WO2022206083A1 - Miniature in-vivo robot device, and optimal treatment regulation and control system and method - Google Patents

Abstract

A miniature in-vivo robot device, and an optimal control system and method, which use an artificial intelligence robot technique, and relate to the technical field of miniature robots, and the technical field of intelligent analysis and recognition, radio frequency electromagnetic positioning, etc. The miniature in-vivo robot device comprises a robot main system (101), a multi-sensing module (102), a camera in-vivo illumination vision module (103), a guiding and positioning module (104), a soft support fixing module (105), an in-vivo walking driving module (106), an in-vivo examination and operation processing module (107), a treatment module (108), an accurate drug delivery module (109), an in-vitro imaging module (110) and a distal end control module (111). The device is fed into a human body by means of natural human body cavities such as the oral cavity, the nasal cavity, the auditory meatus, the navel, the vagina and the anus in a radio frequency, electromagnetic and magnetic guiding manner, such that the risk of an in-vitro operation is reduced, thereby essentially achieving non-invasive in-vivo examinations and operations. The in-vivo vision module (103) and the in-vitro imaging module (110) realize double-precision recognition of human organs and damaged tissues, high-precision recognition, high-precision positioning and precise drug delivery of a normal area and a damaged area, realize optimal regulation and control of in-vivo illness conditions, and effectively solve the problems of slow discovery, difficult treatment, poor effect and inaccurate drug delivery. The operation accuracy requirement is high, the risk of an in-vitro operation is reduced, a basic non-invasive effect, real-time monitoring and optimal control are achieved, and major diseases are effectively prevented.

Description

An in vivo micro-robot device, optimizing the treatment regulation system and method Technical field:

The invention belongs to the technical field of artificial intelligence robot health medical equipment, and relates to micro-robot technology, artificial intelligence image intelligent recognition, remote control, and optimization related theories and technical fields.

Background technique:

Currently used in the medical field, in organ inspection and surgery, due to various human factors, the disease identification of organs is not accurate. The diagnosis under in vitro images is not accurate enough, and the location of organ damage, the extent of damage, and the degree of damage cannot be diagnosed and measured with high accuracy.

Various medical data indicators in the body such as organ and tissue damage are seriously out of balance, and it is difficult to monitor the data in the body in real time, especially for serious diseases, tumors and other diseases. Determine the condition of the patient. The accuracy of the operation is high, and it is impossible to monitor various data in the blood vessel in real time. The discovery of blood vessel stenosis, plaque, embolism, etc. is slow, the treatment is difficult, and the effect is poor. .

It can be delivered into the body through the oral cavity, nasal cavity, ear canal, navel, vagina, anus and other natural human orifices, radio frequency, electromagnetic, magnetic guidance, reducing the risk of external surgery, basically non-invasive, efficient real-time monitoring in vivo, the most Optimal control of the disease in the body.

The in-vivo vision device and the in-vitro imaging device realize high-precision acquisition of in-vivo images, intelligently identify dual images, and assist in identifying damaged tissues, tumors and locating their positions in the body. Double-accurate identification of human organs, damaged tissues, high-precision identification of normal areas and damaged areas.

Multi-sensing module for real-time monitoring of in vivo body environment.

Remote control by the administrator, through the camera in vivo imaging and the in vitro imaging guidance device to accurately locate the damaged tissue, accurately divide the damaged tissue area and the normal tissue area, and use the remote control of the micro-tweezers built in the in-vivo micro-robot device according to the degree of damage. Micro forceps, puncture retractable needle, micro electrocautery, micro electrocoagulation device, micro cautery device, radio frequency device, laser device realize micro cutting suture, puncture, cautery, laser cutting, targeted therapy.

Using the optimal drug determination and its quantification method, and the optimal dosing planning method of radiopharmaceuticals, the multi-objective optimization of comprehensive indicators can be achieved, the drug and its quantification can be controlled, and the optimal regulation of the disease in vivo can be achieved.

Use in vivo micro-robots to assist in identifying diseases, monitor the conditions in the body in real time, and control the optimal drug delivery method to solve the diseases in the body, solve non-invasive micro-surgery, laser, ablation, targeted therapy, and precise drug administration in the body, and effectively prevent major diseases in the body.

Invention content:

The purpose of the present invention is to overcome the above-mentioned shortcomings and deficiencies of the prior art, and to provide a micro-robot device for use in the body, which can be non-invasively delivered into the body through magnetic guidance, thereby reducing the risk of extracorporeal surgery. To achieve basically non-invasive surgery. Dual imaging devices intelligently identify diseases and reduce human errors in diagnosis and treatment. Sensors collect data in real time, optimize drug delivery, monitor in vivo data in real time, track the effect of in vivo treatment in real time, dynamically adjust and optimize in vivo drugs, drug dosage, precise drug administration, and efficiently solve problems such as tumors and tissue damage.

The invention provides a remote control for administrators, which can accurately locate damaged tissue through in-vivo imaging of a camera and an in-vitro imaging guide device, accurately divide the damaged tissue area and the normal tissue area, and implement treatment according to the degree of damage. The invention also provides A high-precision organ, double-accurate positioning of damaged tissue, and double-accurate identification method.

The present invention also provides a method for determining and quantifying a drug using an optimized method, an optimized dosing planning method for radiopharmaceuticals, realizing multi-objective optimization of comprehensive indicators, regulating drugs and their quantification, and realizing optimal regulation of in vivo conditions. Also provided is a high-precision positioning, remote-controlled non-invasive in vivo surgical method and a remote and autonomous drug delivery method.

Realize non-invasive micro-surgery in vivo, laser, ablation, targeted therapy, precise drug delivery, effectively treat major diseases in the body, and solve clinical cases efficiently and flexibly through remote control of micro-robots and image recognition.

The technical scheme adopted in the present invention:

An in-vivo micro-robot device, an optimized treatment regulation system and method, is characterized in that, an in-vivo micro-robot device comprises:

A main control system, the main control system is used to control the in vivo micro-robot device. The in vivo micro-robot device includes: visual recognition module, multi-sensing module, lighting device, in-vivo walking drive device, puncture device, retractable puncture needle, pressure device, surgical inspection processing device, ultrasonic microelectrode array, micro ultrasonic probe device, particle implant Insertion device, stent, soft stent, fixation device, precise drug delivery device.

The in vitro imaging device is used for in vitro imaging, including one of various imaging methods such as ultrasound imaging, CT imaging, and X-ray imaging.

The miniature camera and visual recognition module in the body are used to collect in-vivo images to assist in identifying damaged tissues and tumors in the body and locating their positions.

Light, lighting device, for internal lighting, camera inspection.

The multi-sensing module includes: one or more of a variety of sensors such as miniature biosensing and comprehensive gene sensing, and is used to collect sensor information in vivo.

The driving device is used to drive the robot to swim in a non-damaged, speed-controlled and directional manner in the body.

The guiding, positioning, and moving device is connected with the in vitro imaging device, and the in vitro imaging system guides the in vivo micro-robot to position, move, assist in the acquisition of in-vivo images, assist in identifying the damaged tissue and tumor in the body, and guide the in-vivo micro-robot to locate the damaged tissue and tumor in the body. Positioning and guiding devices include: RF radio frequency devices (external transmitters and in vivo receivers), electromagnetic guiding devices (external electromagnetic controllers and in vivo micro coils and other electromagnetic devices), magnetic guiding devices (external magnetic controllers and in vivo micro coils), etc. Conduct in-vivo communication, guide in-vivo robot positioning, and move devices.

Soft stent, fixation device, used for swimming in the body, temporary stop, damaged tissue, and fixation of tumor location during surgical treatment.

Retractable in-vivo inspection and surgical treatment devices, including: one or more of micro forceps, micro forceps, puncture needles, micro electrocautery, micro electrocoagulation device, micro cauterization device, radio frequency device, and laser device. For internal examination, puncture, surgical operation, ablation treatment.

Retractable treatment, precise drug delivery device, retractable treatment device for damaged tissue, drug particle implantation, placement device for radiation therapy, radioactive particle implantation therapy, etc. Retractable and precise drug delivery device, used to locate damaged tissue, tumor location, calculate damaged tissue, tumor size, degree of damage, precise drug delivery, drug delivery device, used for precise drug delivery, drug delivery at carcinogenic sites, specific tumor cells Targeted drug delivery, radiotherapy, radioactive seed implantation and other precise drug delivery treatments.

Through the oral cavity, nasal cavity, ear canal, navel, vagina, anus and other organs, the body is moved and positioned by electromagnetic, radio frequency, magnetic and other guiding devices, reducing the high risk of external surgical trauma, and achieving basic non-invasive, internal inspection, surgery, and efficient realization In vivo real-time monitoring, optimal control of in vivo conditions.

Dual-accurate imaging methods, using the in-vivo camera and visual recognition module of the miniature camera to work together with the in-vitro imaging device, high-precision acquisition, assisting in identifying images of organs, damaged tissues, tumors, etc., and accurately identifying damaged tissues and normal tissue areas. The in-vivo camera and visual recognition module are used to collect in-vivo images to assist in identifying damaged tissues and tumors in the body and locating their positions. The visual recognition module includes: one or more of in vivo imaging devices such as a micro endoscope and a micro microscope, and a 3D imaging system cooperates with an in vitro imaging guide device to collect and intelligently identify images of various diseases in the body.

The driving device drives the robot to swim without damage in the body, with controllable speed and direction. Use soft stents and fixation devices to temporarily fix, assist in-vivo robots to perform surgery, check damaged tissue, etc. to complete in-vivo treatment. Using the positioning and guiding device, connected with the in vitro imaging device, the in vitro imaging system guides the in vivo micro-robot to position, move, assist in the acquisition of in vivo images, assist in identifying the damaged tissue and tumor in the body, and guide the in vivo micro-robot to locate the damaged tissue and tumor in the body. In vivo swimming, driving device, used to drive the micro robot to move, walk and swim in the body. The driving device includes one of current driving, electromagnetic driving and magnetic driving. Positioning and guiding devices include: RF radio frequency devices (external transmitters and in vivo receivers), electromagnetic guiding devices (external electromagnetic controllers and in vivo micro coils and other electromagnetic devices), magnetic guiding devices (external magnetic controllers and in vivo micro coils), etc. Conduct in-vivo communication, guide in-vivo robot positioning, and move devices. Soft stent, fixation device, used for in vivo tissue examination, damaged tissue, fixation during surgical treatment of tumor location.

The multi-sensing module monitors the in vivo environment in real time. Multi-sensing includes: one or more of various sensors such as micro bio-sensing, micro-medical sensing, and comprehensive gene sensing, which are used to collect sensor information in vivo and monitor the in-vivo environment in real time. The in vivo environment includes: the in vivo immune environment and the tumor treatment microenvironment, and the in vivo environment during monitoring.

In vivo examination, surgical treatment device. Surgical inspection and processing devices, including: one or more of micro forceps, micro forceps, puncture retractable needles, micro electrosurgical knives, micro electrocoagulation devices, micro cauterization devices, radio frequency devices, and laser devices. For inspection, puncture, surgical operation. Through in vivo imaging of the camera and in vitro imaging guidance device, the damaged tissue can be accurately positioned, and the damaged tissue area and the normal tissue area can be accurately divided. According to the degree of damage, the miniature tweezers built into the in vivo micro-robot device are remotely controlled, and the puncture is retractable. Needle, micro electrocautery, micro electrocoagulation device, micro cautery device, radio frequency device, laser device realize cutting, suturing, puncturing, cauterization, laser cutting, targeted therapy.

Scalable treatment, precise drug delivery device, particle implantation device, and quantitative optimization method of drugs according to the damaged position, the size of the damaged area, and the degree of damage, to achieve precise drug delivery, precise targeted therapy, and accurately divide the damaged tissue area from normal tissue. The region realizes the smallest side effects of the drug administration and the optimized drug administration effect. Retractable and precise drug delivery device, used to locate damaged tissue, tumor location, calculate damaged tissue, tumor size, degree of damage, precise drug delivery, drug delivery device, used for precise drug delivery, drug delivery at carcinogenic sites, specific tumor cells Targeted drug delivery, radiotherapy, radioactive seed implantation and other precise drug delivery treatments.

Organs, double accurate positioning of damaged tissues, double accurate identification methods. The in-vivo vision device and the in-vitro imaging device can accurately identify human organs, damaged tissues, and divide the normal area and the damaged area with high precision.

An in vitro imaging device and a characteristic position of human organs, a medical image and a microscope, and a method for recognizing internal organs under an endoscope, comprising the following steps:

S1. Establish a characteristic model of the contour, shape, texture, color, size, etc. of the human organ under the in vitro imaging image and the in vivo microscope.

S2. Establish various disease models such as damaged tissue inflammation, tumor, cyst, etc.

S3, extracting the in vitro imaging image and the internal contour of the image organ under the in vivo microscope, the characteristic value of each organ and the external position area of the human body corresponding to the corresponding external characteristic.

S4. Input the eigenvalues of the human internal organ images corresponding to the external eigenvalues of each organ of the in vitro imaging image and the image under the in vivo microscope, improve the deep neural network method and the weight optimizer, and obtain the output values and internal organs through image training Classification, organ identification results.

S5. Output results, accurately classify, and identify human organ images under in vitro imaging and in vivo microscopes.

The method of robot double image matching, positioning, and accurately dividing the diseased position of damaged tissue and normal tissue, including the following steps:

S1. The micro-robot publishes the position area and coordinate boundary of the organ in the image under the in vivo microscope, and the robot main system and the intelligent recognition module subscribe to the published image and position coordinates.

S2. The in vitro imaging system module publishes the position area of the organ and its coordinate boundary of the in vitro imaging image, and the robot main system and the intelligent identification module subscribe to the published image and position coordinates.

S3. Using the coordinate transformation method, establish the coordinate reference transformation of the dual images under the robot main control system, and match the organs and their coordinate positions under the dual images of each organ.

S4. Establish a model of various diseases such as inflammation, tumor, cyst, etc. of damaged tissue images under an in vivo microscope.

S5. Establish a model of various diseases such as inflammation, tumor, cyst and the like in image damaged tissue under the in vitro imaging system.

S6, extracting the in vitro imaging image and the image under the in vivo microscope, the internal contour of the organ and its characteristic value under the disease model, its corresponding position area, and position coordinates.

S7. Use the improved neural network method and weight optimizer to identify the disease under the dual-system image, mark and draw the disease location area and size under the dual-image, and return the location coordinates.

S8. The intelligent identification module outputs the disease type, the diseased organ and the location area of the abnormal condition under the organ, and returns the identification result to the main control system.

Optimal methods are used to regulate drugs and treatment methods. The specific steps of control are as follows:

Drug regulation includes: drug selection, drug dosage, and drug cycle. Modulated treatment methods include: internal surgery, precision medicine with common drugs, targeted therapy, radiation therapy, radioactive seed implantation, and ablation therapy. Set the comprehensive indicators of multiple treatments as multi-objectives, and optimize the control treatment plan. Among them, the optimization methods include: genetic calculation method and its improvement method, tabu search calculation method and its improvement method, simulated annealing calculation method and its improvement method, ant colony calculation method and its improvement method, particle beam optimization calculation method One or more of methods for improving and improving methods thereof, neural network computing methods and methods for improving them, and methods for evolution and methods for improving them. Through the combination of static treatment effect prediction and real-time dynamic adjustment of treatment methods and drug methods, optimal regulation of drugs and doses, accurate positioning of carcinogenic sites, specific tumor cells, and drug delivery to achieve optimal regulation and treatment.

S1. Monitored indicators of the internal immune environment of the body, and indicators of the tumor treatment microenvironment are constant.

The optimal immune environment in the body---the absolute value of the difference between the monitoring index and the standard index * the sum of the weights.

The optimal tumor treatment microenvironment—the absolute value of the difference between the monitoring index and the standard index * the sum of the weights.

S2. The main treatment methods (in vivo surgery, precision medicine treatment, targeted therapy, radiation therapy, radioactive seed implantation therapy, ablation therapy, etc.)

As well as drug selection, drug dosage, and time period for common drug therapy are variables.

S3. Establish the mathematical model of the body's internal immune environment, the optimal mathematical model of the tumor treatment microenvironment, the mathematical model of the side effects of tumor treatment, and the mathematical model of drug arrival as follows:

variable:

Classification of drugs: main drug (main drug _m m∈{1, 2, ....M})

Common Mediation Drug (drug _n n∈{1,2,....N})

main therapeutic effect

Primary efficacy not administered

General drug administration

Common medicines not administered

The amount of the main drug applied

Quantity of common medicines applied

treatment period (t _t t∈{1, 2, ....T}).

Treatment cycle refractory parameters

disease(D _d d∈{1, 2, ....D}).

Number of damage points

Damaged tissue area size

Degree of disease/damage

Treatment method parameters

Including the main treatment method (hard treatment index

) and common drug treatments

Basic effects of disease treatment

Monitoring indicators monitor _e e∈{1, 2, ....E}, monitoring real-time indicators monitor _e-realtime , monitoring indicators standard monitor _e-std side effects monitoring indicators monitor _sub-b b∈{1, 2, ... .B}.

drug _n immune potency parameters

Main drug _m microenvironment potency parameters

main drug _m tumor treatment side effects negative indicators efficacy

●The optimal immune environment in the body:

Optimal tumor treatment microenvironment:

●Minimum side effects of tumor treatment:

●The drug arrives optimally:

The number of planned drugs is mostly radiopharmaceuticals, targeted drugs, chemotherapy drugs and other drugs.

●Shortest treatment cycle:

S4. Constraints include:

1) Within the upper limit of the maximum dosage of the drug within the time period

2) Within the longest period of use of the drug

3) Within the range of the standard value of the medication cycle

4) Within the area of damaged tissue

5) Within the tolerance range of the maximum side effects during the treatment period

6) To meet the basic drug treatment efficacy of the disease.

7) Meet the basic dosage of the drug.

S5. Multi-target includes:

The body's internal immune environment is optimal,

Optimal tumor treatment microenvironment

Treatment with minimal side effects

Optimal drug arrival

The shortest treatment period

MIN(F)

S6. Through one or more of the optimization methods, through the combination of static treatment effect prediction and real-time dynamic adjustment of the treatment method and drug method, the drug is optimally regulated, the amount of the drug, the precise positioning of the carcinogenic site, the specific tumor cell, and the delivery. Drugs to achieve optimal regulation of treatment.

S7. Output the medication and the amount of medication in different time periods.

A high-precision positioning, remote-controlled non-invasive in-vivo surgical method and a remote and autonomous drug administration method, the method comprises the following steps:

S1. The main control system publishes disease images and location information of damaged tissues.

S2. The robot driving module, the radio frequency receiver or the electromagnetic guidance autonomous positioning mobile module subscribes to the location message.

S3. The radio frequency receiver or the electromagnetic guided magnetic guided autonomous positioning and moving module guides the internal magnetic device to drive the micro robot to swim and move to the position of the damaged tissue.

S4. According to the in-vivo vision device and the disease image of the in-vitro imaging device released by the main control system, according to the organ according to claim 7, the double-precision positioning and double-precision identification method of damaged tissue. High-precision division of normal areas and damaged areas.

S5. Determine the scope of surgery to delineate the damaged area, the scope of the drug administration position and its coordinates.

S6. According to the main control system, the action planning instruction message is released, the robot checks the surgical device, and the robot treatment device subscribes to the instruction message.

Further, the action planning module includes a robot inspection operation action plan, and a robot treatment drug administration action plan.

S7. In step S6, the robot inspects the surgical device module, images in the camera body, and the in vitro imaging guide device accurately locates the damaged tissue, and accurately divides the damaged tissue area and the normal tissue area according to the degree of damage. The doctor remotely controls the micro forceps, micro forceps, puncture and retractable needles, micro electrocautery, micro electrocoagulation device, micro cauterization device, radio frequency device, laser device and other surgical devices built into the micro robot in the body, inspecting damaged tissue and performing surgical operations , to achieve cutting, suturing, puncture, cautery, electrosurgery, laser cutting, targeted therapy.

S8. In step S6, the robot treatment and drug administration action planning module images in the camera body, and the in vitro imaging guide device accurately locates the damaged tissue, and accurately divides the damaged tissue area and the normal tissue area according to the degree of damage.

S9. Using the multi-objective optimal control method for comprehensive treatment indicators according to claim 9, plan the amount of radiopharmaceutical (chemotherapy) spraying, plan the radiopharmaceutical seeding path, return the drug delivery path and the position coordinates of each seeding point.

S10. The main control system publishes the returned drug delivery route and the position coordinates of each seeding point. The doctor remotely controls and autonomously controls the drug delivery device, and moves the drug delivery device to each seeding point for drug delivery.

S11 , the return task is completed.

To sum up, the beneficial effects of the present invention are:

The invention can solve the problem of remote control of the micro-robot through the micro-robot device, magnetically guided movement, intelligent identification of organs, diseases, and damaged tissues by means of dual visual recognition devices, locating their positions, and moving to their positions, using micro-surgical devices, laser emitting devices , radio frequency devices, ablation, treatment of diseases in vivo.

A high-precision positioning, remote control non-invasive in-vivo surgical method and a remote and autonomous drug delivery method solve and effectively utilize the optimal drug delivery device, and achieve treatment optimization by calculating the drug, drug dosage, and drug cycle.

The doctor remotely controls the built-in miniature forceps, miniature forceps, puncture and retractable needles, miniature electrocautery, miniature electrocoagulation device, miniature cautery device, radio frequency device, laser device and other surgical devices built in the micro-robot to check and perform surgical operations to achieve cutting Suture, puncture, cautery, laser cutting, targeted therapy.

It has improved the problems of doctors, nurses and other personnel with many surgical errors, and greatly improved work efficiency. The present invention can monitor and regulate in vivo state in real time by optimizing the regulation system, so as to realize the optimal treatment in vivo.

Description of drawings:

Fig. 1 is the schematic diagram of the micro-robot device module in the specification of the present application, and Fig. 1 is marked:

101-main control system; 102-multi-sensing module; 103-in vivo camera vision module, lighting module; 104-guidance module;

105-soft bracket fixing device; 106-in vivo walking drive bracket; 107-in vivo inspection surgery module; 108-treatment module;

109-precise drug delivery module; 110-in vitro imaging system; 111-remote control module;

2 is a schematic diagram of the composition of the micro-robot device in the description of the application, and the accompanying drawing 2 is marked:

201-vision device; 202-camera; 203-in vivo guidance device; 204-miniature surgical device;

205-therapeutic device; 206-multi-sensing; 207-drive device; 208-telescopic support, fixing device;

209-main control system; 210-in vitro imaging system; 211-in vitro guidance device; 212 precise drug delivery device;

Detailed ways

The purpose of the present invention is to design a micro-robot device capable of remote control in vivo that can replace human work, realize real-time monitoring in vivo, non-invasive treatment, intelligent identification of organs, diseases, and damaged tissue images by dual-vision recognition device, and effectively improve the accuracy of surgery.

Dual-precision image high-precision positioning, remote control of non-invasive internal surgery.

Effective use of the optimal drug delivery device, through the calculation of the drug, drug dosage, drug cycle to achieve the optimization of treatment.

The doctor remotely controls the built-in miniature forceps, miniature forceps, puncture and retractable needles, miniature electrocautery, miniature electrocoagulation device, miniature cautery device, radio frequency device, laser device and other surgical devices built in the micro-robot to check and perform surgical operations to achieve cutting Suture, puncture, cautery, laser cutting, targeted therapy.

It effectively solves the errors of human diagnosis, treatment and operation, and realizes remote control operation and self-administration. In order to better understand the above technical solutions, the present invention will be further described in detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

The technical solution in the implementation of the present application is the general idea of solving the above-mentioned technical problems as follows:

Through the main control system of the micro-robot, the dual-visual recognition device is used to intelligently identify organs, diseases, and damaged tissues. The micro-robot locates the damaged tissue in the body, and double-accurately divides the damaged tissue area and the normal tissue area, positioning, and moving.

Remote control by administrators, non-invasive in-vivo surgery, high-precision positioning, remote control of in-vivo micro-robots Built-in micro forceps, micro forceps, puncture retractable needles, micro electrocautery, micro electrocoagulation device, micro cautery device, radio frequency device, Laser devices and other surgical devices check and perform surgical operations to achieve cutting and suturing, puncture, cautery, laser cutting, and targeted therapy.

Remote and autonomous drug delivery, using the optimal drug delivery device to achieve treatment optimization by calculating the drug, drug dosage, and drug cycle.

Example 1:

As shown in Figure 1 and Figure 2, a micro-robot device includes:

A main control system 101, the main control system 101 is used to control the in vivo micro-robot device. The in vivo micro-robot device includes: a visual recognition module 103, a multi-sensing module 102, a lighting device 103, an in-vivo walking driving device 106, a puncture device, a retractable puncture needle, a pressure device, a surgical inspection and processing device, a treatment device 108, a bracket, a soft bracket , the fixing device 107 , the precise dosing device 111 .

The in-vitro imaging 110, a guiding device, is used for in-vitro imaging. The in-vitro imaging system guides the in-vivo micro-robot to position and move autonomously, assists in collecting in-vivo images, assists in identifying in-vivo damaged tissues and tumors, and guides the in-vivo micro-robots to locate in-vivo damaged tissues and tumors.

The miniature camera and the visual recognition module 102 in the body are used to collect in-vivo images to assist in identifying damaged tissues and tumors in the body and locating their positions.

Light, the illuminating device 103, is used for in-vivo illumination, imaging inspection.

The multi-sensing module 102 includes: one or more kinds of sensors such as micro-biological sensing and comprehensive gene sensing, and is used to collect sensor information in vivo.

In vivo walking, the driving device 106 is used to drive the micro robot to move in vivo.

Ultrasound microelectrode array, miniature ultrasound probe device, used for acquisition of ultrasound images.

In-vivo inspection, surgical treatment device 107, including: micro forceps, micro forceps, puncture retractable needle, micro electrocautery, micro electrocoagulation device, micro cauterization device, radio frequency device, one or more of laser devices, with For examination, puncture, surgical operation.

Therapeutic device 108 is used to damage tissue into which the tumor drug is placed prior to implantation.

The soft stent, the fixing device 105, is used for walking in the body, fixing damaged tissues, and fixing the tumor position during surgical treatment.

The precise drug delivery device 111 is used to locate the damaged tissue and the position of the tumor, calculate the size of the damaged tissue, the tumor, and the degree of damage, accurately determine the drug, and administer the drug.

Example 2:

As shown in Figure 2, the real-time collection of intravascular pictures, intravascular image data, and sensor data intelligent identification of diseases is implemented as follows:

The external imaging device 210 and the characteristic positions of human organs, medical images and microscopes, and the method for identifying internal organs under the endoscope 201 include the following steps:

Input the contour, shape, texture, color, size and other characteristics of human organs under in vitro imaging images and in vivo microscopes, input damaged tissue inflammation, tumors, cysts and other disease models, input in vitro imaging images and in vivo microscope images. The eigenvalues of the human internal organ images corresponding to the external eigenvalues of the organs, the improved deep neural network method and the weight optimizer, through image training, can identify the human organ images under in vitro imaging and in vivo microscopes.

The micro-robot publishes the location area and its coordinates of the organs in the images under the in vivo microscope, and uses the coordinate transformation method to establish the coordinate reference transformation of the dual images under the main control system of the robot, so as to realize the matching of the organs and their coordinate positions under the dual images of each organ.

Input under the in vivo microscope, under the in vitro imaging system to image damaged tissue inflammation, tumor, cyst and other disease models. Using the improved neural network method and weight optimizer, the disease under the dual system image is identified, and the disease location area, size and return position coordinates are marked and drawn under the dual image. The intelligent identification module outputs the disease type, the diseased organ and the location area of the abnormal condition under the organ, and returns the identification result to the main control system.

Example 3:

As shown in Figure 2, the real-time image acquisition, high-precision positioning, and remote-controlled non-invasive in vivo surgery implementation methods are as follows:

The master control system publishes disease images, information on the location of damaged tissue. The robot driving module 207, radio frequency, electromagnetic 203 guides the autonomous positioning and moving module to subscribe to the location message. The radio frequency, electromagnetic 203 guides the autonomous positioning and moving module to guide the internal magnetic device 203 to drive the micro-robot to swim and move to the position of the damaged tissue. According to the in vivo vision device 201 and the disease images of the in vitro imaging device 210 issued by the main control system, the double accurate positioning of organs and damaged tissues, and the double accurate identification method. High-precision division of normal areas and damaged areas. Determine the scope of surgery to delineate the damaged area, the scope of the drug delivery location and its coordinates. According to the main control system, the action planning command message is issued, the robot checks the surgical device, and the robot treatment device subscribes to the command message.

Further, the action planning module includes a robot inspection operation action plan, and a robot treatment drug administration action plan.

The robot inspects the surgical device module, imaging in the camera body, and in vitro imaging 210 to guide the device to accurately locate the damaged tissue, and accurately divide the damaged tissue area from the normal tissue area, according to the degree of damage. The doctor remotely controls the built-in micro forceps, micro forceps, puncture and retractable needles, micro electrosurgical knives, micro electrocoagulation devices, micro cauterization devices, radio frequency devices, laser devices and other surgical devices 204, damaged tissue inspection and operation. Operation to achieve cutting, suturing, puncture, cautery, electrosurgery, laser cutting, targeted therapy.

Example 4:

As shown in Figure 2, the optimal drug determination and the intelligent calculation method of its quantification method are implemented as follows:

Determining drugs and their quantification methods, monitoring the indicators of the body's internal immune environment, and the tumor treatment microenvironment are constant.

The main treatment drugs, the dosage of common drugs, and the cycle are variables. Establish the mathematical model of the internal immune environment of the body, the optimal mathematical model of the tumor treatment microenvironment, the mathematical model of the side effects of tumor treatment, and calculate the optimal internal immune environment of the body.

The model variables are as follows:

Classification of drugs: main drug (main drug _m m∈{1, 2, ....M})

Common Mediation Drug (drug _n n∈{1,2,....N})

main therapeutic effect

Primary efficacy not administered

General drug administration

Common medicines not administered

The amount of the main drug applied

Quantity of common medicines applied

treatment period (t _t t∈{1, 2, ....T}).

Treatment cycle refractory parameters

disease(D _d d∈{1, 2, ....D}).

Number of damage points

Damaged tissue area size

Degree of disease/damage

Treatment method parameters

Including the main treatment method (hard treatment index

) and common drug treatments

Basic effects of disease treatment

Monitoring indicators monitor _e e∈{1, 2, ....E}, monitoring real-time indicators monitor _e-realtime , monitoring indicator standards monitor _e-std

Side effect monitoring indicator monitor _sub-b b∈{1, 2, ....B}

drug _n immune potency parameters

Main drug _m microenvironment potency parameters

main drug _m tumor treatment side effects negative indicators efficacy

●The optimal immune environment in the body:

Optimal tumor treatment microenvironment:

●Minimum side effects of tumor treatment:

●The drug arrives optimally:

The number of planned drugs is mostly radiopharmaceuticals, targeted drugs, chemotherapy drugs and other drugs.

●Shortest treatment cycle:

S4. Constraints include:

3) Within the upper limit of the maximum dosage of the drug within the time period

4) Within the longest period of use of the drug

3) Within the range of the standard value of the medication cycle

4) Within the area of damaged tissue

5) Within the tolerance range of the maximum side effects during the treatment period

6) To meet the basic drug treatment efficacy of the disease.

7) Meet the basic dosage of the drug.

S5. Multi-target includes:

The body's internal immune environment is optimal,

Optimal tumor treatment microenvironment

Treatment with minimal side effects

The drug arrives at the best

The shortest treatment period

MIN(F)

Through one or more of the optimization methods, through the combination of static treatment effect prediction and real-time dynamic adjustment of treatment methods and drug methods, the optimal regulation of drugs and doses, accurate positioning of carcinogenic sites, specific tumor cells, drug delivery, To achieve optimal regulation of treatment. Output the medication and dosage in different time periods.

According to the multi-objective optimization control method, plan the amount of radiopharmaceutical (chemotherapy) spraying, plan the radiopharmaceutical seeding path, return the drug delivery path and the position coordinates of each seeding point, and the main control system publishes the returned drug delivery path and the position of each seeding point. Coordinates, the doctor remotely controls and autonomously controls the drug delivery device, and moves the drug delivery device to each seeding point for drug delivery.

Claims (10)

1. An in-vivo micro-robot device, an optimized treatment regulation system and method, is characterized in that, an in-vivo micro-robot device comprises:

   a main control system, the main control system is used to control the in vivo micro-robot device;

   The in-vivo micro-robot device includes: a visual recognition module, a multi-sensing module, a lighting device, an in-vivo walking driving device, a puncture device, a surgical inspection processing device, a driving device, a soft support, a fixing device, a treatment device, and a precise drug delivery device;

   In vitro imaging device, used for in vitro imaging, including: one of various imaging methods such as ultrasound imaging, CT imaging, infrared near imaging, and X-ray imaging;

   The miniature camera and visual recognition module in the body are used to collect in-vivo images, assist in the identification of damaged tissues and tumors in the body, and locate their positions;

   Light, lighting device, used for internal lighting, camera inspection;

   Multi-sensing modules, including: one or more of a variety of sensors such as miniature biosensing, integrated gene sensing, etc., used to collect sensor information in vivo;

   The driving device is used to drive the robot to swim without damage in the body, with controllable speed and direction;

   The guiding, positioning, and moving device is connected with the in vitro imaging device, and the in vitro imaging system guides the in vivo micro-robot to position, move, assist in the acquisition of in-vivo images, assist in identifying the damaged tissue and tumor in the body, and guide the in-vivo micro-robot to locate the damaged tissue and tumor in the body. Positioning and guiding devices include: RF radio frequency devices (external transmitters and in vivo receivers), electromagnetic guiding devices (external electromagnetic controllers and in vivo micro coils and other electromagnetic devices), magnetic guiding devices (external magnetic controllers and in vivo micro coils), etc. Carry out internal and external communication, guide the positioning of the internal robot, and move the device;

   Soft stent, fixation device, used for swimming in the body, temporary stop, damaged tissue, fixation of tumor location during surgical treatment;

   Retractable in-vivo inspection and surgical treatment devices, including: one or more of micro forceps, micro forceps, puncture needles, micro electrocautery, micro electrocoagulation device, micro cauterization device, radio frequency device, and laser device. For internal examination, puncture, surgical operation, ablation treatment;

   Retractable treatment, precise drug delivery device, retractable treatment device, used for damaged tissue, drug particle implantation, placement device, used for radiation therapy, radioactive particle implantation therapy; retractable precise drug delivery device, used to locate damage Tissue, tumor location, calculation of damaged tissue, tumor size, degree of damage, precise drug determination, drug delivery device for precise drug delivery, drug delivery at carcinogenic sites, specific tumor cell target drug delivery therapy, radiation therapy, radioactive seed implantation A variety of precise drug delivery treatments such as injection therapy.
2. An in vivo micro-robot device according to claim 1, characterized in that, through the oral cavity, nasal cavity, ear canal, navel, vagina, anus and other organs, the body is moved and positioned by electromagnetic, radio frequency, magnetic and other guiding devices, reducing the need for external surgery The risk of trauma is high and it is basically non-invasive. In-vivo examination and surgery can efficiently realize real-time monitoring in the body and optimize the control of the disease in the body.
3. An in-vivo micro-robot device according to claim 1, characterized in that, the dual-precision imaging method adopts the in-vivo camera and the visual recognition module of the micro-camera to cooperate with the in-vitro imaging device, high-precision acquisition, auxiliary identification of organs, damage to Tissue, tumor and other images, accurately identify damaged tissue and normal tissue area; in-vivo camera and visual recognition module are used to collect in-vivo images, assist in identifying damaged tissue, tumor in vivo, and locate their positions; the visual recognition module includes: micro endoscopy One of the in vivo imaging devices such as microscopes, micro microscopes, etc., as well as 3D imaging systems and in vitro imaging guidance devices, work together to collect and intelligently identify images of various diseases in the body.
4. An in-vivo micro-robot device according to claim 1, wherein the driving device drives the robot to move in a non-damaged, speed-controlled, directional way in the body, using a soft support, the fixing device is temporarily fixed, and assists the in-vivo robot Perform surgery, damage tissue inspection, etc. to complete in vivo treatment, use positioning and guiding devices, connect with in vitro imaging devices, guide in vivo micro-robot positioning and movement through the in vitro imaging system, assist in the acquisition of in vivo images, assist in the identification of damaged tissue, tumors in vivo and guide in vivo Micro-robot locates damaged tissues and tumors in the body; in-vivo swimming, driving device is used to drive the micro-robot to move, walk and swim in vivo; the driving device includes: one of current drive, electromagnetic drive and magnetic drive; positioning and guiding device Including: RF radio frequency device (external transmitter and in vivo receiver), electromagnetic guidance device (external electromagnetic controller and in vivo micro coil and other electromagnetic devices), magnetic guidance device (external magnetic controller and in vivo micro coil), etc. for internal and external communication , Guided in vivo robot positioning, mobile device, soft support, fixation device, used for in vivo tissue inspection, damaged tissue, and fixation of tumor location during surgical treatment.
5. The in-vivo micro-robot device according to claim 1, wherein the multi-sensing module monitors the in-vivo environment in real time, and the multi-sensing includes: micro bio-sensing, micro-medical sensing, integrated gene sensing, etc. One or more of the sensors are used to collect in vivo sensor information and monitor the in vivo environment in real time; the in vivo in vivo environment includes: the in vivo immune environment and the tumor treatment microenvironment, and the in vivo environment during monitoring.
6. An in-vivo micro-robot device according to claim 1, characterized in that it is an in-vivo examination and a surgical treatment device. Surgical inspection and processing devices, including: one or more of micro forceps, micro forceps, puncture retractable needles, micro electrosurgical knives, micro electrocoagulation devices, micro cauterization devices, radio frequency devices, and laser devices, used for inspection, Puncture, surgical operation; the in vivo imaging of the camera and the in vitro imaging guide device are used to precisely locate the damaged tissue, and accurately divide the damaged tissue area and the normal tissue area. Pliers, puncture retractable needle, micro electrocautery, micro electrocoagulation device, micro cautery device, radio frequency device, laser device for cutting, suturing, puncturing, cauterization, laser cutting, targeted therapy.
7. An in-vivo micro-robot device according to claim 1, characterized in that, the retractable treatment, precise drug delivery device, particle implantation device, and a quantitative optimization method for drugs according to the damaged position, the size of the damaged area, and the degree of damage, realize Precise drug delivery, precise targeted therapy, accurate division of damaged tissue area and normal tissue area to minimize drug side effects and optimize drug delivery effect; retractable precise drug delivery device, used to locate damaged tissue, tumor location, calculate damaged tissue, The size of the tumor, the degree of damage, the precise drug setting, and the drug delivery device are used for precise drug delivery, drug delivery at carcinogenic sites, specific tumor cell target drug delivery therapy, radiotherapy, radioactive particle implantation therapy and other precise drug delivery treatments.
8. An in-vivo micro-robot device, an optimized treatment regulation system and method, characterized in that the dual-precision positioning of organs and damaged tissues, the dual-precision identification method, the in-vivo vision device, and the in-vitro imaging device dual-precision identification of human organs, damaged tissues, division High-precision identification of normal areas and damaged areas;

   An in vitro imaging device and a characteristic position of human organs, a medical image and a microscope, and a method for recognizing internal organs under an endoscope, comprising the following steps:

   S1. Establish a characteristic model of the contour, shape, texture, color, size, etc. of human organs under in vitro imaging images and in vivo microscopes;

   S2. Establish various disease models such as damaged tissue inflammation, tumor, cyst, etc.;

   S3, extracting the in vitro imaging image and the internal contour of the image organ under the in vivo microscope, the feature value of each organ and the external position area of the human body corresponding to the corresponding external feature;

   S4. Input the eigenvalues of the human internal organ images corresponding to the external eigenvalues of each organ of the in vitro imaging image and the image under the in vivo microscope, improve the deep neural network method and the weight optimizer, and obtain the output values and internal organs through image training Classification, organ identification results;

   S5. Output results, accurately classify, and identify human organ images under in vitro imaging and in vivo microscopes;

   The method of robot double image matching, positioning, and accurately dividing the diseased position of damaged tissue and normal tissue, including the following steps:

   S1. The micro-robot publishes the position area of the organ and its coordinate boundary in the image under the in vivo microscope, and the robot main system and the intelligent recognition module subscribe to the published image and position coordinates;

   S2. The in vitro imaging system module publishes the position area of the organ and its coordinate boundary of the in vitro imaging image, and the robot main system and the intelligent recognition module subscribe to the published image and position coordinates;

   S3. Use the coordinate transformation method to establish the coordinate reference transformation of the dual images under the main control system of the robot, and match the organs and their coordinate positions under the dual images of each organ;

   S4. Establish a model of various diseases such as inflammation, tumor, cyst and other diseases of damaged tissue images under the in vivo microscope;

   S5. Establish models of various diseases such as inflammation, tumors, cysts and other diseases in damaged tissue images under the in vitro imaging system;

   S6, extracting the in vitro imaging image and the internal contour of the image organ under the in vivo microscope and the eigenvalues under the disease model and its corresponding position area and position coordinates;

   S7. Use the improved neural network method and weight optimizer to identify the disease under the dual-system image, label and draw the disease location area and size under the dual-image, and return the position coordinates;

   S8. The intelligent identification module outputs the disease type, the diseased organ and the location area of the abnormal condition under the organ, and returns the identification result to the main control system.
9. A robotic device, an optimal control system, and a method, characterized in that an optimal method is used to regulate medicines and treatment methods. Drug regulation includes: drug selection, drug dosage, and drug cycle; regulatory treatment methods include: internal surgery, precision treatment with common drugs, targeted therapy, radiation therapy, radioactive seed implantation therapy, ablation therapy and other treatment methods. The comprehensive index of the treatment is multi-objective, and the optimal regulation and treatment plan; wherein, the optimization methods include: genetic computing method and its improvement method, tabu search calculation method and its improvement method, simulated annealing calculation method and its improvement method, ant One or more of swarm computing method and its improvement method, particle beam optimization calculation method and its improvement method, neural network calculation method and its improvement method, evolutionary method and its improvement method; The combination of real-time dynamic adjustment of treatment methods and drug methods can optimize and control drugs and doses, accurately locate carcinogenic sites, specific tumor cells, and administer drugs to achieve optimal control and treatment. The specific steps of control are as follows:

   S1. The indicators of the immune environment within the body to be monitored, and the indicators of the tumor treatment microenvironment are constant;

   The optimal immune environment in the body---the absolute value of the difference between the monitoring index and the standard index * the sum of the weights;

   The optimal tumor treatment microenvironment—the absolute value of the difference between the monitoring index and the standard index * the sum of the weights;

   S2. The main treatment methods (in vivo surgery, precision medicine treatment, targeted therapy, radiation therapy, radioactive seed implantation therapy, ablation therapy, etc.)

   As well as drug selection, drug dosage, and time period for common drug therapy are variables;

   S3. Establish the mathematical model of the body's internal immune environment, the optimal mathematical model of the tumor treatment microenvironment, the mathematical model of the side effects of tumor treatment, and the mathematical model of drug arrival as follows:

   variable:

   Classification of drugs: main drug (main drug _m m∈{1, 2, ....M})

   Common Mediation Drug (drug _n n∈{1,2,....N})

   main therapeutic effect

   

   Primary efficacy not administered

   

   General drug administration

   

   Common medicines not administered

   

   The amount of the main drug applied

   

   Quantity of common medicines applied

   

   treatment period (t _t t∈{1, 2, ....T}),

   Treatment cycle refractory parameters

   

   disease(D _d d∈{1,2,....D}),

   Number of damage points

   

   Damaged tissue area size

   

   Degree of disease/damage

   

   Treatment method parameters

   Including the main treatment method (hard treatment index

   

   ) and common drug treatments

   

   Basic effects of disease treatment

   

   Monitoring indicators monitor _e e∈{1, 2, ....E}, monitoring real-time indicators monitor _e-realtime , monitoring indicator standards monitor _e-std

   Side effect monitoring indicator monitor _sub-b b∈{1, 2, ....B};

   drug _n immune potency parameters

   

   Main drug _m microenvironment potency parameters

   

   main drug _m tumor treatment side effects negative indicators efficacy

   

   ●The optimal immune environment in the body:

   

   Optimal tumor treatment microenvironment:

   

   ●Minimum side effects of tumor treatment:

   

   ●The drug arrives optimally:

   

   The number of planned drugs is mostly radiopharmaceuticals, targeted drugs, chemotherapy drugs, etc.;

   ●Shortest treatment cycle:

   

   S4. Constraints include:

   1) Within the upper limit of the maximum dosage of the drug within the time period

   2) Within the longest period of use of the drug

   3) Within the range of the standard value of the medication cycle

   4) Within the area of damaged tissue

   5) Within the tolerance range of the maximum side effects during the treatment period

   6) Satisfy the efficacy of the basic drug treatment for the disease

   7) Meet the basic dosage of the drug

   S5. Multi-target includes:

   The body's internal immune environment is optimal,

   The optimal tumor treatment microenvironment,

   Treatment with minimal side effects,

   The drug arrives at the best,

   The shortest treatment period,

   MIN(F)

   

   

   S6. Through one or more of the optimization methods, through the combination of static treatment effect prediction and real-time dynamic adjustment of the treatment method and drug method, the drug is optimally regulated, the amount of the drug, the precise positioning of the carcinogenic site, the specific tumor cell, and the delivery. Drugs to achieve optimal regulation and treatment;

   S7. Output the medication and the amount of medication in different time periods.
10. An in-vivo micro-robot device, an optimized treatment regulation system and method, characterized in that a non-invasive in-vivo surgical method with high-precision positioning and remote control, and a remote and autonomous drug administration method, the method comprises the following steps:

    S1. The main control system publishes disease images and location information of damaged tissues;

    S2. The robot drive module, the radio frequency receiver or the electromagnetic guided autonomous positioning mobile module subscribes to the location message;

    S3. The radio frequency receiver or the electromagnetic guided magnetic guided autonomous positioning and moving module guides the internal magnetic device to drive the micro-robot to swim and move to the position of the damaged tissue;

    S4. According to the in-vivo vision device and the disease image of the in-vitro imaging device released by the main control system, according to the organ according to claim 7, double-precision positioning of damaged tissue, double-precision identification method, high-precision division of normal area and damaged area;

    S5. Determine the scope of surgery to delineate the damaged area, the scope of the drug administration position and its coordinates;

    S6. According to the main control system, the action planning instruction message is released, the robot checks the surgical device, and the robot treatment device subscribes to the instruction message.

    Further, the action planning module includes a robot inspection operation action plan, and a robot treatment drug administration action plan;

    S7. In step S6, the robot inspects the surgical device module, images in the camera body, and the in vitro imaging guide device accurately locates the damaged tissue, accurately divides the damaged tissue area and the normal tissue area, and according to the degree of damage, the doctor remotely controls the body Micro-robot built-in micro forceps, micro forceps, puncture retractable needle, micro electrocautery, micro electrocoagulation device, micro cautery device, radio frequency device, laser device and other surgical devices, damaged tissue inspection and performing surgical operations, realize cutting, suturing , puncture, cautery, electrosurgery, laser cutting, targeted therapy;

    S8. In step S6, the robot treatment and drug administration action planning module is used for imaging in the camera body, and the in vitro imaging guide device accurately locates the damaged tissue, and accurately divides the damaged tissue area and the normal tissue area, according to the degree of damage;

    S9, using the multi-objective optimization control method for comprehensive treatment indicators according to claim 9, planning the quantity of radiopharmaceuticals (chemotherapeutic drugs) sprayed, planning the radiopharmaceutical seeding path, returning the drug delivery path and the position coordinates of each seeding point;

    S10, the main control system issues the doctor's remote control and autonomous control of the drug administration according to the returned drug administration path and the position coordinates of each seeding point.

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