CN103800017B - The apparatus and method of the contact pressure between detected catheter and tissue - Google Patents
The apparatus and method of the contact pressure between detected catheter and tissue Download PDFInfo
- Publication number
- CN103800017B CN103800017B CN201210445144.9A CN201210445144A CN103800017B CN 103800017 B CN103800017 B CN 103800017B CN 201210445144 A CN201210445144 A CN 201210445144A CN 103800017 B CN103800017 B CN 103800017B
- Authority
- CN
- China
- Prior art keywords
- curved segment
- distal end
- contact pressure
- conduit
- bending shape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The invention provides the apparatus and method of the contact pressure between detected catheter and tissue, wherein, utilize the amount of movement of the sensor feed sensing control device in handle; This amount of movement and can corresponding relation between the bending shape of curved segment when being provided in contactless pressure; After being inserted by insertion tube in patient body, sensor is utilized to sense this amount of movement; Based on this corresponding relation, the amount of movement calculating sensing is corresponding when contactless pressure can the bending shape of curved segment; Can the actual flexion form of curved segment with positioning sensor senses; And based on can actual flexion form, the contactless pressure of curved segment time bending shape and the elastic modelling quantity of all directions, calculate contact pressure.The present invention can be known indirectly can the bending shape of curved segment, positions navigation to conduit, also can detect and be arranged on electrode in distal end with the contact pressure between tissue, to keep suitable contact pressure, improve the effect of ablation.
Description
Technical field
The present invention relates to a kind of insertion type medical catheter.More specifically, the present invention relates to a kind of apparatus and method for detecting the contact pressure between itself and tissue for interposing catheter.
Background technology
Current tachy-arrhythmia, such as atrial fibrillation be one of common in the world cardiac arrhythmia, and transcatheter radio frequency (RF) ablation have been widely used in treating such disease clinically.Distal end enters into the chambers of the heart with the conduit percutaneous of electrode by the vascular system of patient, the far-end of conduit has one section to be more soft and has certain elastic body (be referred to as can curved segment), the device by modular catheter place control can the song of curved segment stretch and the electrode that makes to be positioned at its distal end arrives target location on chambers of the heart inwall and with this place's contact tissue.Radio-frequency (RF) energy by conduit to electrode to melt the cardiac muscular tissue with the position of electrode contact and around certain area.Meanwhile, the conveniently operation of doctor, the conduit of distal end band location navigation function has also been applied to clinical, and particularly for the tachy-arrhythmia of some complexity, the conduit of band location navigation function is absolutely necessary operation device.But, through clinical confirmation, only melt under the suitable condition of the contact pressure of distal end especially between the electrode of distal end and cardiac muscular tissue of conduit and just can reach good therapeutic effect, otherwise contact force crosses the excessive damage even cardiac perforation that conference causes chambers of the heart wall, contact force is too small, does not reach the lesion depths of requirement or needs prolongation to melt the time, if electrode melts with organizing when not contacting, then radio-frequency (RF) energy is mainly to blood generation effect, and can not produce therapeutical effect to the tissue on chambers of the heart wall.In the past, by feel, the navigator fix information of conduit, X-ray image and experience during operation conduit, doctor mainly judges that whether radio frequency provides electrode with the contact of heart tissue appropriateness, this method is not easy to grasp very much, judge that the probability occurring error is also comparatively large simultaneously, thus cause the generation of complication or thoroughly do not recur because melting.
Disclose at present the several technology for the distal end of detected catheter and the contact force of tissue.Below illustrate:
1) publication number is the Chinese patent application of CN101416874A, The patent application describes the method and apparatus that a kind of sensing is applied to the conduit upward pressure in patient body.Have two wire coils of close together in the distal tip of conduit, be connected with spring therebetween, two coils configure as magnetic field sensor and the second magnetic field generator respectively, are provided with the first magnetic field generator outside patient body simultaneously.When pressure puts on the electrode of catheter distal tip, spring generation deformation, magnetic field sensor changes relative to the position of the first magnetic field generator and relative second magnetic field generator and direction, calculates by the change in position and direction the pressure being applied to electrode.This technology needs to install two coils and a spring in the space that catheter distal tip is minimum, and technology difficulty is large, and cost is higher, and needs to do larger change to prior art, and complexity improves greatly.
2) United States Patent (USP) 6695808, the probe that this patent describes has contact surface, contact and compression therapeutic region to produce contact pressure, pressure transducer measures this contact pressure, this device can provide the information of contact pressure to instrumentation person, to meet the requirement that conduit to contact with tissue stabilization and don't applies excessive contact pressure.But this technology achieves pressure detecting does not have location navigation and conduit can curved segment form Presentation Function.
3) publication number is the U.S. Patent application of 2007/0100332, it is disclosed that a kind of description is for the method for evaluate electrode in ablation of tissue with tissue contact pressure.Namely the pressure transducer (being generally piezoelectric transducer) in catheter distal tip produces the stressed corresponding signal of telecommunication with the electrode at this distal end place, and controller receives this signal of telecommunication and calculates contact force.But this technology achieves pressure detecting does not have location navigation and conduit can curved segment form Presentation Function.
The current conduit with positioning function and supporting device have also been widely used in clinical, this technology can build the form of the chambers of the heart, the position even shape of real-time display conduit head end, make operation technique indirectly visual, the quality and efficiency of having performed the operation can be improved, and reduce the use of X-ray transmission in operation process, reduce the damage to patient.Based on above background, in the technical foundation of the radio frequency ablation catheter of the three-dimensional Electrophysiological mapping system of existing band positioning function and the band positioning function of controllable bending, consider to utilize conduit can the elasticity of curved segment self, and conduit can curved segment not by the momental corresponding relation of the form under contact pressure effect with control bending apparatus, realize the detection to the contact pressure suffered by the distal end of conduit.Although be above example for the distal end of radio-frequency ablation procedure with the conduit of electrode, interposing catheter is illustrated, in the medical field, for the interposing catheter of other kinds (such as distal end does not arrange electrode but other similar), consider to utilize conduit can the elasticity of curved segment self, and conduit curved segment can not be subject to the form under contact pressure effect and the momental corresponding relation controlling bending apparatus, realize the detection to the contact pressure suffered by the distal end of conduit, thus control contact pressure between the distal end of conduit and surrounding tissue in the reasonable scope, also be in demand.
Summary of the invention
The invention provides a kind of method for detecting the contact pressure between its distal end and tissue for interposing catheter, wherein, described conduit comprises handle and for entering the insertion tube in patient body, what described insertion tube comprised the flexibility in main paragraph near handle and distally thereof can curved segment, describedly the distal end of curved segment and the distal end of main paragraph can be respectively equipped with alignment sensor, can the bending shape of curved segment for sensing, and, described handle comprises and to move via it that control can the bending control device of curved segment in the plane that the distal end relative to main paragraph is fixed, it is characterized in that, described method comprises:
Sensor is set in handle, for the amount of movement of feed sensing control device;
Be provided in contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment;
After being inserted by insertion tube in patient body, described sensor is utilized to carry out the amount of movement of feed sensing control device;
Based on the corresponding relation detected before, calculating that the amount of movement of control device that senses is corresponding when contactless pressure can the bending shape of curved segment;
Utilize described alignment sensor, sensing can the actual flexion form of curved segment; And
Based on can actual flexion form, the contactless pressure of curved segment time can curved segment bending shape and can the elastic modelling quantity of curved segment all directions, calculate described contact pressure.
Preferably, the distal end of conduit is provided with electrode to melt the tissue be in contact with it.
Preferably, the sensor in handle can be selected from movable sensor or force sensor.
Preferably, calculate the step of contact pressure to comprise: compare can the actual flexion form of curved segment and contactless pressure time can the difference of bending shape of curved segment draw can curved segment elastic deformation in all directions, can the elastic modelling quantity of curved segment respective direction to combine based on the elastic deformation in described all directions, calculate described contact pressure.
Preferably, the control device in described handle is connected with connector, and the other end of described connector is fixed on can the distal end of curved segment.Described connector can be leptosomatic connector, such as bracing wire.
Preferably, during the manufacture of conduit, detect in advance and store in described conduit contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment.
Preferably, described control device can be controlled by its push-and-pull or rotate can curved segment bending, correspondingly, utilizes described movable sensor can sense push-and-pull amount or the amount of spin of described control device.
Preferably, detect in advance obtain described can the elastic modelling quantity of curved segment all directions.
Preferably, described alignment sensor is selected from magnetic field sensor, electric-field sensor and both combinations.If described alignment sensor is magnetic field sensor, also need to arrange magnetic field generator outside patient body, to produce magnetic field in the certain area comprising magnetic field sensor in vivo.Magnetic field sensor receives the field signal of magnetic field generator generation and passes through the position coordinates and directional information that calculate relative to magnetic field generator.If described alignment sensor is electric-field sensor, then also needs, electric field is set and provides electrode, field generator and signal processor.If described alignment sensor is the combination of magnetic field sensor and electric-field sensor, then needs to arrange electric field simultaneously and provide electrode, field generator and signal processor and magnetic field generator and corresponding control unit.
Preferably, described movable sensor is generally resistance-type, such as potentiometer type, also can be the other types such as photoinduction formula or condenser type.
The invention provides a kind of device for detecting the contact pressure between its distal end and tissue for interposing catheter, wherein, described conduit comprises handle and for entering the insertion tube in patient body, what described insertion tube comprised the flexibility in main paragraph near handle and distally thereof can curved segment, describedly the distal end of curved segment and the distal end of main paragraph can be respectively equipped with alignment sensor, can the bending shape of curved segment for sensing, and, described handle comprises and to move via it that control can the bending control device of curved segment in the plane that the distal end relative to main paragraph is fixed, it is characterized in that, described device comprises:
Corresponding relation providing unit during contactless pressure, for be provided in contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment;
Control device moving sensing portion, for after inserting in patient body by insertion tube, utilizes the sensor arranged in handle to carry out the amount of movement of feed sensing control device;
Can the bending shape calculating part of curved segment during contactless pressure, for based on provided corresponding relation, the amount of movement calculating the control device sensed is corresponding when contactless pressure can the bending shape of curved segment;
Can the actual flexion form detecting part of curved segment, can the actual flexion form of curved segment for utilizing described alignment sensor to sense; And
Contact pressure calculating portion, for based on can actual flexion form, the contactless pressure of curved segment time can curved segment bending shape and can the elastic modelling quantity of curved segment all directions, calculate described contact pressure.
Preferably, described device can also comprise or be connected to can curved segment elastic modelling quantity test section, can the elastic modelling quantity of all directions of curved segment for detecting in advance.
Method and apparatus according to the present invention prior art controllable bending and just can realize with (melting) interposing catheter of location navigation function only need increase simple device, good with (melting) interposing catheter compatibility of prior art, and cost is lower, easy to implement.And, according to method and apparatus of the present invention, what indirectly can not only know conduit can the bending shape of curved segment, navigation is positioned to conduit, can also the distal end of detected catheter with the contact pressure between patient body inner tissue, when this electrode then can be detected when this distal end arranges ablating electrode with the contact pressure between patient body inner tissue, contact pressure is remained on applicable scope, realize the effect of good ablation.
Accompanying drawing explanation
In order to more clearly describe technical scheme of the present invention, briefly introduce below in conjunction with accompanying drawing.Obviously, these accompanying drawings are only some detailed description of the invention that the application records.These accompanying drawings following are included but not limited to according to of the present invention.
Fig. 1 is the structural representation for the radio-frequency (RF) energy loop utilizing electrode pair respective organization to carry out melting, and what show conduit can the relative configurations of curved segment and catheter main body section distal end;
Fig. 2 is for control can the schematic diagram of dependency structure that bends of curved segment, shows for control can the bending model of action of curved segment;
Fig. 3 be conduit can schematic diagram before and after curved segment and patient tissue contacts; And
Fig. 4 is used to the structural representation that conduit detects the device of the contact pressure between its distal end and tissue.
Detailed description of the invention
In order to understand the present invention further, below in conjunction with embodiment, preferred version of the present invention is described.These descriptions just illustrate the features and advantages of the present invention, but not limit the scope of the invention.
In the embodiment be described below, we in such operation, need the focus using interposing catheter to come in ablate cardiac tissue for common treatment atrial fibrillation operation, or melt cardiac muscular tissue and make focus with normal structure electric isolution.
As shown in Figure 2, described conduit comprises handle 11 and for entering the insertion tube in patient body, what described insertion tube comprised the flexibility in main paragraph 25 near handle and distally thereof can curved segment 23, this distal end of curved segment and the distal end of main paragraph can be respectively equipped with alignment sensor 21 and 24, can the bending shape of curved segment for sensing, further, handle 11 comprises and to move via it that control can the bending control device 16 of curved segment.Treatment atrial fibrillation is performed the operation the conduit used, the distal end of curved segment can be provided with electrode 22, to melt the tissue be in contact with it at this conduit.For the interposing catheter of other types, the distal end of curved segment also can electrode 22 can be not set at this conduit, for ablation catheter, the present invention will be described in the past, but the present invention is also applicable to the interposing catheter of the other types with similar structures.
Operator, such as Cardiologists, insert in patient body by the vascular system of patient by conduit, makes the distal end of conduit (electrode 22 together with it is arranged) and can curved segment 23 enter in the atrium of patient's heart.Operator makes distal end (electrode 22 together with setting it on) arrive intra-auricular target location by pushing, reversing and control a series of actions such as curved.Particularly, operator can according to the anatomical structure will inserting conduit, handle 11 pairs of main paragraphs 25 are utilized to rotate, and control curved segment 23 to bend in the plane fixing relative to the distal end of main paragraph 25 via control device 16, thus be convenient to can in the anatomical cavity of curved segment 23 and distal end (electrode 22 together with it is arranged) the curved surface comparatively complexity that is sent to such as atrium and blood vessel.
As shown in Figure 1, electrode 22 is connected to radio frequency (RF) generator by wire and adapter, simultaneously, the same patient body-surface of the electrode that another one area is larger (being generally back) is connected, and form radio-frequency (RF) energy loop with conduit and patient tissue, radio-frequency (RF) energy is discharged into the patient tissue of electrode (area is little, and energy density is high) electrical contact that arranges on catheter distal tip and is melted.
As shown in Figure 2, can be controlled by the movement of control device 16 can curved segment 23 bending, although illustrate only plug-type control device 16 in Fig. 2, rotary control device 16 is also applicable.Having various ways to control via control device 16 mobile can curved segment 23 bending, such as shown in Figure 2, by can arrange a connection piece 18 in curved segment and make its two ends be connected respectively to can the distal end of curved segment and control device, the movement of control device 16 being converted to can curved segment bending.This connector 18 can be leptosomatic, such as bracing wire.Although illustrated in Fig. 2 and arranged this connector at bendable intrasegmental part, setting position has been not limited thereto, as long as control device mobile can be transmitted and be converted to can the bending of curved segment for set connector.Preferably, can be controlled by its push-and-pull or rotate can curved segment bending for described control device.
To describe a kind of method for detecting the contact pressure between its distal end and tissue for described conduit below, the method arranges movable sensor 14 in handle 11, for the amount of movement (such as push-and-pull amount or amount of spin) of feed sensing control device.Described movable sensor is generally resistance-type, than potentiometer type as shown in Figure 2, also can be the other types such as photoinduction formula or condenser type.In addition, described movable sensor 14 also can substitute with force sensor.When control device have different amount of movements be namely positioned at different positions time, different readings can be read from movable sensor 14, and curved segment 23 can have different bending shapes.As shown in Figure 2, when the control device 16 on modular catheter 11 is positioned at position a1, the reading of movable sensor 14 is c1, and can the bending shape of curved segment be b1; And when control device 16 is positioned at position a2, the reading of movable sensor 14 is c2, and can the bending shape of curved segment be b2.That is, when can curved segment 23 do not apply contact pressure with contact tissue to be ablated or the latter, for same conduit, the different amount of movements of the corresponding control device 16 of different readings of movable sensor 14, and the different amount of movement of control device 16 and one-to-one relationship can be had between the bending shape of curved segment.This method can detect in advance contactless pressure timed unit 16 amount of movement and can corresponding relation between the bending shape of curved segment directly to provide this corresponding relation after being inserted by conduit.Preferably, during the manufacture of conduit, detect in advance and store in described conduit contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment, thus, after being inserted by conduit, just can directly call this corresponding relation.After this, no matter to be ablatedly organize whether to curved segment 23 applying contact pressure, sense by reading the reading of movable sensor 14 amount of movement obtaining control device 16, what correspondence was answered by amount of movement institute when contactless pressure that all can calculate institute's feed sensing control device 16 can the bending shape of curved segment.Can by during the manufacture of conduit, store in memorizer in conduit the contactless pressure timed unit detected in advance amount of movement and can corresponding relation between the bending shape of curved segment, and after conduit is inserted human body, by cooperating of memorizer and correlation calculation apparatus, the amount of movement calculating institute's feed sensing control device 16 when contactless pressure answer corresponding can the bending shape of curved segment.
As shown in Figure 3, fine rule shows not by can the bending shape 26 of curved segment 23 during contact pressure effect, and thick line shows by can the actual flexion form of curved segment 23 during contact pressure effect.Can see, after insertion tube being inserted in patient body, due to the contact pressure effect of tissue 20 to be ablated, cause can curved segment 23 actual flexion form and by contact pressure effect time bending shape between there are differences.
Can utilize alignment sensor 21 and 24, sensing can the actual flexion form of curved segment.Described alignment sensor 21 and 24 is selected from magnetic field sensor, electric-field sensor and both combinations.If described alignment sensor is magnetic field sensor, also need to arrange magnetic field generator outside patient body, to produce magnetic field in the certain area comprising magnetic field sensor in vivo.Magnetic field sensor receives the field signal of magnetic field generator generation and passes through the position coordinates and directional information that calculate relative to magnetic field generator.If described alignment sensor is electric-field sensor, then also needs, electric field is set and provides electrode, field generator and signal processor.If described alignment sensor is the combination of magnetic field sensor and electric-field sensor, then needs to arrange electric field simultaneously and provide electrode, field generator and signal processor and magnetic field generator and corresponding control unit.
Bracing wire 18 in it, material and even structure if present) can be comprised by curved segment 23(, can detect in advance and draw its elastic modelling quantity in all directions.The present invention can according to can curved segment 23 by bending shape during contact pressure effect, can the actual flexion form of curved segment 23 and its elastic modelling quantity in all directions, calculate contact pressure.Particularly, by compare can curved segment 23 actual flexion form and can curved segment 23 by contact pressure effect time bending shape between difference, can obtain can the amount of elastic deformation in all directions that causes due to action by contact power of curved segment 23, the elastic modelling quantity that amount of elastic deformation in all directions is multiplied by respective direction is obtained the elastic force in all directions, and the elastic force in all directions is carried out vector addition, just can obtain the contact pressure suffered by distal end of bendable section 23.If the distal end of curved segment 23 being provided with the electrode melted, then the contact pressure suffered by electrode can be obtained.
By said method, can contact pressure between the distal end it (or arrange electrode 22) of examination and controlling conduit and tissue, when contact pressure is excessive, operator can be reminded to loosen and the contact of tissue; When contact pressure is too small, operator's compressed tissue can be reminded, the contact pressure between the distal end (or electrode 22 that it is arranged) of conduit and tissue to be controlled to realize good ablation effect in suitable scope.
To example be utilized to be described in detail to the process for calculating contact pressure that can be suffered in the distal end of curved segment 23 below.
Be (x, y, z, Rx, Ry by the normal indication utilizing alignment sensor 21 and 24 to detect, Rz), wherein x, y, z are three-dimensional coordinate data, Rx, Ry, Rz are the orientation angles data of three degree of freedom, i.e. the direction of two degree of freedom and self anglec of rotation of one degree of freedom.If alignment sensor 21 and 24 only has five degree of freedom, then self pivoting angle data defect.As mentioned above, then alignment sensor 24 reading in the distal end of main paragraph 25 can be expressed as (xa, ya, za, Rxa, Rya, Rza), the actual read number of alignment sensor 21 in the distal end of curved segment 23 can be expressed as (xb, yb, zb, Rxb, Ryb, Rzb), can curved segment 23 by its distal end predicted in other external force situations normal indication for (xb ', yb ', zb ', Rxb ', Ryb ', Rzb '), the reading of the movable sensor 16 in handle 11 can be expressed as m.
As noted above, utilize handle 11 pairs of main paragraphs 25 to rotate suitable angle, and control curved segment 23 to bend in the plane that the distal end relative to main paragraph 25 is fixed via control device 16.This plane by the distal end of main paragraph 25 location namely (xa, ya, za, Rxa, Rya, Rza) obtain, and as datum plane.If alignment sensor 21 and 24 only has five degree of freedom, then also need the actual read number (xb, yb, zb, Rxb, Ryb, Rzb) obtaining alignment sensor 21, estimate described datum plane, the deviation of this estimation is in tolerance interval.
Determine initial point and Y-axis with the location of the distal end of main paragraph 25 (xa, ya, za, Rxa, Rya, Rza), set up the coordinate system using above-mentioned plane as datum plane.By coordinate transform, the reading of each alignment sensor can be transformed in this coordinate system.And can curved segment 23 not obtain by the reading m of the movable sensor in handle and the corresponding relation that provides by the location (xb ', yb ', zb ', Rxb ', Ryb ', Rzb ') of its distal end predicted in other external force situations, such as:
xb’=f(m)。
In like manner can calculate yb ', zb ', the Rxb numerical value of ', Ryb ', Rzb '.
According to practical application, conduit the distal end of curved segment 23 mainly can produce deformation thus be subject to contact pressure by elastic stress, and described distal end may be subject to each elastic stress component along x, y, z tri-axis.According to conduit characteristics, proof resilience modulus can have one group of elastic modulus G x+, Gx-, Gy+, Gz+, Gz-corresponding to each elastic stress component, owing to there is not pulling force in contact force, so the elastic stress on y-direction does not exist.
Can measure in advance and record can elastic modelling quantity under multiple bending shapes of curved segment 23, and choose near predicted can curved segment 23 not by the bending shape that should present in other external force situations (namely be not subject to its distal end in other external force situations location (xb ', yb ', zb ', Rxb ', Ryb ', Rzb ')) one group of elastic modelling quantity be used for calculate.
The elastic modelling quantity that elastic strain amount in all directions is multiplied by respective direction can being drawn the elastic stress component in all directions, by carrying out vector summing to the elastic stress component in all directions, drawing total elastic stress.Preferably, described elastic strain amount can by compare using above-mentioned plane as the corresponding coordinate of the actual sensed of the alignment sensor 21 in the coordinate system of datum plane with in the coordinate system can curved segment 23 by the difference of the elements of a fix of its distal end predicted in other external force situations, calculate.
The object of example above just to illustrating, based on principle of the present invention, other corresponding computational processes are also applicable.
Fig. 4 shows a kind of device for detecting the contact pressure between its distal end and tissue for described conduit, described device comprises: corresponding relation providing unit during contactless pressure, for be provided in contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment; Control device moving sensing portion, for after inserting in patient body by insertion tube, utilizes the movable sensor arranged in handle to carry out the amount of movement of feed sensing control device; Can the bending shape calculating part of curved segment during contactless pressure, corresponding relation test section and control device moving sensing portion when being connected to contactless pressure, for based on described corresponding relation, the amount of movement calculating the control device of the sensing be fed to from control device moving sensing portion when contactless pressure answer corresponding can the bending shape of curved segment; Can the actual flexion form detecting part of curved segment, can the actual flexion form of curved segment for utilizing described alignment sensor to sense; And contact pressure calculating portion, when being connected to contactless pressure can curved segment bending shape calculating part and can the actual flexion form detecting part of curved segment, for based on from during contactless pressure can curved segment the feeding of bending shape calculating part can curved segment actual flexion form, from can the contactless pressure of actual flexion form detecting part feeding of curved segment time can curved segment bending shape and can the elastic modelling quantity of curved segment all directions, calculate described contact pressure.
Although do not illustrate in Fig. 4, described device can also comprise or be connected to can curved segment elastic modelling quantity test section, can the elastic modelling quantity of all directions of curved segment for detecting in advance.
The explanation of above embodiment just understands core concept of the present invention for helping.It should be pointed out that for the ordinary skill in the art, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, but these improve and modification also falls in the scope of the claims in the present invention request protection.
Claims (10)
1. one kind for detecting the device of contact pressure between its distal end and tissue for interposing catheter, wherein, described conduit comprises handle and for entering the insertion tube in patient body, what described insertion tube comprised the flexibility in main paragraph near handle and distally thereof can curved segment, describedly the distal end of curved segment and the distal end of main paragraph can be respectively equipped with alignment sensor, can the bending shape of curved segment for sensing, and, described handle comprises and to move via it that control can the bending control device of curved segment in the plane that the distal end relative to main paragraph is fixed, it is characterized in that, the described device for detecting the contact pressure between its distal end and tissue for interposing catheter comprises:
Corresponding relation providing unit during contactless pressure, for be provided in contactless pressure timed unit amount of movement and can corresponding relation between the bending shape of curved segment;
Control device moving sensing portion, for after inserting in patient body by insertion tube, utilizes the sensor arranged in handle to carry out the amount of movement of feed sensing control device;
Can the bending shape calculating part of curved segment during contactless pressure, for based on described corresponding relation, the amount of movement calculating the control device sensed is corresponding when contactless pressure can the bending shape of curved segment;
Can the actual flexion form detecting part of curved segment, can the actual flexion form of curved segment for utilizing described alignment sensor to sense; And
Contact pressure calculating portion, for based on can actual flexion form, the contactless pressure of curved segment time can curved segment bending shape and can the elastic modelling quantity of curved segment all directions, calculate described contact pressure.
2. device according to claim 1, described also comprise for the device of contact pressure detected for interposing catheter between its distal end and tissue or be connected to can curved segment elastic modelling quantity test section, can the elastic modelling quantity of all directions of curved segment for detecting in advance.
3. device according to claim 1, wherein, described contact pressure calculating portion by compare can the actual flexion form of curved segment and contactless pressure time can the difference of bending shape of curved segment draw can curved segment elastic deformation in all directions, can the elastic modelling quantity of curved segment respective direction to combine based on the elastic deformation in described all directions, calculate described contact pressure.
4. device according to claim 1, wherein, the sensor in described handle is selected from movable sensor or force sensor.
5. device according to claim 1, described control device is connected with connector, and the other end of described connector is fixed on can the distal end of curved segment.
6. device according to claim 5, wherein, contactless pressure timed unit amount of movement and can detect in advance by the corresponding relation between the bending shape of curved segment, and to be stored in during the manufacture of conduit in the memorizer in conduit.
7. device according to claim 1, wherein, the distal end place of curved segment can arrange electrode, to melt the tissue be in contact with it.
8. device according to claim 1, wherein, contactless pressure timed unit amount of movement and can detect in advance by the corresponding relation between the bending shape of curved segment, and to be stored in during the manufacture of conduit in the memorizer in conduit.
9. device according to claim 1, described control device is controlled by its push-and-pull or rotate can curved segment bending.
10. device according to claim 4, described movable sensor is selected from resistance-type, photoinduction formula or condenser type type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445144.9A CN103800017B (en) | 2012-11-08 | 2012-11-08 | The apparatus and method of the contact pressure between detected catheter and tissue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210445144.9A CN103800017B (en) | 2012-11-08 | 2012-11-08 | The apparatus and method of the contact pressure between detected catheter and tissue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103800017A CN103800017A (en) | 2014-05-21 |
| CN103800017B true CN103800017B (en) | 2016-04-13 |
Family
ID=50697753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210445144.9A Active CN103800017B (en) | 2012-11-08 | 2012-11-08 | The apparatus and method of the contact pressure between detected catheter and tissue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103800017B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105434035B (en) * | 2014-09-02 | 2018-03-20 | 上海微创电生理医疗科技有限公司 | A kind of ablation catheter |
| US10507056B2 (en) * | 2015-10-01 | 2019-12-17 | General Electric Company | System and method for representation and visualization of catheter applied force and power |
| AU2017212715B2 (en) * | 2016-01-29 | 2019-08-08 | Boston Scientific Scimed, Inc. | Force sensing catheter with impedance-guided orientation |
| CN106264719B (en) | 2016-07-29 | 2019-07-23 | 上海微创电生理医疗科技股份有限公司 | Electrophysiologicalcatheter catheter |
| CN107789051A (en) * | 2016-08-30 | 2018-03-13 | 四川锦江电子科技有限公司 | A kind of catheter pressure detection method, and corresponding conduit |
| CN112004477A (en) * | 2018-02-22 | 2020-11-27 | 皇家飞利浦有限公司 | Sensor-based shape recognition |
| CN111001075B (en) * | 2019-12-24 | 2022-01-28 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
| CN111631811B (en) * | 2020-06-24 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for obtaining contact force of head end of flexible magnetic conduit |
| WO2023179339A1 (en) * | 2022-03-23 | 2023-09-28 | 上海微创微航机器人有限公司 | Catheter shape and force sensing method, surgical navigation method, and interventional operation system |
| CN114848144B (en) * | 2022-03-23 | 2024-05-10 | 上海微创微航机器人有限公司 | Catheter shape control method, interventional operation system, electronic device, and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990008507A1 (en) * | 1989-01-30 | 1990-08-09 | Vas-Cath Incorporated | Chorion biopsy catheter |
| US4982725A (en) * | 1989-07-04 | 1991-01-08 | Olympus Optical Co., Ltd. | Endoscope apparatus |
| EP0566850A1 (en) * | 1992-04-24 | 1993-10-27 | Pacesetter AB | Controllable electrode device |
| WO1997029682A1 (en) * | 1996-02-15 | 1997-08-21 | Biosense Inc. | Locatable biopsy needle |
| CN2348862Y (en) * | 1996-10-01 | 1999-11-17 | 陈绍智 | Winding adjustable type cardiac mitral valve expansion saccule tube |
| EP1459691A1 (en) * | 1996-10-23 | 2004-09-22 | Oratec Interventions, Inc. | Method and apparatus for treating intervertebral discs |
| CN101416874A (en) * | 2007-10-08 | 2009-04-29 | 韦伯斯特生物官能公司 | Catheter with pressure sensing |
| CN101528145A (en) * | 2005-12-29 | 2009-09-09 | 韦伯斯特生物官能公司 | Deflectable catheter with a flexibly attached tip section |
| CN102090924A (en) * | 2009-12-11 | 2011-06-15 | 韦伯斯特生物官能(以色列)有限公司 | Pre-formed curved ablation catheter |
| CN102160909A (en) * | 2009-12-28 | 2011-08-24 | 韦伯斯特生物官能(以色列)有限公司 | Catheter with strain gauge sensor |
| CN102166136A (en) * | 2010-01-22 | 2011-08-31 | 韦伯斯特生物官能公司 | Catheter having a force sensing distal tip |
-
2012
- 2012-11-08 CN CN201210445144.9A patent/CN103800017B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1990008507A1 (en) * | 1989-01-30 | 1990-08-09 | Vas-Cath Incorporated | Chorion biopsy catheter |
| US4982725A (en) * | 1989-07-04 | 1991-01-08 | Olympus Optical Co., Ltd. | Endoscope apparatus |
| EP0566850A1 (en) * | 1992-04-24 | 1993-10-27 | Pacesetter AB | Controllable electrode device |
| WO1997029682A1 (en) * | 1996-02-15 | 1997-08-21 | Biosense Inc. | Locatable biopsy needle |
| CN2348862Y (en) * | 1996-10-01 | 1999-11-17 | 陈绍智 | Winding adjustable type cardiac mitral valve expansion saccule tube |
| EP1459691A1 (en) * | 1996-10-23 | 2004-09-22 | Oratec Interventions, Inc. | Method and apparatus for treating intervertebral discs |
| CN101528145A (en) * | 2005-12-29 | 2009-09-09 | 韦伯斯特生物官能公司 | Deflectable catheter with a flexibly attached tip section |
| CN101416874A (en) * | 2007-10-08 | 2009-04-29 | 韦伯斯特生物官能公司 | Catheter with pressure sensing |
| CN102090924A (en) * | 2009-12-11 | 2011-06-15 | 韦伯斯特生物官能(以色列)有限公司 | Pre-formed curved ablation catheter |
| CN102160909A (en) * | 2009-12-28 | 2011-08-24 | 韦伯斯特生物官能(以色列)有限公司 | Catheter with strain gauge sensor |
| CN102166136A (en) * | 2010-01-22 | 2011-08-31 | 韦伯斯特生物官能公司 | Catheter having a force sensing distal tip |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103800017A (en) | 2014-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103800017B (en) | The apparatus and method of the contact pressure between detected catheter and tissue | |
| US20210267693A1 (en) | Systems and methods for orientation independent sensing | |
| CN1903122B (en) | Hybrid magnetic-based and impedance-based position sensing | |
| US10441187B2 (en) | System and method for diagnosing arrhythmias and directing catheter therapies | |
| JP7325950B2 (en) | Systems and methods for interactive event timelines | |
| CN105559746B (en) | Alignment map using intracardiac signals | |
| CN101836862B (en) | Three-dimensional mapping method of human chamber inner wall and equipment and system thereof | |
| CN104812297B (en) | Catheter system and methods of medical uses of same, including diagnostic and treatment uses for heart | |
| US20100168550A1 (en) | Multiple shell construction to emulate chamber contraction with a mapping system | |
| JP7199816B2 (en) | Three-dimensional cardiac electrophysiology simulation system and related methods | |
| US20080200913A1 (en) | Single Catheter Navigation for Diagnosis and Treatment of Arrhythmias | |
| JP6537837B2 (en) | Display of improved ECG recording (ECG) graph | |
| CN103479346B (en) | To the compensation of heart movement in body coordinate system | |
| US9713435B2 (en) | Cardiac mapping using non-gated MRI | |
| CN114072049A (en) | System and method for in vivo localization | |
| US20140171785A1 (en) | Recognizing which instrument is currently active | |
| EP3476347B1 (en) | System for gap detection in ablation lines | |
| CN104411238B (en) | Chamber determining device | |
| CN220546312U (en) | Room radio frequency puncture system | |
| US20230404677A1 (en) | Applying ablation signals to both sides of tissue | |
| US20230005215A1 (en) | Medical apparatus and image generation method | |
| CN110507408A (en) | The scaling impedance position of foley's tube measures |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201318 Shanghai city Pudong New Area zhouputown Tianxiong road 588 Lane twenty-eighth Building No. 1-28 Patentee after: SHANGHAI MICROPORT EP MEDTECH Co.,Ltd. Address before: 201318 Shanghai city Pudong New Area zhouputown Tianxiong road 588 Lane twenty-eighth Building No. 1-28 Patentee before: SHANGHAI MICROPORT EP MEDTECH Co.,Ltd. |