CN110302470A - A kind of magnetic field generation and control system based on long straight conductor - Google Patents
A kind of magnetic field generation and control system based on long straight conductor Download PDFInfo
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- CN110302470A CN110302470A CN201910594948.7A CN201910594948A CN110302470A CN 110302470 A CN110302470 A CN 110302470A CN 201910594948 A CN201910594948 A CN 201910594948A CN 110302470 A CN110302470 A CN 110302470A
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- 239000000463 material Substances 0.000 claims description 73
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- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 4
- 230000001276 controlling effect Effects 0.000 abstract description 4
- 230000002596 correlated effect Effects 0.000 abstract description 2
- 230000017525 heat dissipation Effects 0.000 abstract description 2
- 239000007787 solid Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
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- 238000001727 in vivo Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
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- 206010037660 Pyrexia Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
- A61N2/02—Magnetotherapy using magnetic fields produced by coils, including single turn loops or electromagnets
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/20—Electromagnets; Actuators including electromagnets without armatures
Abstract
The invention discloses a kind of magnetic field generation and control system based on long straight conductor, for carrying out position and the movement manipulation of magnetic texure.The long straight conductor of logical direct current can generate toroidal magnetic field in the surrounding of long straight conductor, and the intensity and current strength in magnetic field are positively correlated.More energization long straight conductors are combined into the solid netted structure in four sides can generate the magnetic field of any direction and size by controlling the energized state of each root long straight wire in specific region.Using the Overlay in magnetic field, magnetic texure is placed in space network intermediate region and is interacted with magnetic field, controllable magnetic texure moves and limit its position.The reticular structure that the present invention uses is simple, light, and heat dissipation performance is good, can be used for the manipulation of magnetic catheters in operation.
Description
Technical field
The present invention relates to medical instruments field, in particular to a kind of magnetic field based on long straight conductor generates and control system.
Background technique
In medical treatment, since inside of human body environment is extremely complex, certain positions cannot directly be reached.In this case, may be used
Object is transported to privileged site using contactless control method.Magnetic field control is exactly a kind of common contactless control
Method processed is suitable for transporting magnetisable material.By changing the direction in magnetic field and intensity in human body, magnetisable material steering can be manipulated
With acceleration, deceleration, it is made to reach target position according to the route of setting.
The generation of external magnetic field is there are two types of mode, first is that using permanent magnet, can by control permanent magnet direction and with
The distance of human body changes the magnetic field that it is generated in human body, and the deficiency of this method is that work is not convenient enough；Second is that utilizing
Electromagnetism, this mode are not necessarily to moving magnet, and the magnetic field of its generation can be changed in the size that need to only change electrical current.The present invention is just
It is to generate external magnetic field in the way of electromagnetism.
Traditional method that magnetic field is generated using electromagnetism generally uses spiral electromagnet.Conventional method is advantageous in that production
Raw magnetic field strength is higher, and is easy to change magnetic field by way of adjusting electric current.It is disadvantageous in that spiral electromagnetism
Iron has very serious fever phenomenon after being powered a period of time, and since electromagnet coiling is close, radiating rate
Slowly.On the other hand, the weight of spiral electromagnet is also larger.Therefore, it is necessary to a kind of flexible operation, the schemes of perfect heat-dissipating to come
Instead of traditional method.
Summary of the invention
The magnetic field that the object of the present invention is to provide a kind of based on long straight conductor generates and control system, have it is easy to use,
The effect of perfect heat-dissipating, and its magnetic field generated is applicable in medical treatment in vivo.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of magnetic based on long straight conductor
Field generates and control system, including rectangle reticular structure, the control circuit being electrically connected with rectangle reticular structure, power supply, the square
Shape reticular structure includes the long straight conductor of two groups of arranged distributions in orthogonal both direction, long straight conductor described in each group
Between be parallel to each other and be spaced fixation；The control circuit is for controlling whether any long straight conductor is powered, controls any energization
The current direction of long straight conductor, the size of current for adjusting any energization long straight conductor；In use, the rectangle reticular structure
It is distributed in the portion faces that needed by human body generates magnetic field.
The further setting of the present invention are as follows: the netted structure setting of rectangle has four groups, rectangle reticular structure described in four groups
It is arranged in the three-dimensional shape in four sides；In use, four groups of netted structural arrangements of rectangle generate the portion in magnetic field in needed by human body
Position side.
The further setting of the present invention are as follows: long straight conductor described in two groups mutually contradicts.
The further setting of the present invention are as follows: control circuit is according to the location information and its thing of the magnetisable material of required control
The route first set judges the angle (if being not required to turn to is 0 degree) turned to needed for magnetisable material.Believed by steering angle
Breath, control circuit calculates required magnetic field and changes information, to control the on-off of electric current, electric current in specific circuit long straight conductor
Direction and size of current, correspondingly to change magnetic direction and size, to operate magnetisable material steering or advance.
The further setting of the present invention are as follows: control the operating process of magnetisable material are as follows: (1) preset magnetisable material starting point and
Terminal plans the route of magnetisable material, the distance and the position turned to each time and angle advanced including magnetisable material；
(2) it is powered to long straight conductor network, using magnetic field or the mobile magnetisable material of other equipment, and magnetisable material determine in real time
Position guarantees magnetisable material along the line-of-road movement set；When magnetisable material moves to the position for needing to turn to, change long straight
The energization situation of conducting wire changes magnetic direction, so that magnetisable material is completed the steering of respective angles and moves on；(3) the is repeated
Two steps, until magnetisable material moves to the final position of route.
Elaboration for technical solution of the present invention:
The present invention obtains magnetic field by energization long straight conductor, the magnitude of field intensity that single energization long straight conductor generates it is limited and
Direction is single；At this time in one group of energization long straight conductor arranged in parallel in space, to enhance the magnetic field strength in area of space.One
When the long straight conductor orientation of group is identical, the direction that the magnetic direction of generation is arranged perpendicular to long straight conductor, and vertical
In being arbitrary in the plane for one group of long straight conductor, but the magnetic-field component of long straight conductor orientation cannot be generated.Therefore,
In rectangle reticular structure of the invention, be equally arranged in parallel another group leader in one group of long straight conductor vertical direction and directly lead
Line, and two groups of long straight conductors mutually contradict；The magnetic that plane and previous group where the magnetic direction that this group of conducting wire generates generate
Plane where field direction be it is vertical, the two, which is superimposed, can be obtained the magnetic field of any direction.
In use, pass through the on-off of electric current in adjusting specific circuit long straight conductor, thus it is possible to vary the magnetic field in space.It will
Specific long straight conductor on some direction is changed to off-state (or being changed to connect by disconnection) by on-state, or is changed and be powered
The current direction of long straight conductor, then the size and Orientation for the magnetic field strength that one group of long straight conductor in this direction generates can all change
Become, if the magnetic field strength that one group of long straight conductor in another direction generates is constant, the size of total magnetic field strength of the two synthesis
Also can all it change with direction.It is of course also possible to change simultaneously the energized state of the long straight conductor electric current in both direction, can also reach
To change magnetic field size, that is, direction purpose.Due to the long straight conductor that arranges in space of the present invention be it is very fine and closely woven, change
Become influence of the specific long straight conductor for total magnetic field strength can approximation regard continuous as.In the present invention, it can use
The modes such as FPGA realize control circuit, to control the energized state of long straight conductor electric current.If necessary to change sky more accurately
Between in magnetic field strength, can be using changing in long straight conductor by the way of size of current.The straight long straight conductor that is powered in space generates
The size and electrical current in magnetic field are the relationships of direct ratio, and the size for changing electric current can continuously change the size of magnetic field strength.
But the long straight conductor quantity as used in the present invention is more, and the mode complexity for changing electric current in long straight conductor is very high,
Be generally not suitable for using.
It is three-dimensional at four sides by four groups of netted structural arrangements of rectangle, by control each root long straight wire energized state,
Current direction and size of current can generate the magnetic field of any direction and size in specific region.It is imitated using the superposition in magnetic field
Fruit places magnetic texure four groups of rectangle reticular structure intermediate regions and interacts with magnetic field, controllable magnetic texure movement and limit
Make its position.
In application process, effect of the invention is to generate variable magnetic field control magnetisable material, needs that other is cooperated to set
It is standby to complete whole navigation work.For example, the positioning and route planning to magnetisable material need the help of other equipment.Tool
Steps are as follows for the use of body:
The moving line of magnetisable material is planned first, it is logical according to preset beginning and end and the intracorporal blood vessel of people
Road situation, sets the route of advance, and emphasis is the steering position and steering angle in route each time.In the fortune of magnetisable material
During dynamic, external equipment monitors the position of magnetisable material, at the time of needing to turn to, sends the instruction of steering angle information.
The present invention is by analysis steering angle information, to current switching state, current direction and the size of current of specific long straight conductor
It is changed, magnetisable material is made to complete to turn to, advance further along the route of setting.Repeatedly, until paramagnet reaches
Terminal.
The invention has the benefit that a kind of new magnetic field generation and control mode are provided, it can be using in vivo
In medical treatment.The present invention have the characteristics that structure simple, flexible operation, it is easy to use compared with traditional mode, present invention heat dissipation
It is functional.
Detailed description of the invention
Fig. 1 is magnetic field production principle schematic diagram.
Fig. 2 is that magnetic field generates network energization schematic diagram.
Fig. 3 is system operation schematic diagram.
Fig. 4 is working-flow figure.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
A kind of magnetic field generation and control system based on long straight conductor, including rectangle reticular structure and rectangle reticular structure
The control circuit of electrical connection, power supply, rectangle reticular structure include the length of two groups of arranged distributions in orthogonal both direction
Straight wire is parallel to each other between each group of long straight conductor and is spaced fixation；Whether control circuit is for controlling any long straight conductor
It is powered, the current direction that controls any energization long straight conductor, the size of current for adjusting any energization long straight conductor.Two groups of length are directly led
Line mutually contradicts.And long straight conductor is wrapped with insulating layer.
The netted structure setting of rectangle has four groups, four groups of netted structural arrangements of rectangle shape three-dimensional at four sides；It was using
Cheng Zhong, four groups of netted structural arrangements of rectangle generate the position side in magnetic field in needed by human body.
Control circuit judges magnetism according to the location information of the magnetisable material of required control and its route being previously set
The angle (if being not required to turn to is 0 degree) turned to needed for substance.By steering angle information, control circuit calculates required
Magnetic field changes information and comes correspondingly to control the on-off of electric current, current direction and size of current in specific circuit long straight conductor
Change magnetic direction and size, to operate magnetisable material steering or advance.
Control the operating process of magnetisable material are as follows: (1) beginning and end for presetting magnetisable material, to the route of magnetisable material
It is planned, the distance and the position turned to each time and angle advanced including magnetisable material.(2) logical to long straight conductor network
Electricity using the mobile magnetisable material of magnetic field or other equipment, and positions magnetisable material in real time, and guarantee magnetisable material is along setting
The line-of-road movement set.When magnetisable material moves to the position for needing to turn to, change the energization situation of long straight conductor to change
Magnetic direction makes magnetisable material complete the steering of respective angles and moves on.(3) second step is repeated, until magnetisable material is transported
Move the final position of route.
System generates the principle in magnetic field as shown in Figure 1, it is 1 that magnetic field, which generates network,.In space produced by energization long straight conductor
Magnetic direction have been given in the diagram, this direction is obtained by the right-hand rule, i.e., clenched fist with the right hand, stretch out thumb,
Thumb be directed toward long straight conductor sense of current, at this time in space magnetic field be remaining four finger be directed toward direction.Fig. 1 is also
It gives magnetic field and generates schematic diagram of the network in three-dimensional coordinate system.The direction of one group of long straight conductor 11 is x-axis direction, separately
The direction of one group of long straight conductor 12 is z-axis direction.In coordinate system shown in Fig. 1, for the long straight conductor group 11 of x-axis direction,
Its magnetic field that any point generates in space is parallel to yOz plane.For example, if wherein straight where a root long straight wire
Line equation is y=z=0(i.e. this root long straight wire in x-axis), current direction is positive direction of the x-axis, then this root long straight wire is in point
(0,1,0) it is (0,0,1) that the magnetic direction unit vector in magnetic field is generated at；Assuming that the linear equation where another root long straight wire
Meet z=1, y=0, current direction is also positive direction of the x-axis, then this root long straight wire generates the magnetic field in magnetic field at point (0,1,0)
The unit vector in direction be (0,,).Change sense of current, magnetic direction that long straight conductor is generated in this point and
Before on the contrary but on same straight line.In this way, directly being led if we arrange infinite more length in a direction parallel to the x axis
Line, so that it may the magnetic field of any direction in yOz plane is generated at any point.Similarly, the length for being parallel to z-axis direction is directly led
Line group 12, the magnetic field that any point generates in space are parallel to xOy plane.It arranges in this direction infinite more
Long straight conductor, so that it may the magnetic field of any direction in xOy plane is generated at any point.The magnetic that this two groups of long straight conductors generate
Field is overlapped mutually, so that it may generate the magnetic field on any direction in space.The magnetic induction at magnetic field any point in space is strong
Degree can be calculated by Biot-Savart law:
,
Wherein,It is the electric current in long straight conductor, for the distance of the point to long straight conductor for space permeability.Magnetic field strength
And magnetic induction intensityIt is positively correlated, calculation formula are as follows:
Wherein,It is related with magnetisable material for the intensity of magnetization.For conduit, it is assumed that its cross-sectional area is, then
Duct direction upper volume isOne section of conduit its stress are as follows:
Wherein,For the volume susceptibility of substance,For the variable gradient of magnetic field strength.
As shown in Figures 2 and 3, Fig. 2 is the schematic diagram that magnetic field generates lattice network to a kind of rectangular net structure, and Fig. 3 is
Schematic diagram when system works, includes rectangular net structure 1,2 control circuit 3 of power supply in Fig. 2, in system operation schematic diagram also
It include human body 4.Control circuit 3 can determine that magnetic field generates the on-off of each root long straight wire electric current and direction in network, big
It is small etc..In rectangular net structure 1, if long straight conductor spacing is 2mm, one group of long straight conductor 11 is symmetrically arranged in x-axis two sides, altogether
Arrange 39 root long straight wires.According to simulation result, only when this group of long straight conductor work, to it, all 39 root long straight wires lead to 1A
Electric current, electric current positive direction is positive direction of the x-axis, then the magnetic direction that this group of long straight conductor any point on the y axis generates
It is parallel to z-axis.As shown in Figure 1, magnetic direction is direction --- the z-axis positive direction of arrow meaning at point A in figure.Away from
Position from origin 50mm, this group of long straight conductor can generate the magnetic field of 1.13*10-4T, place an irony if putting at this
Magnetisable material, can be by the magnetic force of 1.39*10-4N.In practical applications, the long straight conductor for including in one group of long straight conductor
Can up to several hundred, two groups of long straight conductors of each arranged on planes.And as shown in figure 3, system work when, of the invention four
A rectangular net structure 1 is enclosed in the position surrounding for needing electromagnetic navigation, such as the human body shirtfront surrounding in the present embodiment.I.e. four
Plane works at the same time, and the magnetic field strength of generation can change the motion state of magnetisable material (magnetic catheters) enough.
The workflow of magnetic field control system is as shown in Figure 4.Before carrying out practical operation, need to controlled magnetic material
The motion profile of matter is planned that this process is completed according to the structure of inside of human body, wherein steering position in route and
Steering angle is emphasis.In control process of the reality to magnetisable material, using technologies such as x-ray or ultrasonic waves to magnetisable material
It is positioned in real time, the result of positioning is sent to control circuit.It the location information of control circuit analyzing magnetic substance and sets in advance
Fixed route information, when magnetisable material does not need to turn to, control circuit does not change magnetic field and generates the logical of long straight conductor in network
Electric situation keeps the forward travel state of magnetisable material.
Since magnetisable material constantly moves, and magnetic field is unevenly distributed in space, therefore magnetisable material is moving
During the magnetic force that is subject to can change, influence its motion state, magnetisable material, which might have, deviates setting path movement
Trend.In this case, if the magnetisable material location information that positioning system obtains deviates from preset moving line, control
Circuit processed needs to make a response to this, and the motion profile of magnetisable material, packet are corrected by controlling the energized state of specific circuit
It includes and the long straight conductor being not powered on is powered, the long straight conductor being powered is powered off or changes current direction etc., magnetisable material is made to exist
Without departing from the route set during advance.
And when magnetisable material moves to preset steering position, control circuit is according to required in route information
Steering angle generates the specific long straight conductor energized state in network to magnetic field and is changed, to change magnetic direction, makes magnetic
The direction of field goes to the direction of the route set.In this case mode and the amendment for changing long straight conductor energized state are magnetic
It is identical in the case where motion of matter track, but keep the magnetisable material direction of motion constant compared to fine tuning magnetic field, magnetic field turns to usual
It may require that bigger change, that is, the long straight conductor number for needing to change energized state is more.The variation of magnetic direction can change
The motion state of magnetisable material brings it about corresponding steering, continues on the route of setting.Coordinate such as in Fig. 1
In system, it is assumed that the moving line of magnetisable material is to move to point (0,1,1) from point (0,1,0), is turned at point (0,1,1), fortune
It moves at point (1,1,1).During from point (0,1,0) to point (0,1,1) movement, the direction of motion of magnetisable material is z-axis
Positive direction.In this course, magnetic direction can be z-axis positive direction.Due to we assume that being arranged in space enough
Long straight conductor, therefore obtain the mode in this magnetic field also there are many, this group leader that one of which is parallel in x-axis direction is straight
Conducting wire 11 leads to the electric current of positive direction of the x-axis, and is parallel to 12 no power of this group of long straight conductor in z-axis direction.According to the right-hand rule I
Available magnetic direction at this time.The magnetic field that long straight conductor group 11 generates is parallel to yOz plane.In long straight conductor group
There are enough long straight conductors, therefore long straight conductor group can be regarded as relative to magnetisable material symmetry arrangement, in this way, long straight conductor
Long straight conductor in group 11 is cancelled out each other in the magnetic-field component that z-axis direction generates, and the total magnetic field direction of synthesis is z-axis positive direction
's.After the magnetisable material point of arrival (0,1,1), the direction of motion is also changed to positive direction of the x-axis.It, can in order to make magnetisable material complete to turn to
Magnetic direction is switched to positive direction of the x-axis, a kind of simple mode be this group of long straight conductor 11 that will be parallel in x-axis direction by
Energized state is changed to no power, and leads to the electric current of z-axis negative direction in this group of long straight conductor 12 for being parallel to z-axis direction.It is similar to
Analysis before, by the right-hand rule it is recognised that the magnetic direction that we obtain at this time be along positive direction of the x-axis, it is complete
It is turned at the magnetic field in target.
Examples detailed above is a simplified situation.Under actual conditions, magnetisable material also suffers from the influence of other power, such as weight
The resistance of body fluid in power, human body, and the power etc. that some power devices of others that need to apply when necessary provide.In reality
It border, in this way can be in inside of human body in use, magnetic field around magnetisable material in four planes generates network needs to cooperate
More uniform, the higher magnetic field of intensity is generated, but also increases the complexity of control simultaneously.Further, since body structures
Extremely complex, the moving line of magnetisable material will not be regular as in example, and the change of long straight conductor energized state is more
It is complicated.In order to arbitrarily change the direction in magnetic field, in same group of long straight conductor, different long straight conductor energized states is not often
Same, the electric current without leading to the same direction simultaneously in same group of long straight conductor as in example.
In the motion process of magnetisable material, these states mentioned above need constantly to repeat.In this way, magnetisable material energy
It is enough constantly to advance, and in advancement without departing from the motion profile set, more when advancing to the position for needing to turn to
It is enough to deflect direction of travel accurately and in time.Until magnetisable material eventually arrives at the terminal of default route.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, those skilled in the art
Member can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as at this
All by the protection of Patent Law in the scope of the claims of invention.
Claims (5)
1. a kind of magnetic field based on long straight conductor generates and control system, it is characterised in that: including rectangle reticular structure and rectangle
The control circuit of reticular structure electrical connection, power supply, the rectangle reticular structure include two groups in orthogonal both direction
The long straight conductor of arranged distribution is parallel to each other between long straight conductor described in each group and is spaced fixation；The control circuit is used for
Current direction, any energization long straight conductor of adjusting whether any long straight conductor is powered, controls any energization long straight conductor controlled
Size of current；In use, the netted structure distribution of the rectangle generates the portion faces in magnetic field in needed by human body.
2. a kind of magnetic field based on long straight conductor according to claim 1 generates and control system, it is characterised in that: described
The netted structure setting of rectangle has four groups, the netted structural arrangement of rectangle described in the four groups shape three-dimensional at four sides；In use,
Four groups of netted structural arrangements of rectangle generate the position side in magnetic field in needed by human body.
3. a kind of magnetic field based on long straight conductor according to claim 1 generates and control system, it is characterised in that: two groups
The long straight conductor mutually contradicts.
4. a kind of magnetic field based on long straight conductor according to claim 1 generates and control system, it is characterised in that: control
Circuit judges to turn to needed for magnetisable material according to the location information of the magnetisable material of required control and its route being previously set
Angle (if be not required to turn to be 0 degree)；By steering angle information, control circuit calculates required magnetic field and changes letter
Breath, so that the on-off of electric current, current direction and size of current in specific circuit long straight conductor are controlled, correspondingly to change magnetic field side
To and size, with operate magnetisable material turn to or advance.
5. a kind of magnetic field based on the straight long straight conductor of length according to claim 1 generates and control system, it is characterised in that:
Control the operating process of magnetisable material are as follows:
(1) preset magnetisable material beginning and end, the route of magnetisable material is planned, including magnetisable material advance away from
From with the position and angle that turn to each time；
(2) it is powered to long straight conductor network, using magnetic field or the mobile magnetisable material of other equipment, and magnetisable material is carried out real-time
Positioning guarantees magnetisable material along the line-of-road movement set；When magnetisable material moves to the position for needing to turn to, change length
The energization situation of straight wire changes magnetic direction, so that magnetisable material is completed the steering of respective angles and moves on；
(3) second step is repeated, until magnetisable material moves to the final position of route.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111494010A (en) * | 2020-04-28 | 2020-08-07 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
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