CN102831289A - Atrial fibrillation catheter ablation simulator based on three-dimensional electroanatomic mapping system (CARTO) - Google Patents

Abstract

The invention discloses an atrial fibrillation catheter ablation simulator based on a three-dimensional electroanatomic mapping system (CARTO), which comprises a work station, a sheathing canal measuring device, a catheter measuring device and a force feedback device, an ablation catheter, an ablation catheter movement guide rail, a first display, a second display, a third display, a fourth display, an X-ray machine control panel, a point accessing pedal plate, a point deleting pedal plate, a discharge pedal plate, a perspective pedal plate, a movie storage pedal plate and the like, wherein the work station is internally provided with three-dimensional mapping simulation software, polygraph simulation software, catheter ablation operation simulation software and X-ray machine simulation software, and the sheathing canal measuring device, the catheter measuring device and the force feedback device are respectively connected with the work station through serial ports. The simulator completely simulates the three-dimensional electroanatomic mapping system, so that a doctor achieves the purpose of mastering the atrial fibrillation catheter ablation based on the CARTO system by operating the simulator.

Description

Cut open the auricular fibrillation catheter ablation simulator of mark examining system based on three-dimensional electrolysis

Technical field

The present invention relates to the intracardiac intervene operation training of atrial fibrillation conduit simulation technical field, relate in particular to a kind of auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis.

Background technology

Auricular fibrillation (abbreviation atrial fibrillation) is the common perpetual arrhythmia of a kind of ten minutes, and its incidence of disease is about 0.5%～1.0%, and increases gradually with age, and the incidence of disease is up to more than 6% in the crowd more than 60 years old.China has 1,500 ten thousand patients with atrial fibrillation approximately at present, and along with aging population increases the weight of, the patients with atrial fibrillation number will continue to increase.Atrial fibrillation can bring complication such as cerebral apoplexy, heart failure, has a strong impact on patient's quality of life even threat to life.

In many methods of treatments for atrial fibrillation, clinical showing: adopt three-dimensional electrolysis to cut open mark examining system (being the CARTO system) and instruct ring pulmonary vein linear ablation down, have good effect, advantages such as wound is little, recoverys is fast, spend less, hospital stays weak point; But Real Time Observation catheter position, the two-dimentional limitation of avoiding X line perspective, minimizing roentgen radiation x time in surgical procedure; Under electro-anatomical map helps, can judge the type of room speed fast, ablation operation safety, effective helps improving and melts success ratio.

Wherein, the CARTO system is by the electromagnetic location plate, melts mark survey/positioning catheter, central signal divider, CARTO magnetic/electric treatment device and computer workstation and constitute.During operation, the sheath pipe arrives the atrium dextrum through inferior caval vein earlier under the guiding of puncture needle, enters in the atrium sinistrum through the atrial septum fossa ovalis again, and ablation catheter enters into the atrium sinistrum along the sheath pipe and marks survey and ablative surgery afterwards.About the concrete structure of CARTO system, please refer to that publishing house of Shanghai Communications University publishes, by Liu Xu, Dong Jianzeng and the long-living chief editor of Ma, name is called " CARTO system clinical practice guide " book.

However, yet this intracardiac PCI surgical risk is high, and faulty operation can cause very serious consequence, and therefore, the chance that the intern accumulates experience in practice is very little.In order to help doctor's this operation on top of, need a kind of simulation training system of exploitation badly based on CARTO system operation custom.

Summary of the invention

The object of the present invention is to provide a kind of auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis; To realize simulation training, make the doctor to reach the purpose of on top of performing the operation through operating this simulator based on the auricular fibrillation catheter ablation of CARTO system thereby reach based on CARTO system operation custom.

For achieving the above object, the invention provides a kind of based on three-dimensional electrolysis cut open the mark examining system auricular fibrillation catheter ablation simulator, comprising:

Workstation is built-in with the three-dimensional mapping simulation software, leads the appearance simulation software more, catheter ablation operational simulation software and X-ray machine simulation software;

The sheath cell measurement apparatus, conduit measurement mechanism, the device for force feedback that link to each other with said workstation respectively through serial ports; And,

Ablation catheter, be suitable for ablation catheter moving guide rail, first display, second display, the 3rd display, the 4th display, X-ray machine control panel that said ablation catheter inserts, get a pedal, delete a pedal, discharge pedal, perspective pedal and film preserve pedal; Wherein:

Said ablation catheter moving guide rail runs through said sheath cell measurement apparatus, said conduit measurement mechanism and said device for force feedback successively, and the part that said ablation catheter moving guide rail lays respectively in the said sheath cell measurement apparatus, said conduit measurement mechanism is interior and said device for force feedback is interior is by amputation;

Said catheter ablation operational simulation software is used in advance according to patient's real heart data construct virtual heart and corresponding electrocardiogram (ECG) data thereof as the simulated surgical operation object, and makes up and be used for the virtual ablation catheter that atrial fibrillation melts; When simulation training; At first; By means of said the 3rd display, saidly get a pedal and a said pedal of deleting carries out the multiple spot acquisition operations to said virtual heart; The point data of getting that each collection point is corresponding is sent to said three-dimensional mapping simulation software; Secondly; After said three-dimensional mapping simulation software makes up the three-dimensional mapping model of accomplishing said virtual heart and finds out the atrial fibrillation position and type of said virtual heart; And carry out atrial fibrillation when melting simulation when the hand-held said ablation catheter of operator inserts said ablation catheter moving guide rail, receive said sheath cell measurement apparatus and said conduit measurement mechanism corresponding respectively sheath pipe and the state variation data of conduit in said ablation catheter moving guide rail of detected said ablation catheter in real time, and the discharge that said discharge pedal sends is instructed; Insert said virtual heart according to the atrial fibrillation position of said virtual heart and type, said state variation data and the said virtual ablation catheter of said discharge instruction synchro control and simulate the state course that atrial fibrillation melts, and with this state course synchronized transmission to said three-dimensional mapping simulation software; Simultaneously, the status data that touches of virtual ablation catheter described in this state course and said virtual heart is fed back to said device for force feedback, generate corresponding feedback force and act on the said ablation catheter according to the said status data that touches by said device for force feedback;

Lead appearance simulation software said more, be used for the pairing electrocardiosignal of the electrocardiogram (ECG) data of said virtual heart is presented at said second display in real time;

Said X-ray machine simulation software is used for preserving pedal by means of said the 4th display, said X-ray machine control panel, said perspective pedal and said film, realizes X-ray machine imaging and control function to said virtual heart;

Said three-dimensional mapping simulation software; Be used to obtain the point data of getting of said catheter ablation operational simulation software transmission; Get point data and by means of the three-dimensional mapping model of the said virtual heart of said first display builds and corresponding electrocardiogram (ECG) data thereof according to this; Find out the atrial fibrillation position and the type of said virtual heart according to this electrocardiogram (ECG) data, and be presented on said first display and supply said operator to check when atrial fibrillation melts simulation carrying out; When inserting said ablation catheter moving guide rail, the hand-held said ablation catheter of said operator carries out atrial fibrillation when melting simulation; Receive the state course that said catheter ablation operational simulation software sends, and make the state variation of the virtual heart that state variation and said the 3rd display of the three-dimensional mapping model of the virtual heart that said first display shows show keep synchronous.

This shows; Simulator of the present invention has been simulated existing three-dimensional electrolysis fully and has been cutd open mark examining system (being the CARTO system); Thereby make the doctor reach the purpose of on top of performing the operation, greatly reduce its operation risk based on the auricular fibrillation catheter ablation of CARTO system through operating this simulator.

Description of drawings

Fig. 1 is the schematic diagram that cuts open the auricular fibrillation catheter ablation simulator of mark examining system based on three-dimensional electrolysis of the present invention;

Fig. 2 a is the structural representation that cuts open device for force feedback in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 2 b is a schematic block circuit diagram of cuing open device for force feedback in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 3 cuts open the auricular fibrillation catheter ablation simulator mesotheca cell measurement apparatus of mark examining system and the structural principle synoptic diagram of conduit measurement mechanism for of the present invention based on three-dimensional electrolysis;

Fig. 4 calculates the synoptic diagram of certain some position in the finite point electrocardiogram (ECG) data when making up the electrocardiogram (ECG) data of virtual heart in the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis of the present invention;

Fig. 5 a is the single node model synoptic diagram that cuts open virtual ablation catheter in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 5 b is the nodal analysis method synoptic diagram that cuts open virtual ablation catheter in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 5 c is the rotating model synoptic diagram that cuts open virtual ablation catheter in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 5 d is the model synoptic diagram that bends that cuts open virtual ablation catheter in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 6 is the software interface that cuts open catheter ablation operational simulation software in the auricular fibrillation catheter ablation simulator of marking examining system based on three-dimensional electrolysis of the present invention;

Fig. 7 is the software interface of leading the demonstration of appearance simulation software in the auricular fibrillation catheter ablation simulator of mark examining system that cuts open based on three-dimensional electrolysis of the present invention more.

Embodiment

Below in conjunction with accompanying drawing the embodiment of auricular fibrillation catheter ablation simulator of cuing open the mark examining system based on three-dimensional electrolysis of the present invention is described in detail:

With reference to shown in Figure 1, the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis comprises first workstation, second workstation, passes through sheath cell measurement apparatus 2, conduit measurement mechanism 3, device for force feedback 4 that serial ports links to each other with workstation respectively; And, ablation catheter 5, be suitable for ablation catheter moving guide rail 1, first display, second display, the 3rd display, the 4th display, X-ray machine control panel that ablation catheter 5 inserts, get a pedal, delete a pedal, discharge pedal, perspective pedal and film preserve pedal.Wherein:

Ablation catheter moving guide rail 1 runs through sheath cell measurement apparatus 2, conduit measurement mechanism 3 and device for force feedback 4 successively; And ablation catheter moving guide rail 1 lays respectively in the sheath cell measurement apparatus 2, in the conduit measurement mechanism 3 and the part in the device for force feedback 4 by amputation, to avoid influencing the measurement of sheath cell measurement apparatus 2 and conduit measurement mechanism 3.

Communicate through the network switch between first workstation and second workstation; First workstation is built-in with the three-dimensional mapping simulation software and leads the appearance simulation software more; Second workstation is built-in with catheter ablation operational simulation software and X-ray machine simulation software; First workstation links to each other with second display with first display respectively, and second workstation links to each other with serial ports, the 3rd display and the 4th display respectively.

When concrete the realization; First workstation, second workstation, sheath cell measurement apparatus, conduit measurement mechanism, device for force feedback and ablation catheter moving guide rail can be arranged in the casing; First display, second display, the 3rd display, the 4th display, ablation catheter 5 and X-ray machine control panel are arranged on the work top of casing; Get a pedal, delete a pedal, discharge pedal, perspective pedal and film preserve pedal and be arranged at the casing below and be suitable for the position of operator with the pin operation, thereby make this simulator identical with actual CARTO system operation custom maintenance.

As shown in Figure 6, catheter ablation operational simulation software is used in advance according to patient's real heart data construct virtual heart and corresponding electrocardiogram (ECG) data thereof as the simulated surgical operation object, and makes up and be used for the virtual ablation catheter that atrial fibrillation melts; When simulation training; At first; By means of the 3rd display, get a pedal and delete a pedal virtual heart is carried out the multiple spot acquisition operations; The point data of getting that each collection point is corresponding is sent to the three-dimensional mapping simulation software; Secondly, after the three-dimensional mapping simulation software makes up the three-dimensional mapping model of accomplishing virtual heart and finds out the atrial fibrillation position and type of virtual heart, and carry out atrial fibrillation and melt when simulating when the hand-held said ablation catheter 5 of operator inserts ablation catheter moving guide rails 1; Receive the sheath pipe and the state variation data of conduit in ablation catheter moving guide rail 1 of sheath cell measurement apparatus 2 and conduit measurement mechanism 3 respectively corresponding real-time detected ablation catheters 5; And the discharge instruction of sending of discharge pedal, insert virtual heart according to the atrial fibrillation position of virtual heart and type, state variation data and the virtual ablation catheter of discharge instruction synchro control and simulate the state course that atrial fibrillation melts, and with this state course synchronized transmission to the three-dimensional mapping simulation software; Simultaneously, the status data that touches of virtual ablation catheter and virtual heart in this state course is fed back to device for force feedback 4, generate corresponding feedback force and act on the ablation catheter 5 according to touching status data by device for force feedback 4.

Lead the appearance simulation software more and be used to simulate actual CARTO system and lead appearance heart real time Presentation Function more, the pairing electrocardiosignal of the electrocardiogram (ECG) data of virtual heart is presented on second display in real time, its interface is as shown in Figure 7.

The X-ray machine simulation software is used for preserving pedal by means of the 4th display, X-ray machine control panel, perspective pedal and film, realizes X-ray machine imaging and control function to virtual heart.It mainly is interior blood of blood vessel, chamber and the cardiac muscle fibre between them that the material of real heart is formed.The density of these three kinds of materials is different, and is when X ray passes heart, different to the absorption coefficient different images decay of X ray; The thickness of ray process is different, and image attenuation is also different; Final all decay stack, the decay projected image that gets final product to the end.Projected position can see intuitively that with X ray absorption relation the heart diverse location is different to the degree of absorption of X ray on the heart, and it is relevant with X ray range index of process in heart.

The three-dimensional mapping simulation software is used to obtain the point data of getting of catheter ablation operational simulation software transmission; Get point data and by means of the three-dimensional mapping model of the said virtual heart of first display builds and corresponding electrocardiogram (ECG) data thereof according to this; Find out the atrial fibrillation position and the type of virtual heart according to this electrocardiogram (ECG) data, and be presented on first display and supply the operator to check when atrial fibrillation melts simulation carrying out; When inserting ablation catheter moving guide rails 1, the hand-held ablation catheter 5 of operator carries out atrial fibrillation when melting simulation; Receive the state course that catheter ablation operational simulation software sends, and make the state variation of the virtual heart that state variation and the 3rd display of the three-dimensional mapping model of the virtual heart that first display shows show keep synchronous.

Shown in Fig. 2 a and Fig. 2 b, device for force feedback 4 comprises grain-clamping table 41, and grain-clamping table 41 clampings have opening U form-drag pad 42 left; The conduit of ablation catheter 5 passes U form-drag pad 42; U form-drag pad 42 left sides are provided with motor 43, and motor 43 crosswise fixed are equipped with second controller and the motor-drive circuit (Fig. 2 a does not draw) of control motor 43 on a fixed station 44 and corresponding with the aperture position of U form-drag pad 42 in the fixed station 44; The left end wringing fit of one compression spring 45 is enclosed within on the rotation axis of motor 43; The right-hand member of compression spring 45 is fixed with the fixture block 46 of lightweight, and the right-hand member of fixture block 46 is equipped with the friction block 47 of lightweight, and the conduit that friction block 47 is pressed close to ablation catheter 5 is positioned at the part of U form-drag pad 42; Wherein, Second controller is used for receiving and touches status data, and generates corresponding control signal in view of the above and send to the rotation of motor-drive circuit with control motor 43, and then drives the conduit that friction block 47 acts on ablation catheter 5 and be positioned on the part of U form-drag pad 42.In addition; In the gap between U form-drag pad 42 right sides and the grain-clamping table 41 pressure transducer 48 is installed; Second controller is in the output control signal; Receive the pressure signal of pressure transducer 48 feedbacks, and dynamically adjust the output of control signal, so that pairing pressure of pressure signal and the feedback force coupling of touching in the status data according to pressure signal.

In conjunction with shown in Figure 3; Sheath cell measurement apparatus 2 is identical with conduit measurement mechanism 3 structures; Wherein, sheath cell measurement apparatus 2 comprises laser tube 6a, convex lens 7a, photoelectric detector 8a and single-chip microcomputer 9a, and conduit measurement mechanism 3 comprises laser tube 6b, convex lens 7b, photoelectric detector 8b and single-chip microcomputer 9b.The irradiation of laser tube 6a and laser tube 6b emitted laser is corresponding on the sheath pipe or conduit of ablation catheter 5, and convex lens 7a and convex lens 7b reflex to reflector laser on it with sheath pipe or conduit correspondence and amplify optically focused and export; Reflector laser behind the optically focused that corresponding continuously convex lens 7a of detection of photoelectric detector 8a and photoelectric detector 8b and convex lens 7b export; Obtain the dot matrix image of sheath pipe and conduit according to the reflector laser correspondence behind this optically focused, corresponding contrast sheath pipe and the dot matrix image of adjacent two frames in conduit front and back obtain the relative displacement delta data of sheath pipe and conduit.Single-chip microcomputer 9a and single-chip microcomputer 9b receive the relative displacement delta data through the SPI interface from photoelectric detector 8a and photoelectric detector 8b; Obtain sheath pipe and the displacement dot matrix number of conduit on its sense of displacement according to corresponding parsing of relative displacement delta data, and final single-chip microcomputer 9b is sent to second workstation through serial ports with displacement dot matrix number.

In the simulator of present embodiment, above-mentioned electrocardiogram (ECG) data according to patient's real heart data construct virtual heart and correspondence thereof, specific as follows:

One, the geometric model of virtual heart makes up

In the CARTO system, relate to three cardiac modules: one is patient's real heart; One is the heart 3-D geometric model of rebuilding according to patient CT medical image (hereinafter is claimed CT heart geometric model); In heart of patient, get some the heart three-dimensional mapping model (hereinafter is claimed the cardiac mapping model) of foundation according to ablation catheter when being three-dimensional mapping for the 3rd.Latter two cardiac module all is that computing machine generates, and adopts tri patch to express, but CT heart geometric model saves as summit-dough sheet data file when storage, directly read this document during demonstration and show; The cardiac mapping model does not have direct storage file, creates surface model according to triangulation in real time according to the mark measuring point data when just showing.Whether evenly rationally the form of heart of patient when the cardiac mapping model has reflected operation in real time, this model and CT heart geometric model fusion ratio get a distribution in the time of can checking operation, instruct the doctor to get a little, and then accurate location of operation.

Characteristics according to the CARTO system; In the simulator of present embodiment, need three cardiac modules equally; Different with actual CARTO system is, in the simulator of present embodiment, need carry out emulation to patient's real heart, simulates a virtual operation operand; Other two cardiac uses, construction method are identical with the CARTO system.Have two kinds of methods to make up the geometric model of virtual hearts: 1. utilize the CARTO system that rebuild with CT heart geometric model patient's real heart coupling, do further processing and obtain; 2. utilize patient CT medical data, adopt the method for image segmentation-three-dimensional reconstruction, extract and rebuild the virtual heart model.Second method needs a large amount of calculating and algorithm programming to realize complicated; Effect is bad; And CARTO system process years of researches, through engineering approaches and commercialization, it is quite ripe to CT medical image segmentation-extraction-reconstruction, and the CT heart geometric model of its reconstruction is quite accurate.Present embodiment adopts first method on the basis of the CT of CARTO system heart geometric model data (11788 summits, 23572 dough sheets), to require to do the dough sheet trim process according to virtual operation interactive operation real-time; Obtain the geometric model of the virtual heart consistent with CT heart geometric model and mark measuring point coordinate system, the model after subduing has 2695 summits, 4713 dough sheets.

Two, the electrocardiogram (ECG) data of virtual heart makes up

In conjunction with shown in Figure 4, four nearest points of certain some position (being P) of at first in the geometric model of virtual heart, seeking in the finite point electrocardiogram (ECG) data of patient's real heart of preserving in the distance C ARTO system according to the major part position of virtual ablation catheter (are P ₁, P ₂, P ₃, P ₄);

(be P by four points ₁, P ₂, P ₃, P ₄) two diagonals of interconnected formation on seek the maximum direction of activation time difference, then this direction is (like P ₁P ₃) be the electrocardio conduction orientation of certain some position in the finite point electrocardiogram (ECG) data;

On the pairing diagonal line of this electrocardio conduction orientation, try to achieve the activation time LAT and the electrocardiosignal of this position then according to the linear interpolation formula of following distance;

${\mathrm{LAT}}_P={\mathrm{<figure-callout\; id="1"\; label="LAT\; P"\; filenames="HDA00001751729100033.png,HDA00001751729100041.png"\; state="\{\{state\}\}">LAT</figure-callout>}}_P+\frac{({\mathrm{LAT}}_{P3}-{\mathrm{LAT}}_{P1})}{{\mathrm{<figure-callout\; id="1"\; label="L\; PP"\; filenames="HDA00001751729100033.png,HDA00001751729100041.png"\; state="\{\{state\}\}">L</figure-callout>}}_{\mathrm{PP}}+L_{\mathrm{PP}3}}{\mathrm{<figure-callout\; id="1"\; label="L\; PP"\; filenames="HDA00001751729100033.png,HDA00001751729100041.png"\; state="\{\{state\}\}">L</figure-callout>}}_{\mathrm{PP}}$

Wherein, LAT _PBe the activation time LAT of P point position, LAT _P1And LAT _P3Correspond to P respectively ₁And P ₃The activation time LAT of point, L _PP1, L _PP2And L _PP3Be respectively the P point to P ₁, P ₂And P ₃The distance of point, wherein, electrocardiosignal is according to electrocardio conduction orientation and activation time LAT, and the waveform that waveform that P1 is ordered or P3 are ordered is done the translation acquisition, and translational movement is that P point and P1 point or the activation time of ordering with P3 are poor.

Thereby, be built with the electrocardiogram (ECG) data of other positions in the point of accumulation electrocardiogram (ECG) data according to above-mentioned steps.

In the simulator of present embodiment, in the virtual ablation catheter that above-mentioned structure atrial fibrillation melts, adopt quality-its computation model of spring model algorithmic notation of discretize, and adopt center line track scanning method to make up its visual tri patch model, specific as follows:

The computation model of virtual ablation catheter is: the catheter proximal end section of bending is by N node (X ₀, X ₁..., X _N-1) form, shown in Fig. 5 a and Fig. 5 b; Catheter main body is made up of the node of variable number according to the length that the relative sheath pipe of conduit stretches out, and catheter main body start node number is for being no more than L/ λ _MaxInteger M, wherein L is the sheath length of tube, λ _MaxBe the ultimate range after full extension is opened between the conduit node; The spring that to connect a length between the node be λ, each node comprise a bending method vector e and angle of bend θ, shown in Fig. 5 d, thereby realize the The deformation calculation of conduit.

Set minor increment λ between the catheter proximal end node _Min, when advancing, the conduit translation evenly extends the distance between the front end node earlier, when the distance between the front end node all is elongated to maximal value, increase the node that does not reach ultimate range in the catheter main body node again, increase catheter main body node number when readvancing.Dwindle the catheter main body nodal distance earlier during the recession conduit, abridge again a little, when the master nodes number is kept to M, evenly dwindle distance between the front end node again.

Position and normal vector are all around main axis rotation, with nodes X during rotation _I+1Around axle X _I-1X _iRotation δ _iDegree is the example explanation: angle of bend θ _iRemain unchanged normal vector e _i, X _I+1All around axle X _I-1X _iRotation obtains new normal vector e ' _i, X ' _I+1, shown in Fig. 5 c, rotary course can be formulated:

$\left\{\begin{array}{c}{n}_d={(n_x,n_y,n_z)}^T=(X_i-X_{i-1})/\left|\right|X_i-X_{i-1}\left|\right|\\ e_i^{\&prime;}=R(n_d,{\mathrm{\&delta;}}_i)e_i\\ X_{i+1}^{\&prime;}=X_i+R(n_d,{\mathrm{\&delta;}}_i)(X_{i+1}-X_i)\end{array}\right.---\left(1\right)$

Wherein: R (n _d, δ _i) be rotation matrix, T is vector or matrix transpose symbol, (n θ) representes R (n to use R below _d, δ _i) computing method.

$R(n,\mathrm{\&theta;})=\left[\begin{array}{ccc}{n}_x^2(1-\cos \left(\mathrm{\&theta;}\right))+\cos \left(\mathrm{\&theta;}\right)& n_x{n}_y(1-\cos \left(\mathrm{\&theta;}\right))-n_z\sin \left(\mathrm{\&theta;}\right)& n_x{n}_z(1-\cos \left(\mathrm{\&theta;}\right))+n_y\sin \left(\mathrm{\&theta;}\right)\\ n_x{n}_y(1-\cos \left(\mathrm{\&theta;}\right))+n_z\sin \left(\mathrm{\&theta;}\right)& n_y^2(1-\cos \left(\mathrm{\&theta;}\right))+\cos \left(\mathrm{\&theta;}\right)& n_y{n}_z(1-\cos \left(\mathrm{\&theta;}\right))-n_x\sin \left(\mathrm{\&theta;}\right)\\ n_x{n}_z(1-\cos \left(\mathrm{\&theta;}\right))-n_y\sin \left(\mathrm{\&theta;}\right)& n_y{n}_z(1-\cos \left(\mathrm{\&theta;}\right))+n_x\sin \left(\mathrm{\&theta;}\right)& n_z^2(1-\cos \left(\mathrm{\&theta;}\right))+\cos \left(\mathrm{\&theta;}\right)\end{array}\right]$

Conduit bends/the curved variation that can directly cause angle of bend θ of pine, and position, the normal vector of each node also can be ensued variation simultaneously.The corresponding angle of bend of each node of the section of bending is respectively θ ₁, θ ₂..., θ _N, total angle of bend

If the amount of bending be Δ L ∈ [0, Δ L _Max], the relation between guiding-tube bend angle θ and the amount of the bending Δ L is as shown in the formula expression:

${\mathrm{\&theta;}}_i=\frac{\mathrm{\&Delta;L}}{{\mathrm{\&Delta;L}}_{\max }}A$

Ablation catheter is with after patient's real heart inwall contacts in actual ablation operation surgical procedure; Produce contact force between ablation catheter and the wall of the heart; Heart tissue stops conduit to move forward; The doctor perceives and judges conduit after the existence of this contact force and contact with heart, and the direction of motion of adjustment conduit is avoided conduit to penetrate heart and malpractice is taken place.In this enforcement, realize that through collision detection and Processing Algorithm contacting between virtual ablation catheter and the virtual heart judge and handle.This enforcement adopts OBB bounding box collision detection algorithm to judge which tri patch contact, adopts between the tri patch on this basis and line segment and the crossing computing method of tri patch, calculates contact position and contacts the degree of depth, and then calculate virtual contact force.

In the simulator of present embodiment, above-mentioned basis is got the three-dimensional mapping model that point data makes up virtual heart, is specially:

At first, adopt the integrated some insertion of VTK in the tri patch generating algorithm, it is simple that this method triangle generates thinking, realizes easily, and it is higher to carry out efficient, and it is unrestricted that data are distributed.The integrated some insertion of VTK is: generate the outer convex polygon of discrete point earlier, inside is cut apart with triangle then, judges which triangle remaining point drops on respectively in; With this point is the summit; Be divided into three to the triangle one at place, till all points all inserted, (the three-dimensional mapping model and the virtual heart that are about to current generation compared to call Local Optimization Algorithm then; Judge whether coupling; Continue to get more discrete point if do not match), up to adjusting to the triangulation network optimum (the three-dimensional mapping model of current generation and virtual heart coupling), thereby constitute chambers of the heart three-dimensional structure.

Secondly, adopt advantages of simplicity and high efficiency Luplaeian smoothing algorithm in the Mesh Smoothing Algorithm that chambers of the heart three-dimensional structure is carried out smoothing processing and obtain the three-dimensional mapping model of virtual heart.This algorithm is shifted to its position of neighborhood center of gravity on every side with each summit in the grid, and it makes the summit inner mobile to grid, plays the inhibition anti noise, also produces the certain shrink effect simultaneously; In addition, also make the summit, make the distributed areas, summit even, play the mesh shape optimization effect tangentially to long limit one side shifting.For i vertex v in the grid _iAnd the some v in the single order neighborhood _j(j ∈ i ^*, i ^*Expression v _iStar neighborhood, i.e. v _iWith v _jThrough limit (i j) links to each other), discrete LuPlacian operator can be described with following formula.

${\mathrm{\&Delta;v}}_i=\underset{j\&Element;i}{\mathrm{\&Sigma;}}{w}_{\mathrm{ij}}(v_j-v_i)$

Wherein w _IjBe weight, it has the multiple choices mode, and simple the most a kind of is to get equal weight, i.e. w _Ij=1/n (j ∈ i ^*), wherein n is the number on summit in the neighborhood.Also can adopt v _iWith vv _jThe inverse of distance is weight, i.e. w _Ij=|| v _j-v _i|| ^-1After each iteration was accomplished, the renewal of apex coordinate was accomplished through following formula, and wherein λ is a weight, and value can the level and smooth speed v of control mesh between 0 to 1 _i=v _i+ λ Δ v _i

Above embodiment describes preferred implementation of the present invention; Be not that scope of the present invention is limited; Design under the prerequisite of spirit not breaking away from the present invention; Various distortion and improvement that the common engineering technical personnel in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.

Claims (9)

1. One kind based on three-dimensional electrolysis cut open the mark examining system auricular fibrillation catheter ablation simulator, it is characterized in that, comprising:

   Workstation is built-in with the three-dimensional mapping simulation software, leads the appearance simulation software more, catheter ablation operational simulation software and X-ray machine simulation software;

   The sheath cell measurement apparatus (2), conduit measurement mechanism (3), the device for force feedback (4) that link to each other with said workstation respectively through serial ports; And,

   Ablation catheter (5), be suitable for ablation catheter moving guide rail (1), first display, second display, the 3rd display, the 4th display, X-ray machine control panel that said ablation catheter (5) inserts, get a pedal, delete a pedal, discharge pedal, perspective pedal and film preserve pedal; Wherein:

   Said ablation catheter moving guide rail (1) runs through said sheath cell measurement apparatus (2), said conduit measurement mechanism (3) and said device for force feedback (4) successively, and the part that said ablation catheter moving guide rail (1) lays respectively in the said sheath cell measurement apparatus (2), said conduit measurement mechanism (3) is interior and said device for force feedback (4) is interior is by amputation;

   Said catheter ablation operational simulation software is used in advance according to patient's real heart data construct virtual heart and corresponding electrocardiogram (ECG) data thereof as the simulated surgical operation object, and makes up and be used for the virtual ablation catheter that atrial fibrillation melts; When simulation training; At first; By means of said the 3rd display, saidly get a pedal and a said pedal of deleting carries out the multiple spot acquisition operations to said virtual heart; The point data of getting that each collection point is corresponding is sent to said three-dimensional mapping simulation software; Secondly; After said three-dimensional mapping simulation software makes up the three-dimensional mapping model of accomplishing said virtual heart and finds out the atrial fibrillation position and type of said virtual heart; And carry out atrial fibrillation when melting simulation when the hand-held said ablation catheter (5) of operator inserts said ablation catheter moving guide rail (1), receive said sheath cell measurement apparatus (2) and said conduit measurement mechanism (3) corresponding respectively sheath pipe and the state variation data of conduit in said ablation catheter moving guide rail (1) of detected said ablation catheter (5) in real time, and the discharge of said discharge pedal transmission is instructed; Insert said virtual heart according to the atrial fibrillation position of said virtual heart and type, said state variation data and the said virtual ablation catheter of said discharge instruction synchro control and simulate the state course that atrial fibrillation melts, and with this state course synchronized transmission to said three-dimensional mapping simulation software; Simultaneously; The status data that touches of virtual ablation catheter described in this state course and said virtual heart is fed back to said device for force feedback (4), generate corresponding feedback force and act on the said ablation catheter (5) according to the said status data that touches by said device for force feedback (4);

   Lead appearance simulation software said more, be used for the pairing electrocardiosignal of the electrocardiogram (ECG) data of said virtual heart is presented at said second display in real time;

   Said X-ray machine simulation software is used for preserving pedal by means of said the 4th display, said X-ray machine control panel, said perspective pedal and said film, realizes X-ray machine imaging and control function to said virtual heart;

   Said three-dimensional mapping simulation software; Be used to obtain the point data of getting of said catheter ablation operational simulation software transmission; Get point data and by means of the three-dimensional mapping model of the said virtual heart of said first display builds and corresponding electrocardiogram (ECG) data thereof according to this; Find out the atrial fibrillation position and the type of said virtual heart according to this electrocardiogram (ECG) data, and be presented on said first display and supply said operator to check when atrial fibrillation melts simulation carrying out; When inserting said ablation catheter moving guide rail (1), the hand-held said ablation catheter (5) of said operator carries out atrial fibrillation when melting simulation; Receive the state course that said catheter ablation operational simulation software sends, and make the state variation of the virtual heart that state variation and said the 3rd display of the three-dimensional mapping model of the virtual heart that said first display shows show keep synchronous.
2. 2. according to claim 1 based on three-dimensional electrolysis cut open the mark examining system auricular fibrillation catheter ablation simulator, it is characterized in that said sheath cell measurement apparatus (2) is identical with said conduit measurement mechanism (3) structure, it comprises:

   Laser tube (6a, 6b), its emitted laser are radiated on the sheath pipe or conduit of said ablation catheter (5);

   Convex lens (7a, 7b), it amplifies optically focused and output with the reflector laser that said sheath pipe or conduit reflex on it;

   Photoelectric detector (8a, 8b); Reflector laser behind the optically focused of the said convex lens of its continuous detecting (7a, 7b) output; Obtain the dot matrix image of said sheath pipe or conduit according to the reflector laser behind this optically focused, contrast the relative displacement delta data that the dot matrix image of adjacent two frames before and after said sheath pipe or the conduit obtains said sheath pipe or conduit;

   First controller (9a, 9b); It receives the relative displacement delta data through the SPI interface from said photoelectric detector (8a, 8b); Said sheath pipe or the displacement dot matrix number of conduit on its sense of displacement are obtained in parsing according to the relative displacement delta data, and through serial ports said displacement dot matrix number are sent to said workstation.
3. 3. the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis according to claim 2; It is characterized in that; Said device for force feedback (4) comprises grain-clamping table (41); Said grain-clamping table (41) clamping has opening U form-drag pad (42) left; The conduit of said ablation catheter (5) passes said U form-drag pad (42), and said U form-drag pad (42) left side is provided with motor (43), and said motor (43) crosswise fixed is last and corresponding with the aperture position of said U form-drag pad (42) at a fixed station (44); Second controller and the motor-drive circuit of the said motor of control (43) are installed in the said fixed station (44); The left end wringing fit of one compression spring (45) is enclosed within on the rotation axis of said motor (43), and the right-hand member of said compression spring (45) is fixed with the fixture block (46) of lightweight, and the right-hand member of said fixture block (46) is equipped with the friction block (47) of lightweight; The conduit that said friction block (47) is pressed close to said ablation catheter (5) is positioned at the part of said U form-drag pad (42), wherein:

   Said second controller; Be used to receive the said status data that touches; And generate corresponding control signal in view of the above and send to said motor-drive circuit controlling the rotation of said motor (43), and then drive the conduit that said friction block (47) acts on said ablation catheter (5) and be positioned on the part of said U form-drag pad (42).
4. 4. the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis according to claim 3; It is characterized in that; In the gap between said U form-drag pad (42) right side and the said grain-clamping table (41) pressure transducer (48) is installed; Said second controller is in the said control signal of output; Receive the pressure signal of said pressure transducer (48) feedback, and according to the dynamically output of the said control signal of adjustment of said pressure signal, so that pairing pressure of said pressure signal and said feedback force coupling of touching in the status data.
5. 5. according to claim 4ly cut open the auricular fibrillation catheter ablation simulator of mark examining system, it is characterized in that based on three-dimensional electrolysis, said according to patient's real heart data construct virtual heart and corresponding electrocardiogram (ECG) data thereof, be specially:

   Three-dimensional electrolysis is cutd open the geometric model of the CT heart geometric model of said patient's real heart of having rebuild in the mark examining system as said virtual heart;

   In the geometric model of said virtual heart, seek the said three-dimensional electrolysis of distance according to the major part position of said virtual ablation catheter and cut open four the nearest points of certain some position in the finite point electrocardiogram (ECG) data of said patient's real heart of preserving in the mark examining system;

   On by interconnected two diagonals that constitute of said four points, seek the maximum direction of activation time difference, then this direction is the electrocardio conduction orientation of certain some position in the said finite point electrocardiogram (ECG) data;

   Then on the pairing diagonal line of this electrocardio conduction orientation according to the activation time and the electrocardiosignal of trying to achieve this position apart from linear interpolation;

   Make up the electrocardiogram (ECG) data of other positions in the said finite point electrocardiogram (ECG) data according to above-mentioned steps.
6. 6. according to claim 5ly cut open the auricular fibrillation catheter ablation simulator of mark examining system, it is characterized in that said basis is got the three-dimensional mapping model that point data makes up virtual heart, is specially based on three-dimensional electrolysis:

   According to the tri patch generating algorithm the said sampled point of getting in the point data is coupled together and to generate the chambers of the heart three-dimensional structure corresponding with said virtual heart;

   According to Mesh Smoothing Algorithm said chambers of the heart three-dimensional structure is carried out the three-dimensional mapping model that smoothing processing obtains said virtual heart.
7. 7. the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis according to claim 6; It is characterized in that; Adopt the computation model of the quality-said virtual ablation catheter of spring model algorithmic notation of discretize, and adopt center line track scanning method to make up its visual tri patch model.
8. 8. the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis according to claim 7; It is characterized in that; Said workstation comprises first workstation and second workstation; Communicate through the network switch between them, said three-dimensional mapping simulation software and saidly more lead the appearance simulation software and be arranged in said first workstation, said catheter ablation operational simulation software, said X-ray machine simulation software are arranged in said second workstation; Said first workstation links to each other with said second display with said first display respectively, and said second workstation links to each other with said serial ports, said the 3rd display and said the 4th display respectively.
9. 9. the auricular fibrillation catheter ablation simulator that cuts open the mark examining system based on three-dimensional electrolysis according to claim 8; It is characterized in that; Said first workstation, said second workstation, said sheath cell measurement apparatus (2), said conduit measurement mechanism (3), said device for force feedback (4) and said ablation catheter moving guide rail (1) are arranged in the casing; Said first display, said second display, said the 3rd display, said the 4th display, said ablation catheter (5) and said X-ray machine control panel are arranged on the work top of said casing, saidly get a pedal, a said pedal, said discharge pedal, said perspective pedal and the said film deleted preserved pedal and be arranged at said casing below and be suitable for the position of operator with the pin operation.

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