CN102831289B - The catheter ablation of atrial fibrillation simulator of Mapping System is cutd open based on three-dimensional electrolysis - Google Patents

Abstract

The invention discloses a kind of catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis, it comprises workstation, is built-in with three-dimensional mapping simulation software, Duo Dao instrument simulation software, catheter ablation operational simulation software and X-ray machine simulation software; The sheath cell measurement apparatus be connected with workstation respectively by serial ports, conduit measurement mechanism, device for force feedback; And ablation catheter, ablation catheter moving guide rail, the first display, second display, the 3rd display, the 4th display, X-ray machine control panel, get a pedal, delete a pedal, electric discharge pedal, perspective pedal and film preserve pedal etc.This simulator simulates three-dimensional electrolysis completely and cuts open Mapping System, thus makes doctor pass through to operate this simulator to reach the skilled object grasped the catheter ablation of atrial fibrillation based on CARTO system and perform the operation.

Description

The catheter ablation of atrial fibrillation simulator of Mapping System is cutd open based on three-dimensional electrolysis

Technical field

The present invention relates to atrial fibrillation conduit intracardiac intervene operation Simulation Training technical field, particularly relate to a kind of catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis.

Background technology

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

For in the many methods of treatments of atrial fibrillation, clinically to show: adopt three-dimensional electrolysis cut open Mapping System (i.e. CARTO system) instruct under ring pulmonary vein linear ablation, advantages such as there is good effect, wound is little, recovery is fast, spend less, the hospital stays is short; In surgical procedure can Real Time Observation catheter position, avoid X-ray examination two-dimentional limitation, reduce the roentgen radiation x time; Can judge the type of room speed under electro-anatomical map helps fast, ablation operation is safe, effective, is conducive to raising and melts success ratio.

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

However, but this intracardiac interventional therapy operation risk is high, and faulty operation can cause very serious consequence, and therefore, the chance that intern accumulates experience in practice is very little.In order to doctor can be helped skillfully to grasp this operation, need a kind of simulation training system based on CARTO Dynamic System custom of exploitation badly.

Summary of the invention

The object of the present invention is to provide a kind of catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis, to realize the simulation training based on CARTO Dynamic System custom, thus reach and make doctor reach the skilled object grasped the catheter ablation of atrial fibrillation based on CARTO system and perform the operation by operating this simulator.

For achieving the above object, the invention provides a kind of catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis, comprising:

Workstation, is built-in with three-dimensional mapping simulation software, Duo Dao instrument simulation software, catheter ablation operational simulation software and X-ray machine simulation software;

The sheath cell measurement apparatus be connected with described workstation respectively by serial ports, conduit measurement mechanism, device for force feedback; And,

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

Described ablation catheter moving guide rail runs through described sheath cell measurement apparatus, described conduit measurement mechanism and described device for force feedback successively, and the part that described ablation catheter moving guide rail lays respectively in described sheath cell measurement apparatus, in described conduit measurement mechanism and in described device for force feedback is amputated;

Described catheter ablation operational simulation software, in advance according to the electrocardiogram (ECG) data of patient's real heart data construct virtual heart and correspondence thereof as simulated surgical operation object, and build the virtual ablation catheter being used for atrial fibrillation ablation, when simulation training, first, by means of described 3rd display, describedly get a pedal and a described pedal of deleting carries out multipoint acquisition operation to described virtual heart, point data of getting corresponding for each collection point is sent to described three-dimensional mapping simulation software, secondly, the three-dimensional mapping model of described virtual heart has been built and after the atrial fibrillation position finding out described virtual heart and type in described three-dimensional mapping simulation software, and when the hand-held described ablation catheter of operator insert described ablation catheter moving guide rail carry out atrial fibrillation ablation simulation time, receive described sheath cell measurement apparatus and the described conduit measurement mechanism sheath pipe of the corresponding described ablation catheter detected in real time and the status change data of conduit in described ablation catheter moving guide rail respectively, and the electric discharge instruction that described electric discharge pedal sends, according to atrial fibrillation position and the type of described virtual heart, described status change data and described electric discharge command synchronization control described virtual ablation catheter and insert the state course that described virtual heart carries out simulating atrial fibrillation ablation, and by this state course synchronized transmission to described three-dimensional mapping simulation software, meanwhile, the status data that touches of virtual ablation catheter described in this state course and described virtual heart is fed back to described device for force feedback, by described device for force feedback according to described in touch status data and generate corresponding feedback force and act on described ablation catheter,

Described Duo Dao instrument simulation software, for being presented at described second display in real time by the electrocardiosignal corresponding to the electrocardiogram (ECG) data of described virtual heart;

Described X-ray machine simulation software, for preserving pedal by means of described 4th display, described X-ray machine control panel, described perspective pedal and described film, realizes the X-ray machine imaging to described virtual heart and controlling functions;

Described three-dimensional mapping simulation software, for obtain described catheter ablation operational simulation software send get point data, point data is got and by means of the three-dimensional mapping model of virtual heart described in described first display builds and the electrocardiogram (ECG) data of correspondence thereof according to this, find out atrial fibrillation position and the type of described virtual heart according to this electrocardiogram (ECG) data, and be presented on described first display for described operator carry out atrial fibrillation ablation simulation time check; When the hand-held described ablation catheter of described operator insert described ablation catheter moving guide rail carry out atrial fibrillation ablation simulation time, receive the state course that described catheter ablation operational simulation software sends, and the state of the virtual heart that the state change of the three-dimensional mapping model of the virtual heart of described first display display is shown with described 3rd display changes and keeps synchronous.

As can be seen here, simulator of the present invention simulates existing three-dimensional electrolysis completely and cuts open Mapping System (i.e. CARTO system), thus make doctor pass through to operate this simulator to reach the skilled object grasped the catheter ablation of atrial fibrillation based on CARTO system and perform the operation, greatly reduce its operation risk.

Accompanying drawing explanation

Fig. 1 is the schematic diagram cuing open the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 2 a is the structural representation cuing open device for force feedback in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 2 b is the schematic block circuit diagram cuing open device for force feedback in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 3 of the present inventionly cuts open the catheter ablation of atrial fibrillation simulator mesotheca cell measurement apparatus of Mapping System and the structural principle schematic diagram of conduit measurement mechanism based on three-dimensional electrolysis;

Fig. 4 is the schematic diagram cuing open in the catheter ablation of atrial fibrillation simulator of Mapping System certain some position in calculating finite point electrocardiogram (ECG) data when building the electrocardiogram (ECG) data of virtual heart based on three-dimensional electrolysis of the present invention;

Fig. 5 a is the single node model schematic cuing open virtual ablation catheter in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 5 b is the nodal analysis method schematic diagram cuing open virtual ablation catheter in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 5 c is the rotating model schematic diagram cuing open virtual ablation catheter in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 5 d is the model schematic that bends cuing open virtual ablation catheter in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 6 is the software interface cuing open catheter ablation operational simulation software in the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention;

Fig. 7 is the software interface cuing open the catheter ablation of atrial fibrillation simulator Zhong Duodao instrument simulation software display of Mapping System based on three-dimensional electrolysis of the present invention.

Embodiment

Below in conjunction with accompanying drawing, the embodiment cuing open the catheter ablation of atrial fibrillation simulator of Mapping System based on three-dimensional electrolysis of the present invention is described in detail:

Shown in figure 1, the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis comprises the first workstation, the second workstation, the sheath cell measurement apparatus 2, conduit measurement mechanism 3, the device for force feedback 4 that are connected with workstation respectively by 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 ablation catheter 5 inserts, get a pedal, delete a pedal, electric 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 the part that ablation catheter moving guide rail 1 lays respectively in sheath cell measurement apparatus 2, in conduit measurement mechanism 3 and in device for force feedback 4 is amputated, to avoid the measurement affecting sheath cell measurement apparatus 2 and conduit measurement mechanism 3.

Communicated by the network switch between first workstation and the second workstation, first workstation is built-in with three-dimensional mapping simulation software and Duo Dao instrument simulation software, second workstation is built-in with catheter ablation operational simulation software and X-ray machine simulation software, first workstation is connected with second display with the first display respectively, and the second workstation is connected with the 4th display with serial ports, the 3rd display respectively.

When specific implementation, 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 a casing, first display, second display, 3rd display, 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, electric discharge pedal, perspective pedal and film are preserved pedal and are arranged at the position being suitable for operator below casing and doing by foot operation, thus make this simulator be accustomed to keeping identical with actual CARTO Dynamic System.

As shown in Figure 6, catheter ablation operational simulation software be used in advance according to the electrocardiogram (ECG) data of patient's real heart data construct virtual heart and correspondence thereof as simulated surgical operation object, and build the virtual ablation catheter being used for atrial fibrillation ablation, when simulation training, first, by means of the 3rd display, get a pedal and delete a pedal and multipoint acquisition operation is carried out to virtual heart, point data of getting corresponding for each collection point is sent to three-dimensional mapping simulation software, secondly, the three-dimensional mapping model of virtual heart has been built and after the atrial fibrillation position finding out virtual heart and type in three-dimensional mapping simulation software, and when the hand-held described ablation catheter 5 of operator insert ablation catheter moving guide rail 1 carry out atrial fibrillation ablation simulation time, receive sheath cell measurement apparatus 2 and the conduit measurement mechanism 3 sheath pipe of the corresponding ablation catheter 5 detected in real time and the status change data of conduit in ablation catheter moving guide rail 1 respectively, and the electric discharge instruction that electric discharge pedal sends, according to atrial fibrillation position and the type of virtual heart, status change data and electric discharge command synchronization control virtual ablation catheter and insert the state course that virtual heart carries out simulating atrial fibrillation ablation, and by this state course synchronized transmission to three-dimensional mapping simulation software, meanwhile, the status data that touches of ablation catheter virtual in this state course and virtual heart is fed back to device for force feedback 4, generated corresponding feedback force by device for force feedback 4 act on ablation catheter 5 according to touching status data.

Duo Dao instrument simulation software leads instrument heart real time Presentation Function for simulating actual CARTO system more, and shown in real time on the second display by the electrocardiosignal corresponding to the electrocardiogram (ECG) data of virtual heart, its interface as shown in Figure 7.

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 the X-ray machine imaging to virtual heart and controlling functions.The material of real heart forms the blood in mainly blood vessel, chamber and the cardiac muscle fibre between them.The density of these three kinds of materials is different, when X ray is through 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; Finally all decay superpositions, can obtain last attenuation projection image.On heart, projected position and X ray absorption relation can see that the degree of absorption of heart diverse location to X ray is different intuitively, and it is that in heart, the range index of process is relevant to X ray.

Three-dimensional mapping simulation software for obtain catheter ablation operational simulation software send get point data, point data is got and by means of the three-dimensional mapping model of virtual heart described in the first display builds and the electrocardiogram (ECG) data of correspondence thereof according to this, find out atrial fibrillation position and the type of virtual heart according to this electrocardiogram (ECG) data, and display is checked when carrying out atrial fibrillation ablation simulation for operator on the first display; When the hand-held ablation catheter 5 of operator insert ablation catheter moving guide rail 1 carry out atrial fibrillation ablation simulation time, receive the state course that catheter ablation operational simulation software sends, and the state change of the three-dimensional mapping model of the virtual heart of the first display display is changed with the state of the virtual heart that the 3rd display shows keep synchronous.

Shown in composition graphs 2a and Fig. 2 b, device for force feedback 4 comprises grain-clamping table 41, grain-clamping table 41 is clamped with opening U-shaped resistance pad 42 left, the conduit of ablation catheter 5 is through U-shaped resistance pad 42, motor 43 is provided with on the left of U-shaped resistance pad 42, motor 43 to be laterally fixed on a fixed station 44 and corresponding with the aperture position of U-shaped resistance pad 42, the second controller and motor-drive circuit (Fig. 2 a does not draw) that control motor 43 are installed in fixed station 44, the left end wringing fit of one Compress Spring 45 is enclosed within the rotation axis of motor 43, the right-hand member of Compress Spring 45 is fixed with the fixture block 46 of lightweight, the right-hand member of fixture block 46 is provided with the friction block 47 of lightweight, the conduit that friction block 47 presses close to ablation catheter 5 is positioned at the part of U-shaped resistance pad 42, wherein, second controller is used for reception and touches status data, and generation corresponding control signal sends to motor-drive circuit to control the rotation of motor 43 accordingly, and then the conduit driving friction block 47 to act on ablation catheter 5 is positioned in the part of U-shaped resistance pad 42.In addition, in gap on the right side of U-shaped resistance pad 42 and between grain-clamping table 41, pressure transducer 48 is installed, second controller is while output control signal, receive the pressure signal that pressure transducer 48 feeds back, and according to the output of pressure signal dynamic conditioning control signal, mate with the feedback force touched in status data to make the pressure corresponding to pressure signal.

Shown in composition graphs 3, sheath cell measurement apparatus 2 is identical with conduit measurement mechanism 3 structure, 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 laser that laser tube 6a and laser tube 6b launches irradiates corresponding on the sheath pipe or conduit of ablation catheter 5, and sheath pipe or the corresponding reflects laser reflexed on it of conduit are carried out amplification optically focused and export by convex lens 7a and convex lens 7b; Reflects laser after the optically focused that the continuous corresponding convex lens 7a of detection and convex lens 7b of photoelectric detector 8a and photoelectric detector 8b exports, obtain the dot matrix image of sheath pipe and conduit according to the reflects laser correspondence after this optically focused, the corresponding dot matrix image contrasting adjacent two frames before and after sheath pipe and conduit obtains the relative displacement delta data of sheath pipe and conduit.Single-chip microcomputer 9a and single-chip microcomputer 9b receives relative displacement delta data by SPI interface from photoelectric detector 8a and photoelectric detector 8b, resolve according to relative displacement delta data correspondence and obtain sheath pipe and the displacement dot matrix number of conduit on its sense of displacement, and displacement dot matrix number is sent to the second workstation by serial ports by final single-chip microcomputer 9b.

In the simulator of the present embodiment, the 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 builds

Three cardiac modules are related to: one is patient's real heart in CARTO system; One is the cardiac three-dimensional geometric model (hereafter claiming CT heart geometric model) rebuild according to patient CT medical image; Get in heart of patient a little according to ablation catheter when being three-dimensional mapping for 3rd, the cardiac three-dimensional mapping model (hereafter claiming cardiac mapping model) of foundation.Latter two cardiac module is all Practical computer teaching, adopt tri patch to express, but CT heart geometric model saves as summit-dough sheet data file when storing, and directly reads this file and show during display; Cardiac mapping model does not have direct storage file, just creates surface model according to triangulation in real time according to mapping point data during display.Cardiac mapping model reflects the form of patient during operation heart in real time, and whether evenly rationally this model and CT heart geometric model fusion ratio comparatively, are got a distribution, instructed doctor to get some when can check operation, and then accurate location of operation.

According to the feature of CARTO system, same needs three cardiac modules in the simulator of the present embodiment, with actual CARTO system unlike, need to emulate patient's real heart in the simulator of the present embodiment, simulate a virtual operation operand; Other two cardiac uses, construction method are identical with CARTO system.There are two kinds of methods to build the geometric model of virtual heart: the CT heart geometric model mated with patient's real heart 1. utilizing CARTO system to rebuild, do further process and obtain; 2. utilize patient CT medical data, adopt the method for Iamge Segmentation-three-dimensional reconstruction, extract and rebuild Virtual Cardiac Mode.Second method needs a large amount of calculating and arithmetic programming realizes complicated, effect is bad, and CARTO system is through years of researches, through engineering approaches and commercialization, it is quite ripe to CT medical image segmentation-extraction-reconstruction, and its CT heart geometric model rebuild is quite accurate.The present embodiment adopts first method to do dough sheet trim process according to virtual operation interactive operation requirement of real-time on the basis of the CT heart geometric model data (11788 summits, 23572 dough sheets) of CARTO system, obtain the geometric model of the virtual heart consistent with CT heart geometric model and mapping point coordinate system, the model after abatement has 2695 summits, 4713 dough sheets.

Two, the electrocardiogram (ECG) data of virtual heart builds

Shown in composition graphs 4, four point (i.e. P that certain some position (i.e. P) first found in the geometric model of virtual heart in the finite point electrocardiogram (ECG) data of patient's real heart of preserving in distance CARTO system according to the major part position of virtual ablation catheter is nearest ₁, P ₂, P ₃, P ₄);

By four point (i.e. P ₁, P ₂, P ₃, P ₄) interconnected formation two diagonals on find the maximum direction of activation time difference, then this direction is (as P ₁p ₃) be the electrocardio conduction orientation of some positions of certain in finite point electrocardiogram (ECG) data;

Then following activation time LAT and the electrocardiosignal of trying to achieve this position apart from linear interpolation formula of basis on the diagonal line corresponding to this electrocardio conduction orientation;

${\mathrm{LAT}}_P={\mathrm{LAT}}_{P1}+\frac{({\mathrm{LAT}}_{P3}-{\mathrm{LAT}}_{P1})}{L_{\mathrm{PP}1}+L_{\mathrm{PP}3}}{L}_{\mathrm{PP}1}$

Wherein, LAT _pfor 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 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 do translation to the waveform of P1 point or the waveform of P3 point and obtain, translational movement is P point and P1 point or poor with the activation time of P3 point.

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

In the simulator of the present embodiment, in the virtual ablation catheter of above-mentioned structure atrial fibrillation ablation, adopt its computation model of Mass-spring models algorithmic notation of discretize, and adopt center line track scanning method to build its visual tringle coal, specific as follows:

The computation model of virtual ablation catheter is: the catheter proximal end section of bending is by N number of node (X ₀, X ₁..., X _n-1) composition, as shown in figure 5 a and 5b; The length that catheter main body stretches out according to the relative sheath pipe of conduit is made up of the node of variable number, and catheter main body start node number is for being no more than L/ λ _maxinteger M, wherein L is sheath length of tube, λ _maxfor full extension between conduit node open after ultimate range; Being connected to a length between node is the spring of λ, and each node comprises a bending method vector e and angle of bend θ, and as fig 5d, thus the distortion realizing conduit calculates.

Minor increment λ is set between catheter proximal end node _min, distance when conduit translation is advanced between first even elongation front end node, when the distance between current end node is all elongated to maximal value, then increases the node not reaching ultimate range in catheter main body node, increases catheter main body nodes when readvancing.First reduce catheter main body nodal distance during recession conduit, then abridge a little, when master nodes number is kept to M, more evenly reduce the spacing of front end node.

During rotation, position and normal vector all rotate around the spindle, with nodes X _i+1around axle X _i-1x _irotate δ _ispend for example illustrates: angle of bend θ _iremain unchanged, normal vector e _i, X _i+1all around axle X _i-1x _irotate, obtain new normal vector e ' _i, X ' _i+1, as shown in Figure 5 c, rotary course can be formulated:

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

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

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

Conduit bends/and loose curved meeting directly causes the change of angle of bend θ, and the position of each node, normal vector also can ensue change 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 is Δ L ∈ [0, Δ L _max], the relation between guiding-tube bend angle θ and the amount of bending Δ L is as shown in the formula expression:

${\mathrm{\θ}}_i=\frac{\mathrm{\ΔL}}{{\mathrm{\ΔL}}_{\max }}A$

In actual ablation operation surgical procedure after ablation catheter and patient's real heart contact internal walls, contact force is produced between ablation catheter and wall of the heart, heart tissue stops conduit to move forward, doctor judges that conduit contacts with heart after perceiving the existence of this contact force, the direction of motion of adjustment conduit, avoids conduit penetrate heart and malpractice occurs.In this enforcement, realize the contact estimation & disposing between virtual ablation catheter and virtual heart by collision detection and Processing Algorithm.This enforcement adopts OBB bounding box collision detection algorithm to judge which tri patch contact, adopts between tri patch on this basis and line segment computing method crossing with tri patch, calculates contact position and contact the degree of depth, and then calculating dummy contact power.

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

First, adopt the some insertion that the VTK in tri patch generating algorithm is integrated, it is simple that the method triangle generates thinking, and easily realize, execution efficiency is higher, unrestricted to Data distribution8.The integrated some insertion of VTK is: the outer convex polygon first generating discrete point, then inside triangle is split, judge which triangle remaining point drops in respectively, with this point for summit, the triangle one dividing into three at place, until all points all insert, then (the three-dimensional mapping model by current generation compares with virtual heart to call Local Optimization Algorithm, judge whether coupling, continue to get more discrete point if do not mated), until the triangulation network is adjusted to optimum (the three-dimensional mapping model of current generation mates with virtual heart), thus form chambers of the heart three-dimensional structure.

Secondly, the simple Luplaeian smoothing algorithm efficiently in Mesh Smoothing Algorithm is adopted smoothing for chambers of the heart three-dimensional structure process to be obtained the three-dimensional mapping model of virtual heart.The position of its surrounding neighbors center of gravity is shifted in each summit in grid by this algorithm, and it makes summit mobile to grid inside, plays the effect of restraint speckle, also produces certain blockage effect simultaneously; In addition, also make summit tangentially move to side, long limit, make distributed areas, summit even, play the effect that mesh shape is optimized.For the vertex v of i-th in grid _iand the some v in first order neighbors _j(j ∈ i ^*, i ^*represent v _istar neighborhood, i.e. v _iwith v _jbe connected by limit (i, j)), discrete LuPlacian operator can describe with following formula.

${\mathrm{\Δv}}_i=\underset{j\∈i}{\mathrm{\Σ}}{w}_{\mathrm{ij}}(v_j-v_i)$

Wherein w _ijfor weight, it has multiple choices mode, and the simplest one gets equal weight, i.e. w _ij=1/n (j ∈ i ^*), wherein n is the number on summit in neighborhood.Also v can be adopted _iwith vv _jthe inverse of distance is weight, i.e. w _ij=|| v _j-v _i|| ^-1.After each iteration completes, the renewal of apex coordinate has been come by following formula, and wherein λ is 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 is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that the common engineering technical personnel in this area make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.

Claims (9)

1. cut open a catheter ablation of atrial fibrillation simulator for Mapping System based on three-dimensional electrolysis, it is characterized in that, comprising:

First workstation, the second workstation, the first workstation is built-in with three-dimensional mapping simulation software, Duo Dao instrument simulation software, and the second workstation is built-in with catheter ablation operational simulation software and X-ray machine simulation software;

The sheath cell measurement apparatus (2) be connected with described second workstation respectively by serial ports, conduit measurement mechanism (3), device for force feedback (4); And,

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

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

Described catheter ablation operational simulation software, in advance according to the electrocardiogram (ECG) data of patient's real heart data construct virtual heart and correspondence thereof as simulated surgical operation object, and build the virtual ablation catheter being used for atrial fibrillation ablation, when simulation training, first, by means of described 3rd display, describedly get a pedal and a described pedal of deleting carries out multipoint acquisition operation to described virtual heart, point data of getting corresponding for each collection point is sent to described three-dimensional mapping simulation software, secondly, the three-dimensional mapping model of described virtual heart has been built and after the atrial fibrillation position finding out described virtual heart and type in described three-dimensional mapping simulation software, and when the hand-held described ablation catheter of operator (5) insert described ablation catheter moving guide rail (1) carry out atrial fibrillation ablation simulation time, receive described sheath cell measurement apparatus (2) and described conduit measurement mechanism (3) the sheath pipe of the corresponding described ablation catheter (5) detected in real time and the status change data of conduit in described ablation catheter moving guide rail (1) respectively, and the electric discharge instruction that described electric discharge pedal sends, according to atrial fibrillation position and the type of described virtual heart, described status change data and described electric discharge command synchronization control described virtual ablation catheter and insert the state course that described virtual heart carries out simulating atrial fibrillation ablation, and by this state course synchronized transmission to described three-dimensional mapping simulation software, simultaneously, the status data that touches of virtual ablation catheter described in this state course and described virtual heart is fed back to described device for force feedback (4), by described device for force feedback (4) according to described in touch status data and generate corresponding feedback force and act on described ablation catheter (5),

Described Duo Dao instrument simulation software, for being presented at described second display in real time by the electrocardiosignal corresponding to the electrocardiogram (ECG) data of described virtual heart;

Described X-ray machine simulation software, for preserving pedal by means of described 4th display, described X-ray machine control panel, described perspective pedal and described film, realizes the X-ray machine imaging to described virtual heart and controlling functions;

Described three-dimensional mapping simulation software, for obtain described catheter ablation operational simulation software send get point data, point data is got and by means of the three-dimensional mapping model of virtual heart described in described first display builds and the electrocardiogram (ECG) data of correspondence thereof according to this, find out atrial fibrillation position and the type of described virtual heart according to this electrocardiogram (ECG) data, and be presented on described first display for described operator carry out atrial fibrillation ablation simulation time check; When the hand-held described ablation catheter of described operator (5) insert described ablation catheter moving guide rail (1) carry out atrial fibrillation ablation simulation time, receive the state course that described catheter ablation operational simulation software sends, and the state of the virtual heart that the state change of the three-dimensional mapping model of the virtual heart of described first display display is shown with described 3rd display changes and keeps synchronous.

2. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 1, is characterized in that, described sheath cell measurement apparatus (2) is identical with described conduit measurement mechanism (3) structure, and it comprises:

Laser tube (6a, 6b), on its laser sheath pipe of being radiated at described ablation catheter (5) launched or conduit;

Convex lens (7a, 7b), the reflects laser that described sheath pipe or conduit reflex on it is carried out amplification optically focused and exports by it;

Photoelectric detector (8a, 8b), reflects laser after the optically focused that described in its continuous detecting, convex lens (7a, 7b) export, obtain the dot matrix image of described sheath pipe or conduit according to the reflects laser after this optically focused, the dot matrix image contrasting adjacent two frames before and after described sheath pipe or conduit obtains the relative displacement delta data of described sheath pipe or conduit;

Single-chip microcomputer (9a, 9b), it receives relative displacement delta data by SPI interface from described photoelectric detector (8a, 8b), resolve according to relative displacement delta data and obtain described sheath pipe or the displacement dot matrix number of conduit on its sense of displacement, and by serial ports, described displacement dot matrix number is sent to described second workstation.

3. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 2, it is characterized in that, described device for force feedback (4) comprises grain-clamping table (41), described grain-clamping table (41) is clamped with opening U-shaped resistance pad (42) left, the conduit of described ablation catheter (5) is through described U-shaped resistance pad (42), described U-shaped resistance pad (42) left side is provided with motor (43), it is upper and corresponding with the aperture position of described U-shaped resistance pad (42) that described motor (43) is laterally fixed on a fixed station (44), the second controller and motor-drive circuit that control described motor (43) are installed in described fixed station (44), the left end wringing fit of one Compress Spring (45) is enclosed within the rotation axis of described motor (43), the right-hand member of described Compress Spring (45) is fixed with the fixture block (46) of lightweight, the right-hand member of described fixture block (46) is provided with the friction block (47) of lightweight, the conduit that described friction block (47) presses close to described ablation catheter (5) is positioned at the part of described U-shaped resistance pad (42), wherein:

Described second controller, status data is touched described in receiving, and generation corresponding control signal sends to described motor-drive circuit to control the rotation of described motor (43) accordingly, and then the conduit driving described friction block (47) to act on described ablation catheter (5) is positioned in the part of described U-shaped resistance pad (42).

4. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 3, it is characterized in that, in gap between described U-shaped resistance pad (42) right side and described grain-clamping table (41), pressure transducer (48) is installed, described second controller is while the described control signal of output, receive the pressure signal that described pressure transducer (48) feeds back, and the output of control signal according to described pressure signal dynamic conditioning, mate with the described feedback force touched in status data to make the pressure corresponding to described pressure signal.

5. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 4, is characterized in that, the described electrocardiogram (ECG) data according to patient's real heart data construct virtual heart and correspondence thereof, is specially:

Three-dimensional electrolysis is cutd open the geometric model of CT heart geometric model as described virtual heart of described patient's real heart of having rebuild in Mapping System;

In the geometric model of described virtual heart, four nearest points of cut open in the finite point electrocardiogram (ECG) data of described patient's real heart of preserving in Mapping System apart from described three-dimensional electrolysis certain some position are found according to the major part position of described virtual ablation catheter;

By interconnected two diagonals formed of described four points being found the maximum direction of activation time difference, then this direction is the electrocardio conduction orientation of certain some position in described finite point electrocardiogram (ECG) data;

Then on the diagonal line corresponding to this electrocardio conduction orientation, activation time and the electrocardiosignal of this position is tried to achieve according to distance linear interpolation;

The electrocardiogram (ECG) data of other positions in described finite point electrocardiogram (ECG) data is built according to above-mentioned steps.

6. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 5, is characterized in that, according to the three-dimensional mapping model getting point data structure virtual heart, is specially:

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

According to Mesh Smoothing Algorithm, the smoothing process of described chambers of the heart three-dimensional structure is obtained the three-dimensional mapping model of described virtual heart.

7. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 6, it is characterized in that, the computation model of virtual ablation catheter described in the Mass-spring models algorithmic notation of employing discretize, and adopt center line track scanning method to build its visual tringle coal.

8. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 7, it is characterized in that, workstation comprises the first workstation and the second workstation, communicated by the network switch between them, described three-dimensional mapping simulation software and described Duo Dao instrument simulation software are arranged in described first workstation, described catheter ablation operational simulation software, described X-ray machine simulation software is arranged in described second workstation, described first workstation is connected with described second display with described first display respectively, described second workstation respectively with described serial ports, described 3rd display is connected with described 4th display.

9. the catheter ablation of atrial fibrillation simulator cuing open Mapping System based on three-dimensional electrolysis according to claim 8, it is characterized in that, described first workstation, described second workstation, described sheath cell measurement apparatus (2), described conduit measurement mechanism (3), described device for force feedback (4) and described ablation catheter moving guide rail (1) are arranged in a casing, described first display, described second display, described 3rd display, described 4th display, described ablation catheter (5) and described X-ray machine control panel are arranged on the work top of described casing, describedly get a pedal, describedly delete a pedal, described electric discharge pedal, described perspective pedal and described film are preserved pedal and are arranged at the position being suitable for operator below described casing and doing by foot operation.