CN102309329A - 基于重量块的压敏导管校正系统 - Google Patents

基于重量块的压敏导管校正系统 Download PDF

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CN102309329A
CN102309329A CN2011101729301A CN201110172930A CN102309329A CN 102309329 A CN102309329 A CN 102309329A CN 2011101729301 A CN2011101729301 A CN 2011101729301A CN 201110172930 A CN201110172930 A CN 201110172930A CN 102309329 A CN102309329 A CN 102309329A
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A·戈瓦里
A·C·阿尔特曼
Y·埃夫拉思
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Abstract

本发明提供了一种校正设备，所述校正设备包括连接以固定医用探针的远端的固定装置。连接多个重量块以便落在所述探针的远端头上，从而向所述远端头施加各自的力矢量，所述力矢量引起所述远端头相对于所述远端的变形，所述重量块具有各自的质量和各自的底部表面，所述底部表面相对于所述探针的所述远端以各自的角度进行取向。校正处理器被构造为从所述探针接收指示所述响应于远端头所述力矢量的所述变形的测量值，并基于所述测量值、所述质量和所述角度计算校正系数，以用于将所述力矢量评估为所述测量值的函数。

Description

基于重量块的压敏导管校正系统
技术领域
本发明整体涉及侵入式探针，具体涉及对侵入式探针内的压力传感器进行校正。
背景技术
大量医疗手术涉及将物体(例如传感器、管、导管、分配装置和植入物)设置在体内。目前已为跟踪此类物体开发出了位置感测系统。磁性位置感测是本领域已知的其中一种方法。在磁性位置感测中，通常将磁场发生器置于患者体外的已知位置处。探针远端内的磁场传感器在这些磁场作用下产生并处理电信号，以确定探针远端的位置坐标。这些方法和系统在美国专利5,391,199、6,690,963、6,484,118、6,239,724、6,618,612和6,332,089、PCT国际专利公开WO1996/005768、以及美国专利申请公开2002/0065455 A1、2003/0120150A1和2004/0068178 A1中有所描述，这些专利的公开内容全部以引用方式并入本文中。
当把探针置于体内时，可能希望使探针远端头直接接触身体组织。通过(例如)测量远端头和身体组织之间的接触压力，可以确认接触情况。其公开内容以引用方式并入本文中的美国专利申请公开2007/0100332和2009/0093806描述了使用嵌入导管的力传感器感测导管远端头和体腔内的组织之间的接触压力的方法。导管远端头通过有回弹力的构件(例如弹簧)连接到导管插入管远端。当把有回弹力的构件压到心内膜组织时，构件会在施加到远端头的力的作用下变形。导管内的磁性位置传感器感测远端头相对于插入管远端的偏转(位置和取向)。远端头相对于插入管的移动指示有回弹力的构件的变形，从而指示压力。
发明内容
本文所述的本发明的实施例提供一种校正设备，包括：
固定装置，连接所述固定装置以便固定医用探针的远端；
多个重量块，其具有各自的质量和各自的底部表面，所述底部表面相对于所述探针的所述远端以各自的角度进行取向，连接所述多个重量块以便落在所述探针的远端头上，从而向所述远端头施加各自的力矢量，所述力矢量引起所述远端头相对于所述远端的变形；以及
校正处理器，其被构造为从所述探针接收指示所述响应于远端头所述力矢量的所述变形的测量值，并基于所述测量值、所述质量和所述角度计算校正系数，以用于将所述力矢量评估为所述测量值的函数。
在一些实施例中，所述设备包括感测装置，该感测装置连接到所述固定装置并被构造为测量所述力矢量各自的向下分量，其中所述校正处理器被构造为响应于所测量的向下分量来验证所述校正系数。在一个实施例中，所述底部表面用不粘材料涂覆。在本发明所公开的一个实施例中，所述底部表面用带表面纹理的材料涂覆，所述表面纹理匹配所述探针将在其中工作的身体器官的内表面纹理。在一个实施例中，所述校正处理器被构造为将所述校正系数保存在连接到所述探针的存储器中。所述存储器可包括电可擦除可编程只读存储器(E2PROM)。
根据本发明的实施例，还提供一种校正方法，包括：
将医用探针的远端固定在固定装置中；
使多个重量块降落在所述探针的远端头上，从而向所述远端头施加各自的力矢量，所述力矢量引起所述远端头相对于所述远端的变形，所述多个重量块具有各自的质量和各自的底部表面，所述底部表面相对于所述远端头以各自的角度进行取向；
从所述探针接收指示所述响应于远端头所述力矢量的所述变形的测量值；以及
基于所述测量值、所述质量和所述角度计算校正系数，以用于将所述力矢量评估为所述测量值的函数。
通过以下结合附图的实施例的详细说明，将更全面地理解本发明：
附图说明
图1为根据本发明实施例的压敏导管校正系统的示意性图示说明；
图2为示意性地示出根据本发明实施例的校正压敏导管的方法的流程图；以及
图3为示出根据本发明实施例的接触心内膜组织的压敏导管远端头的示意性细部图。
具体实施方式
一些侵入式探针包括用于测量探针和体内组织之间的接触压力的压力传感器。例如，心导管的远端头可在远端头施加于心内膜组织上的压力的作用下变形。导管内的位置传感器测量远端头的偏转，从而提供对接触压力的指示。然而在许多实际情况中，实际接触压力与位置传感器读数之间的关系因导管而异。
为了确保准确地测量压力，本发明的实施例提供了用于校正配有压力传感器的探针(如导管)的方法和系统。在一些实施例中，校正设备包括用于安装导管的远端的固定装置(如基座或夹具)以及多个重量块，所述重量块可降低以落在导管的远端头上。每一重量块具有已知的质量和底部表面，该底部表面相对于导管的远端头成已知角度取向。当重量块降低从而压在远端头上时，重量块向远端头施加取决于其质量和角度的力矢量。远端头在此力矢量的作用下变形，导管中的压力传感器产生其远端头的变形(即，偏转)测量值。校正处理器从导管接收变形测量值，并基于所述测量值和所述已知的质量和角度计算校正系数，以将力矢量评估为不同角度下的变形测量值的函数。
在一些实施例中，校正系数作为校正矩阵保存在连接到导管的非易失性存储器中。当随后在医疗系统中使用导管时，可使用矩阵内保存的校正系数以较高精度由偏转测量值导出导管远端头施加到身体组织上的实际压力。通过使用具有不同底部表面角度的重量块，可针对导管远端与身体组织之间的不同入射角由导管的变形测量值估计压力。
除了固定装置和重量块之外，在一些实施例中，校正设备还包括连接到固定装置的感测装置(如天平或测力传感器)。当给定重量块降低从而落在导管的远端头上时，感测装置产生力测量值，以验证由重量块施加的力矢量的向下分量的值。
图1为根据本发明实施例的压敏导管校正系统10的图示。系统10包括连接到校正单元14的校正设备12。在下文所述实施例中，使用系统10校正探针，在本例中校正在心脏或其他身体器官内使用的用于治疗和/或诊断目的的导管16。
导管16具有远端28，远端头32经由接头34连接到该远端。当向远端头32施加足够的压力时(或相反地，当远端头向身体组织之类的表面施加足够的压力时)，导管16会在接头34处弯曲，从而使远端头32相对于远端28偏转。
导管的远端28和远端头32均由柔韧的绝缘材料30覆盖。同样，接头34的区域也由柔韧的绝缘材料覆盖，该绝缘材料可与材料30相同，或可尤其适于允许接头无阻碍地弯曲和压缩，(图1中该材料被切掉以露出导管的内部结构。)相比远端28，远端头32通常相对具有刚性。
远端头32通过有回弹力的构件36连接到远端28。在图1中，有回弹力的构件具有卷簧的形式，但其他类型的有回弹力的元件也可用作此目的。有回弹力的构件36允许在施加到远端头上的力的作用下在远端头32和远端28之间的有限范围内的相对移动。
远端头32包括磁性位置传感器38。传感器38可包括一个或多个微型线圈，并且通常包括多个沿不同轴取向的线圈。远端28包括靠近有回弹力的构件36的微型磁场发生器40。通常，磁场发生器40包括线圈，该线圈由校正单元14发出的经导管传输的电流驱动。
作为另外一种选择，位置传感器38可包括另一类型的磁性传感器、充当位置检测器的电极或其他类型的位置检测器，例如基于阻抗的位置传感器或超声位置传感器。虽然图1示出了具有单个位置传感器的探针，但本发明的实施例可以采用具有不止一个位置传感器的探针。
磁场发生器40产生的磁场使得传感器38内的线圈产生具有磁场发生器的驱动频率的电信号。这些信号的振幅会根据远端头32相对于远端28的位置和取向而变化。校正单元14内的校正处理器42对这些信号进行处理，以确定远端头相对于远端28的轴向位移和角向偏转的大小。(由于线圈产生的磁场具有轴向对称性，因此使用磁场发生器40内的单个线圈只能检测到偏转的大小，而不能检测到偏转的方向。任选地，磁场发生器40可包括两个或更多个线圈，在这种情况下，还可以确定偏转的方向)。位移大小和偏转大小可通过矢量加法来组合，以得到远端头32相对于远端28的移动的总大小。
远端头32相对于远端28的相对移动提供了对有回弹力的构件36的变形的度量。因此，磁场发生器40与传感器38的组合充当压力感测系统。由于位移和偏转的组合感测，因此不管压力是从正面还是成一角度地施加到远端头32上，该压力感测系统均可正确地读取压力。此类探针和位置传感器的更多细节在上文引用的美国专利申请公开2009/0093806和2009/0138007中有所描述。
在一些实施例中，导管16还包括非易失性存储器48(例如，电可擦除可编程只读存储器(E2PROM))，用来存储校正过程中计算出的校正系数。如上所述，当随后在医疗系统中使用导管时，可使用存储器48内保存的校正系数以较高精度由偏转测量值导出导管远端头施加到身体组织上的实际压力。
校正设备12包括：固定装置24(例如基座或夹具)，其被构造为竖立地固定导管16的远端28；以及重量块18，其被机构22固定。重量块18具有倾斜的下表面20，该下表面相对于导管的远端成已知的角度。重量块18的质量也是已知的。在本发明的一些实施例中，倾斜的下表面20可用不粘材料(例如Teflon
Figure BSA00000525070800061
)层涂覆，以避免远端头32与该下表面之间摩擦，这样的摩擦会给力计算带来误差。除此之外或作为另外一种选择，倾斜的下表面可用这样的层涂覆：该层的表面纹理匹配导管将在其中工作的身体器官的内表面纹理(例如，人体腔壁(如心脏)的内表面的纹理)。
设备12还可包括连接到固定装置24的感测装置26。感测装置26测量由导管16施加在固定装置24上的向下机械力。感测装置26可包括天平、测力传感器或任何其他合适的装置。
感测装置26和探针16经由合适的连接装置(如电缆和连接器)连接到校正单元14。校正单元14包括校正处理器42、存储器44和输入装置46(例如键盘)。处理器42通常包括通用计算机，其具有合适的前端和接口电路，用于从位置传感器38和感测装置26接收信号，并用于控制校正单元14的其他元件。处理器42可以在软件内编程，以执行本文所述功能。例如，可经网络将软件以电子形式下载到处理器42中，或者可将软件提供在非临时性有形介质上，例如光学、磁或电子存储介质。作为另外一种选择，可通过专用或可编程数字硬件元件执行处理器42的一些或全部功能。
图2为示意性地示出根据本发明实施例的校正压敏导管的方法的流程图。为了校正导管16，操作者将导管安装到固定装置24上(步骤50)。将重量块18安装在机构22上(步骤52)，然后机构使重量块降低以使得倾斜的下表面20压在远端头32上(步骤54)。
倾斜的下表面20压在远端头32上会使导管在接头34处弯曲，从而使远端头偏转。远端头32处的位置传感器38输出指示远端头相对于远端28的偏转的信号。如果设备12包括感测装置，则感测装置26输出指示重量块18施加在导管16上的向下机械力的信号。偏转和向下力测量值均被发送至校正单元14，其中操作者经由键盘46输入此校正步骤所使用的重量块18的标识。在一些实施例中，存储器44针对系统10中可使用的每一重量块18保存重量块数字索引、重量块质量以及重量块底部表面角度。操作者输入当前使用的重量块的索引，从而将质量和角度指示给处理器42。
校正单元14从探针中的传感器38接收偏转测量值(步骤56)，处理器42基于质量、接合角度和偏转测量值计算用于校正探针16的偏转测量值的校正系数(步骤58)。通过将来自位置传感器38的位置测量值映射至通过已知的重量块和重量块角度给定的已知力矢量(或者映射至由感测装置26读数和已知角度导出的力矢量)，校正系数基于位置传感器测量值确定远端头32上的力。换句话讲，给定校正系数将远端头32的偏转测量值转化成给定接合角度的实际压力读数。
如果需要更多校正点(步骤60)，则该方法返回到上面的步骤52，其中操作者可将不同的重量块安装到机构22上。校正过程中所使用的每一重量块可具有不同的质量和/或不同的倾斜下表面角度。采用多种不同的重量块使系统10能够将导管的顶端偏转作为每一重量块所施加的力的方向和大小的函数来进行测试。返回步骤60，如果不需要更多校正点，则处理器42将校正系数的校正矩阵保存到探针上的存储器48中(步骤62)，该方法结束。
图3为示出根据本发明实施例的接触心脏70的心内膜组织72的远端头32的示意性细部图。在本实例中，远端头32包括电极74。在一些电生理诊断和治疗过程(例如心内电标测)中，电极74与组织72之间保持适当水平的力非常重要。当医疗人员(未示出)将远端头32压到心内膜组织72上时，导管16在接头34处弯曲。需要足够的力来确保远端头与组织之间具有良好的电极接触。电接触不良会导致读数不准确。在另一方面，过大的力会使组织变形，从而使映图失真。
当远端头32压到组织72上时，位置传感器38产生指示顶端头32相对于远端28的偏转的测量值。医疗成像系统(如标测系统-未示出)使用保存在探针的存储器48内的校正系数(即，校正矩阵)将这些测量值转化成准确的压力读数。因此，使用本发明实施例的侵入式探针校正将确保医疗专业人员可以准确地控制探针施加到组织上的力。
下面权利要求书中的相应结构、材料、动作和所有手段或步骤加上功能单元的等价形式旨在包括用于与具体要求权利保护的其他受权利要求保护的单元相结合执行功能的任何结构、材料或动作。已提供了对本发明的描述以用于举例说明和描述性目的，但无意于穷举或将本发明限制为所公开的形式。在不脱离本发明的范围和精神的情况下，许多修改形式和变型形式对于本领域的普通技术人员而言将是显而易见的。选择并描述了以上实施例以便最好地解释本发明的原理和实际应用，以及使得本领域的其他技术人员能够理解本发明的各实施例具有适于所考虑的具体用途的各种修改形式。
所附权利要求书旨在涵盖落在本发明精神和范围内的本发明的所有这种特征和优点。因为本领域技术人员将容易进行许多修改和改变，所以无意于将本发明限制于本文所述的有限数目的实施例。因此，应当理解，落入本发明精神和范围内的所有合适的变型形式、修改形式和等价形式都可以使用。

Claims (12)

1.一种校正设备，包括：
固定装置，连接所述固定装置以便固定医用探针的远端；
多个重量块，其具有各自的质量和各自的底部表面，所述底部表面相对于所述探针的所述远端以各自的角度进行取向，连接所述多个重量块以便落在所述探针的远端头上，从而向所述远端头施加各自的力矢量，所述力矢量引起所述远端头相对于所述远端的变形；以及
校正处理器，其被构造为从所述探针接收指示所述远端头响应于所述力矢量的所述变形的测量值，并基于所述测量值、所述质量和所述角度计算校正系数，以用于将所述力矢量评估为所述测量值的函数。
2.根据权利要求1所述的设备，还包括感测装置，该感测装置连接到所述固定装置并被构造为测量所述力矢量各自的向下分量，其中所述校正处理器被构造为响应于所测量的向下分量来验证所述校正系数。
3.根据权利要求1所述的设备，其中所述底部表面用不粘材料涂覆。
4.根据权利要求1所述的设备，其中所述底部表面用带表面纹理的材料涂覆，所述表面纹理匹配所述探针将在其中工作的身体器官的内表面纹理。
5.根据权利要求1所述的设备，其中所述校正处理器被构造为将所述校正系数保存在连接到所述探针的存储器内。
6.根据权利要求5所述的设备，其中所述存储器包括电可擦除可编程只读存储器(E2PROM)。
7.一种校正方法，包括：
将医用探针的远端固定在固定装置中；
使多个重量块降落在所述探针的远端头上，从而向所述远端头施加各自的力矢量，所述力矢量引起所述远端头相对于所述远端的变形，所述多个重量块具有各自的质量和各自的底部表面，所述底部表面相对于所述远端头以各自的角度进行取向；
从所述探针接收指示所述远端头响应于所述力矢量的所述变形的测量值；
基于所述测量值、所述质量和所述角度计算校正系数，以用于将所述力矢量评估为所述测量值的函数。
8.根据权利要求7所述的方法，还包括利用连接到所述固定装置的感测装置测量所述力矢量各自的向下分量，并且响应于所测量的向下分量来验证所述校正系数。
9.根据权利要求7所述的方法，其中所述底部表面用不粘材料涂覆。
10.根据权利要求7所述的方法，其中所述底部表面用带表面纹理的材料涂覆，所述表面纹理匹配所述探针将在其中工作的身体器官的内表面纹理。
11.根据权利要求7所述的方法，还包括将所述校正系数保存在连接到所述探针的存储器内。
12.根据权利要求11所述的方法，其中所述存储器包括电可擦除可编程只读存储器(E2PROM)。
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