel.
[0018]The multi-sensing module and the robot main control system are connected to multi-sensor, and are used for collecting sensor information of blood vessel, including one or more of blood pressure sensor and a plurality of sensors for blood monitoring.
[0019]Drive, Guiding the Autonomous Positioning Mobile Module. The robot main control system is connected to the driving device and is used for driving the nano-robot blood vessel to move. The nano robot in the body is guided by magnetic guidance and infrared guided ultrasonic guidance, and the position of nano-robot and stenosis, plaque and embolism position of the blood vessel are located.
[0020]Guide wire guide catheter for cleaning plaque, embolization, and blood recovery in the blood vessel.
[0021]The pressure device, by means of the pressure device, the inflatable airbag, balloon, expands the blood vessel.
[0022]Jellyfish-imitating swinging device, airbag balloon, pressure device applying pressure, inflatable balloon for vasodilation, and pressure device retracting and contracting jellyfish swinging device are used for imitating jellyfish to collect and to move inflate balloons.
[0023]The stent is configured to apply pressure by pressure device for the stent to open and to support the blood vessel.
[0024]Laser RF devices are used to ablate plaque, embolization.
[0025]The precise dosing device is used for positioning vascular plaque and embolization positions, calculating the size of the plaque and the embolism, accurately determining the drug, and dosing.
[0026]The visual recognizing module is connected to in-vitro imaging system, and the visual recognition module comprises ultrasonic probe, nano-microscope and other in-vivo imaging communication, and is used for collecting and recognizing images. In vivo blood vessel images, the images under microscope include: images in the blood vessel, intelligent recognition of vascular stenosis, occlusion, plaque, embolism and size, location range of the embolism, coordinates. The vision module includes one or more of in-vitro imaging system, in-vivo ultrasonic probe, in vivo microscope, infrared imaging device, and other visual devices.
[0027]The multi-sensing module is configured to collect various micro-sensor data. The collected multi sensing data includes various of data such as intravascular pressure, blood flow, platelet, blood coagulation, blood vessel compression, vascular stress.
[0028]The driving device is configured to drive the nano-robot to move in blood vessel. The driving mode includes one of pneumatic, electric.
[0029]The blood vessel expansion device comprises: jellyfish-imitating balloon, pressure device, and guide wire, guide tube, which are used for movement of lead wire, and restore blood supply by pressure device, inflatable balloon, balloon, expanded blood vessel, and recovery blood supply.
[0030]The plaque and embolism ablation device include laser emitting device and radio frequency device, guide wire, guide catheter device is used for movement of the guide wire, internal positioning of the blood vessel, and blood vessel cleaning. By the visual recognition device to intelligently recognize embolism, position and move to the embolism position, the laser emitting device and the radio frequency device are used to ablate plaque, embolism, dilating blood vessels and restore blood supply in the blood vessel.
[0031]According to the stent device, the position of the stent to be placed in the blood vessel is intelligently recognized and located by visual recognition device and guiding device, and the blood supply is recovered by guiding the nano robot to move to surgical position, supporting blood vessels, expanding blood vessels, restoring blood supply by guiding the nano-robot to surgical position.
[0032]According to the precise dosing device, the nano-robot is used for delivering drug device, visual device, in-vitro imaging device are used for positioning the blood vessel plaque and the embolism position, the guiding device is used for guiding nano robot to move to the plaque embolism position, the size degree of the plaque and the embolism is calculated, and accurate medicine setting and dosing are carried out.
Description
[0033]The remote control device comprises main control system, and in-vitro blood vessel imaging device controls the in-vivo nano-robot. The nano-robot in the body is guided by magnetic guidance, infrared guidance, ultrasonic guidance, the nano-robot is located, the position and range of the expanded blood vessel in the body are selected, and autonomous flexible itinerant expansion command is issued.
[0034]The intelligent recognition method for intravascular data analysis, intravascular image data, and sensor data diseases, the intravascular data comprising: blood vessel lumen diameter, cross-sectional area, volume, blood vessel segment length, curvature, flexibility, plaque volume, blood flow power.
[0035]The method for integrating intravascular image data, multi-sensing data, and intelligently recognizing vascular diseases includes the following steps:
[0036]S1: The robot camera issues intravascular images and corresponding location area coordinate, and the sensor issues the intravascular sensor information.
[0037]S2: Main system subscribes to the image information, the sensor information, the service and the position coordinates according to the intravascular image, sensor data, main system subscription image information, sensor information, service and position coordinates.
[0038]S3: The remote main control system issues movement command according to the location of the subscribed blood vessel collection area.
[0039]S4: The remote main control system extracts sensor messages published by vascular embolization, vascular stenosis which include color features, shape features, comprehensive pressure sensors, and the like for images in blood vessels. Feature information in blood vessel is used as feature item, color feature, shape contour feature, and position information of blood vessel region are input, improved neural network method and weight optimizer are used to intelligently recognize vascular diseases, including output values of vascular stenosis, plaque, embolism, classification abnormal data, and classification and recognition of normal blood vessel regions, narrow regions, and embolism positions. S5: According to the output result, accurately classifying, recognizing the disease position, disease type, and stenosis embolism degree in the blood vessel to the administrator and the user of the robot main system.
[0041]The improved neural network autonomous learning and remote control flexible itinerant expansion method comprises the following specific steps:
[0042]S1: robot camera, wherein the pressure sensor issues an intravascular image picture and intravascular pressure data.
[0043]S2: the coordinate range of the blood vessel position area where the nano-robot autonomously cruises.
[0044]S3: The main system subscribes to the image information, the multi-sensor publishes the data information by improved intelligent analysis and classification data method to intelligently recognize the position target area of the narrow blood vessel and autonomously patrol the blood vessel position target area.
[0045]S4: The remote main control system returns area information and coordinates of the narrow blood vessel position according to the position of the subscribed blood vessel collection area, and guides the nano robot to move to the target area.
[0046]S5: Inputting the intravascular multi-data information of different time points, the stenosis region of the blood vessel position target region, and the degree of stenosis.
[0047]S6: The remote administrator mediates the parameters of the pressure device, and flexibly sets the safety range of each parameter of the pressure device in the current vascular environment.
[0048]S7: By improved neural network method, neural network autonomous learning method to calculate and to analyze parameters of autonomous training data, autonomous learning, mediation pressure apparatus, and treatment apparatus.
[0049]S8: Regulating parameters of the inflatable air bag and the air hole by autonomous learning and remote administrator, gently adjusting blood vessel pressure, and expanding blood vessels.
[0050]S9: Remote and autonomously controlling the movement of nano-robot, issuing autonomous cruise instruction by blood vessel guide wire to autonomously learn and to set parameter of pressure device and administrator to adjust the inflation balloon of the pressure device according to the degree of vascular stenosis, the air hole autonomously flexibly adjusting the pressure in the blood vessel, autonomously cruising the target area, expanding the blood vessel, and improving the blood circulation.
[0051]The multi-objective optimal regulation and control method for the comprehensive index in the blood vessel comprises the following specific steps:
[0052]S1: Parameters include monitors stenosis values, blood flow values, blood pressure parameters, compressive stress values, and stress values of different blood vessel positions;
[0053]S2: Setting pressure variable of the pressure device;
[0054]S3: Establishing mathematical model with optimal blood circulation in the different blood vessel positions comprises:
[0055]The blood vessel model, parameter values of the stenosis, parameter values of the blood flow, parameter values of the blood pressure, parameter values of the compression stress, and parameter
Description
values of stress value of different blood vessel positions are constant.
[0056]Pressure Variable of the Pressure Device;
The S4 restriction condition includes:
[0058] Application Pressure Range of the Pressure Device;
[0059] Standard Value Range of Blood Flow;
[0060] Intravascular Standard Pressure Range;
[0061] Balloon Stress Range;
[0062] Stent Stress Range;
[0063] Parameter Range of Laser/Radio Frequency Transmitter;
[0064] Ablation Location Range;
[0065] Location Area Range of Blood Vessel;
[0066]The S5 multi-objective comprises:
[0067]Blood circulation stenosis/chronic occlusion lesion in the blood vessel is minimal;
[0068]Plaque in the blood vessel and embolization lesions are minimal;
[0069]minimal calcified lesions in the blood vessel
[0070]The sum of the absolute value of the comprehensive index fed back by the blood sensor and the upper and lower limits (within the range of the upper and lower limits of the index is 0) * the sum of the weights;
[0071]The integrated fractional flow reserve (FFR) value is maximum (coronary pressure applicable)
[0072]ln summary, the present invention has the following beneficial effects:
[0073]According to the present invention, by nano-robot device, the movement of the remote control nano-robot and the guide wire guide wire can be solved, the embolism can be intelligently recognized by visual recognition device, the position of the plug can be located and moved to the embolism position, blood supply can be recovered by laser emitting device, radio frequency device, ablation blood vessel internal embolism, blood vessel expansion and blood recovery.
[0074]According to the degree of vascular stenosis, the nano-robot autonomously learns and sets parameter of pressure device and distal mediation pressure device inflation balloon according to the degree of blood vessel stenosis by blood vessel guide wire, and air hole autonomously flexibly mediates the intravascular pressure, autonomously cruises the target area, expands the blood vessel, and improves the blood circulation.
[0075]The present invention solves and effectively utilizes pressure device, placement bracket, stent, support blood vessels, expand blood vessels, and restore blood supply. The problems of many operations such as doctors and nurses and the like are solved, and the working efficiency is greatly improved. According to the present invention, the blood vessel state can be monitored and controlled in real time by optimizing the regulation and control system, and the blood environment is optimal.
BRIEF DESCRIPTION OF THE DRAWINGS
[0076]FIG.1 is schematic diagram of nano robotic device module in the specification of the present application, and FIG.1 is shown in FIG.1:
[0077]101-Robotic Main System; 102-Multiple Sensing Module; 103-Camera Vision Module; 104-Pressure Device Module; 105-Balloon; 106-Capsule Stent; 107-Laser Device Module; 108-Drive Module; 109-Guidewire Catheter Module; 110-Distal Control Module;
[0078]FIG.2 is schematic structural diagram of nano-robot device in the specification of the present application, and FIG.2 is shown in FIG.2:
[0079]201-camera; 202-Robot Main System/Extracorporeal Imaging System; 203-Jellyfish Swing Device; 204-Drive Guide;
[0080]205-pressure device; 206-support; 207- guidewire catheter; 208-balloon airbag;
[0081]209-laser device/radio frequency device; 210-multi-sensor; 211-accurate dosing device;
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0082]The objective of the present invention is to design remote intravascular nano-robot device capable of replacing human work, so as to realize real-time monitoring in blood vessels, and to solve various vascular diseases such as vascular stenosis, plaque and embolism ablation caused by non invasive treatment. The accuracy of the vascular surgery is effectively improved.
[0083]Monitoring various data in blood vessel in real time, and keep smooth and good blood circulation by improved neural network method and remote controlled flexible itinerant dilating blood vessel method
Description
[0084]The needle tube and the catheter are fed into the blood vessel, so that the risk of in-vitro surgery is reduced, basically no trauma is realized, and the optimal regulation and control of the nano-robot device in blood vessel is efficiently realized.
[0085]The remote control intravascular nano robot apparatus realize the flexible blood vessel touring expansion by neural network method to improve the autonomous learning method and remote control dual mode to realize the flexible blood vessel touring expansion.
[0086]The position of the stent to be placed in the positioning blood vessel is intelligently recognize, and nano-robot is guided to move to the surgical position, to place the stent, to expand the stent, to support the blood vessel, to expand the blood vessel, ablate the embolism in the blood vessel by laser, radio frequency and other devices, and restore blood supply.
[0087]Human diagnosis and treatment errors are effectively solved, In order to implement remote control robot, flexible expansion in the autonomous blood vessel and medical abnormality recognition is improved intelligent. In order to understand the above technical solutions, the present disclosure will be further described in detail below with reference to the embodiments and drawings, but the embodiments of the present disclosure are not limited.
[0088]The technical solution in the embodiments of the present application is to solve the above mentioned technical problems as follows:
[0089]By main control system of the nano-robot, the embolism is intelligently recognized by visual recognition device, nano-robot positions the inner, positioning and moving of the blood vessel to the embolism position, by the movement of the wire, laser emission, the radio frequency device, the ablation blood vessel internal embolism, blood vessel expansion and blood supply are recovered.
[0090]The position of the stent to be placed in the blood vessel is intelligently recognized and located, and the blood supply is recovered by guiding the nano robot to move, moving to the surgical position, placing, stretching the stent, supporting the blood vessel, expanding the blood vessel, ablating the embolism in the blood vessel by laser, radio frequency and other devices.
[0091]The intelligent recognition disease of intra-blood vessel image, intravascular image data, and sensor data disease.
[0092]Casel :
[0093]As figure, figure2 shown, the intravascular nano robot apparatus include
[0094]The robot main system 101, the robot main system module 101, and the robot main system module 101 are configured to connect and to control nano robot devices module which include: multi sensing module 102, visual module, visual recognition module 103, pressure device module 104, jellyfish-like device, balloon airbag module 105, stent module 106, laser frequency device module 107, driving module 108, guidewire catheter module 109, distal control extracorporeal imaging module 110, and accurate dosing device 111.
[0095]The multi-sensing module 102 and robot main control system 101 are connected to the multi sensor 102 and are used for collecting blood vessel sensor information, including blood monitoring sensor and pressure sensor for collecting, classifying, and recognizing data of each sensor in blood vessel.
[0096]The visual recognition module 103 includes ultrasonic probe, nano microscope and other in-vivo imaging and in-vitro imaging system connection and communication, and is used for collecting and intelligently recognizing various of disease images in blood vessel.
[0097]The jellyfish-imitating swing device, balloon105, pressure device 104 apply pressure, inflatable balloon is used for blood vessel expansion, and the pressure device is used for compressing and contracting the jellyfish swing device and is used for collecting jellyfish and collecting swimming and inflating balloons.
[0098]The stent 106, the pressure device 104, applies pressure for the stent to open and to place the support vessel. The pressure device 104, the inflatable balloon105 expands the blood vessel.
[0099]The laser radio 107 is configured to ablate plaque and embolization in the blood vessel. Laser 209 is used to ablate endovascular embolization. The guide wire guide catheter device 109 is used for inner positioning of blood vessel, movement of wire, intelligent recognition of embolism by visual recognition device, positioning, moving to embolism position, by laser emitting device radio frequency device 109, ablating endovascular embolism, expanding blood vessels, and recovering blood supply.
[0100]For driving, robot main control system 101 of the autonomous positioning and moving module 108 is connected to the driving device 104 and is used for driving nano-robot to move in blood vessel. The nano-robot in the body is guided by magnetic guidance and infrared guided ultrasonic guidance, and the position of nano-robot and stenosis, plaque and embolism position of blood vessel are located.
[0101]The balloon208 and jet orifice are used for vasodilation. The stent 206 applies pressure by the pressure device for the stent to open, to place the support. The position of the stent to be placed in the blood vessel is intelligently recognized and located by visual recognition device and by guiding device 207, and the nano robot is guided to move to surgical position, pressure device 205, placement bracket,
Description
stent, supporting blood vessel, dilating blood vessel and blood recovery are recovered.
[0102]The precise dosing devicell is configured to locate the position of vascular plaque, the embolization, the calculation plaque, the size of the embolism, the precise dosing, and the dosing.
[0103]Case2 :
[0104]As shown in FIG.2, intelligent recognition of image data in blood vessels, image data in blood vessels, and sensor data diseases is implemented as follows:
[0105]The robot camera 201 publishes the intravascular images and its corresponding location area coordinates, and sensor 210 publishes the intravascular sensor information. Depending on the intravascular images, the sensor data2l0, the main system 201 subscribes to the image information, sensor information210, service, and its position coordinates. The remote main control system 201 issues movement command in accordance with the subscribed vascular collection zone location. The remote main control system 201 extracts sensor messages published by vascular embolization, vascular stenosis color features, shape features, integrated pressure sensors 210, for images within blood vessel. Feature information in blood vessel is used as feature item, color feature, shape contour feature, and position information of blood vessel region are input, neural network method are improved and weight optimizer are used to intelligently recognize vascular diseases, including output values of vascular stenosis, plaque, embolism, abnormal data, and classification and recognition of normal blood vessel regions, narrow regions, and embolism positions. According to the output result, classification is performed more accurately, and the position of disease, disease type, and stenosis embolism degree in the blood vessel are recognized by administrator and users in the robot main system.
[0106]nano-robot flexible cruise expansion method is implemented by neural network autonomous learning method and remote control mediation parameters are as follows:
[0107]The robot camera 201 and the pressure sensor 210 publishes intravascular images and intravascular pressure data. The nano-robot autonomously crushes the range of coordinates of the vascular location area. The main system subscribes the image information, the multi-sensor 210 publishes the data information, by improved method for intelligent analysis and classification to intelligently recognize the target location area of the narrow blood vessel and autonomously patrol target location area of the blood vessel. Remote control main system 201 returns the area information and coordinates of the narrow blood vessel position according to the position of the subscribed blood vessel collection area, and guides the nano robot to move to the target area. The multi-data information of blood vessel at different time points, the stenosis region and target region of the blood vessel position, and the degree of stenosis are inputted. The remote control mediates the parameters of the pressure device, and flexibly sets the safety range of each parameter of the pressure device in the current vascular environment. By improved neural network method, neural network autonomous learning method is used to calculate and analyze parameters of autonomous training data, autonomous learning, pressure adjusting devices, and therapeutic devices. The parameters of the inflatable air bag 208 and the air hole 208 are adjusted by autonomous learning and by remote control , the blood vessel pressure is gently adjusted, and the blood vessel is expanded. Nano-robot moves by remote control and autonomous control, nano-robot publishes autonomous cruise instruction, the nano-robot autonomously trains and sets parameters of remote control pressure device 205, inflation balloon according to the degree of vascular stenosis by administrator. Autonomous learning and setting parameters of pressure device 205, the remote administrator mediates pressure device 205 to inflate the balloon, the air hole autonomously mediates the intravascular pressure flexibly autonomously cruises the target area of the blood vessel, expands the blood vessel, and improves the blood circulation.

Claims (9)

  1. Claims
    [Claim 1] Intravascular nano robot apparatus, optimized control system, and method, wherein, characterized in that the intravascular nano-robot device comprises: Robot main control system, wherein, the robot main system is connected to in-vitro imaging system, is used to control nano-robot device. The nano-robot device comprises: visual recognition module, multi-sensing module, driving device, guide wire guide tube, pressure device, jellyfish-like balloon balloon device, stent, laser, radio frequency device, and accurate dosing device. The visual identification module comprises ultrasonic probe, nano microscope and other in-vivo imaging and in-vitro imaging system connection and communication, and is used for collecting and intelligently recognizing various disease images in blood vessel and multi-sensing module, wherein, the robot main control system is connected to the multi-sensor. The method is used for collecting blood vessel sensor information, including one or more of pressure sensor and a plurality of sensors for blood monitoring, drive and guide the autonomous positioning and moving module. The robot main control system is connected to the driving device and is used for driving the nano-robot blood vessel to move, the location of the nano robot and vascular stenosis, plaque and embolism positions are located; Guide wire guide tube is used for cleaning plaque, embolism and blood return supply in the blood vessel; pressure device is used for cleaning plaque, embolism and blood vessel expansion in the blood vessel; Pressure device is used for expanding blood vessels by pressure device, inflation air bag, balloon and expansion blood vessel; Inflation balloon is used for blood vessel expansion, the pressure device is used for collecting the contraction jellyfish swing device, Stent is used for applying pressure by pressure device for the stent opening and placing support blood vessel; Laser radio frequency device is used for ablating plaque and embolism in the blood vessel; and precise dosing device for locating vascular plaque and embolization positions, calculating the size of the plaque and the embolism, delivering determining the drug and dosing accurately.
  2. [Claim 2] The intravascular nano-robot device, according to claim 1, wherein, visual recognition module is connected to in-vitro imaging system, main control system, ultrasonic probe, nano microscope, infrared imaging and other in-vivo imaging device, communicates with in-vitro main control system and in-vitro imaging system, The intravascular nano-robot device which is used for collecting and recognizing blood vessel image; blood vessel stenosis, occlusion, plaque, embolism and size, information such as position range and coordinates; The vision module comprises one or more of in-vitro imaging system, in-vivo ultrasonic probe, in-vivo microscope, infrared imaging device and other visual devices.
  3. [Claim 3] The intravascular nano-robot device, according to claim 1, wherein, the multi-sensing module is configured to collect data of a plurality of micro-sensors, and is collected multi-sensing data comprises a plurality of data such as intravascular pressure, blood flow, blood platelet, blood coagulation, blood vessel compression, blood vessel stress.
  4. [Claim 4] The intravascular nano-robot device, according to claim 1, wherein, the autonomous positioning and moving device is driven and guided to drive the nano-robot to move in blood vessel. The robot main control system is connected to the driving device and is used for driving the nano-robot blood vessel to move, and for guiding the in-vivo nano-robot by adopting magnetic guidance and infrared guided ultrasonic guidance mode, locating the position of the nano-robot and the blood vessel stenosis, the plaque and the embolism position, guiding and driving the nano-robot blood vessel to swim.
  5. [Claim 5] The intravascular nano-robot device, according to claim 1, wherein, the dilating blood vessel device comprises: air bag balloon imitating jellyfish swimming, pressure device, and guide wire guide tube. Four modes of adjusting the pressure, including balloon inflation and expansion, jellyfish swing walking, water mother suction and contraction swing, and support bracket. The balloon is inflated and expanded, the pressure device is adjusted by movement of the wire, and the balloon, the balloon and the dilating blood vessel are inflated at the positions of blood vessel stenosis, plaque, embolism position inflation air bags, balloons and expanded blood vessels; The simulated jellyfish swings and moves, and blood circulation is accelerated, and the water mother subjected to contraction swing is sucked in and contracted and swings in the platelet viscous and tiny plaque fragment position area, cleaning and ablation; And supporting and placing the stent, Wherein,the position of the stent to be placed in the blood vessel is located by visual recognition device, guiding device, the intelligent recognition, the locating of the position of the stent to be placed in the blood vessel, the stent is placed by guiding the nano robot to move to the operation position, the blood vessel is supported, and the blood vessel is expanded.
  6. [Claim 6] The intravascular nano-robotic device, according to claim 1, wherein, the plaque and embolization treatment device. The plaque and embolism treatment device comprises two modes, plaque embolism ablation device and accurate dosing device, wherein, the plaque and embolism ablation device comprises one of laser emitting device and radio frequency device; The visual recognition device is used to intelligently recognize plaque, embolism, movement of the guide wire, inner positioning of the blood vessel, move to the embolism position, Use of the laser emitting device, the radio frequency device to emit, ablate plaque and embolism in the blood vessel and restore blood supply; The precise dosing device which is used the nano-robot to delivery drug device, to utilizes the visual device, the in-vitro imaging device. To locate the position of the blood vessel plaque, the embolism position, The guiding device is used to guide the nano-robot to move to the position of the plaque embolism, to calculate the size of the plaque and the embolism, to fix the medicine and charge accurately.
  7. [Claim 7] Intravascular nano-robot apparatus, and optimal control system and method, characterized in that, the intravascular data is collected, analyzed and monitored in real time, and the intelligent recognition method for intravascular image data and sensor data diseases, the intravascular data comprising: blood vessel lumen diameter, cross-sectional area, volume, blood vessel segment length, curvature, flexibility, plaque volume, blood flow power, and the like. The specific steps are as follows: intravascular image data and sensor data are collected in real time, and intelligent recognition method of the disease comprises the following steps: S1, robot camera publishes intravascular images and corresponding to location area ; S2, according to intravascular images, main system subscribes to image information, services, and bit coordinates ; S3, remote control main system determines, according to the location of the subscribed blood vessel collection area, the motion of the action planning module is collected in accordance with the robotic arm image; the collected image information is published, the robot main system and the visual recognition module subscribe the image information; S4, For images of the blood vessel, extract information of blood pressure which is published by vascular embolism and blood vessel stenosis, and extract the shape feature and the information of comprehensive pressure sensor. Inputting color features, shape contour features and location information of blood vessel region, compute the output value of the intelligent recognition blood vessel disease and the classification abnormal data by improved neural network method and weight optimizer; Classifying and recognizing normal blood vessel region, narrow region and embolism position; S5, Classifying accurately according to the output result, Recognizing the disease position and the disease type in the blood vessel, the degree of stenosis embolization to the administrator and user of the robotic host system;
  8. [Claim 8] Intravascular nano-robot device, and optimal control system and method, characterized in that, the improved neural network autonomous learning control and remote control nano-robot intravascular cruise flexible expansion method comprises the following specific steps: S1, robot camera, wherein, the pressure sensor publishes intravascular images, intravascular pressure data, and coordinate range of blood vessel position area where the corresponding nano-robot autonomously cruising; S2, main system subscribes the image information, the multi-sensor publishes the data information, by the improved method for intelligent analysis and classification data to intelligently recognize the target area of the narrow blood vessel and autonomously patrol position target area in the blood vessel; S3, remote control main system returns the area information and coordinates position of the narrow blood vessel according to the position of subscribed blood vessel collection area , the guided nano-robot is moved to the target region; S4, inputting the intravascular multi-data information at different time points, the stenosis region of the blood vessel position target region, and the degree of stenosis. S5, the remote administrator mediates the parameters of the pressure device, sets the safety range of each parameter of the pressure device in the current vascular environment flexibly. S6, by improved neural network method, and neural network autonomous learning method to calculate and analyze parameters of autonomous training data, autonomous learning, pressure adjusting devices and therapeutic devices; S7, adjusting parameters of inflatable airbag and air hole by autonomous learning and remote control administrator, adjusting blood vessel pressure, and expanding blood vessels flexibly; S8, controlling movement of nano-robot, publishes autonomous patrol instruction remotely and autonomously. According to the degree of vascular stenosis by the autonomous learning, set parameters of the pressure device and the distal administrator mediates the pressure device inflation balloon, and the air holes autonomously adjust the intravascular pressure flexibly, autonomously cruise to the target area, expand the blood vessels, and improve the blood circulation.
  9. [Claim 9] Intravascular nano-robot device, optimal control system, and method are provided. The method is characterized by comprising the following specific steps: S1, monitoring stenosis values, blood flow values, blood pressure parameters, compressive stress values and stress values of different blood vessel positions; S2, setting pressure variable of the pressure device; and S3, establishing mathematical model with optimal blood circulation at different blood vessel positions, wherein, the mathematical model comprises blood vessel model, stenosis values of different blood vessel positions, blood flow values, blood pressure parameter values and stress values of stress, and stress values are constants; pressure variable of the pressure device; and
    S4, Restriction conditions include: 1) application pressure range of the pressure device; 2) standard value range of the blood flow; 3) pressure range of the standard within the blood vessel; 4) balloon airbag is subjected to compressive stress range; 5) stress range ofthe stent; 6) parameter range of the laser/radio frequency transmitter; 7) ablation position range; 8) position area range of the blood vessel;
    S5, the multiple targets comprise: blood circulation stenosis/chronic occlusion lesion in the blood vessel is minimum; the plaque in the blood vessel and the embolism lesion are minimum; the calcification lesion rate in the blood vessel is minimum; the sum of the absolute value of the index fed back by blood sensor and upper and lower limits (within the upper and lower limit range of the index is 0) * the sum of the weights; the comprehensive fractional flow reserve (FFR) value is maximum (the coronary pressure is applicable);
    102 109 H IS
    103
    108
    101
    AE 104
    107
    105 106
    X1
    101 Main system of robot
    102 Multi-sensing module
    103 Camera vision module
    104 Pressure apparatus 105 Balloon
    106 Stent
    107 Laser apparatus/radiofrequency device
    108 Drive module
    109 Guide wire catheter module
    110 Remote control module/in vitro imaging module
    FIGURE 11 FIGURE
    XIF
    210 206 209
    00 209
    206 211
    #
    2
    FIGURE 22 FIGURE
    201-camera; 202-Robot Main System/Extracorporeal Imaging System;
    201-camera; 202-Robot Main System/Extracorporeal Imaging System; 203-Jellyfish Swing Device; 204-Drive Guide; 203-Jellyfish 205-pressure Swing device; 209-laser Device;206-support; 204-Drive207- Guide; guide wire catheter; 208-balloon
    205-pressure device; 206—support; 207— guide wire catheter; 208—balloon airbag; device/radio frequency device; 210-multi-sensor; 211-accurate dosing airbag; device;
    209-laser device/radio frequency device; 210—multi-sensor; 211—accurate dosing device;
AU2022244782A 2021-03-23 2022-03-18 Intravascular nano robot apparatus, optimized control system, and method Pending AU2022244782A1 (en)

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