CN107773299A - A kind of detection method of conduit direction of rotation, and corresponding conduit - Google Patents
A kind of detection method of conduit direction of rotation, and corresponding conduit Download PDFInfo
- Publication number
- CN107773299A CN107773299A CN201610769751.9A CN201610769751A CN107773299A CN 107773299 A CN107773299 A CN 107773299A CN 201610769751 A CN201610769751 A CN 201610769751A CN 107773299 A CN107773299 A CN 107773299A
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- Prior art keywords
- conduit
- data
- rotation
- alignment sensor
- direction data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
Abstract
The present invention relates to ablation catheter field, more particularly to a kind of detection method of conduit direction of rotation, its step includes：The alignment sensor that at least two axis are not parallel to each other is installed in conduit A,；B, the inceptive direction data of at least two alignment sensors under original state are recorded；C, the first direction data of one of alignment sensor under rotation status, and the second direction data of other alignment sensors, the delta data of the inceptive direction data of extraction first direction data alignment sensor corresponding with its are recorded；D, the inceptive direction data of alignment sensor corresponding to second direction data are entered line translation by delta data, obtains third direction data；E, the angle for showing that conduit rotates is coordinated by obtaining data, make that sensor manufacturing process is simpler, cost of manufacture is lower it is an object of the invention to provide one kind, the detection method of the simpler conduit direction of rotation of sensor mounting process, also discloses corresponding guide-tube structure.
Description
Technical field
The present invention relates to ablation catheter field, more particularly to a kind of detection method of conduit direction of rotation, and it is corresponding
Conduit.
Background technology
Arrhythmia cordis is one of common disease in the world, and carrying out radio-frequency ablation procedure using ablation catheter has been widely used in
Treat such disease, RF energy by ablation catheter be transferred to the tissue of electrode, the tissue that electrode contacts and surrounding them with
Melted.
It is to insert ablation catheter in heart, and make the working end of ablation catheter when being treated using ablation catheter
Contacted with wall of the heart, (be not limited only to heart association area, other needs pair, it is necessary to be positioned to conduit in the process
The catheter arts that conduit is positioned similarly, the related field of such as kidney, lung).
In catheter positioning application, on the basis of known catheters position and directional information, there is provided the direction of rotation of conduit
Information, so as to determine whether conduit bend direction be there is an urgent need to.In magnetic orientation system, it is known that the CARTO systems of Johnson ＆ Johnson
System obtains rotation information while obtaining position and direction information using 3 orthogonal coils, but narrow and small in catheter tube
Space in install 3 orthogonal coils, complex process.The Aurora systems of Northern Digital Inc. companies,
The 5DOF sensors used can only provide position and directional information, it is impossible to rotation information is obtained, and used in Aurora systems
6DOF sensors can realize the acquisition of the information, but sensor process is complicated, and cost of manufacture is high.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency in the presence of prior art, there is provided one kind makes sensor production work
Skill is simpler, cost of manufacture is lower, the detection method of the simpler conduit direction of rotation of sensor mounting process.
In order to realize foregoing invention purpose, the invention provides following technical scheme：
A kind of detection method of conduit direction of rotation, its step include：
The alignment sensor that at least two axis are not parallel to each other is installed in conduit, the alignment sensor can be remembered A,
Record the bearing data of alignment sensor itself；
B, the inceptive direction data of at least two alignment sensors under original state are recorded；
C, after conduit rotation, the first direction data of one of alignment sensor under rotation status, and other are recorded
Second direction data at least one alignment sensor, extract first direction data alignment sensor corresponding with its
The delta data of inceptive direction data；
D, the inceptive direction data of alignment sensor corresponding to the second direction data are entered by the delta data
Line translation, obtain third direction data；
E, the angle of conduit rotation is drawn by first direction data, second direction data and third direction data.
Better than conventional method, for this programme by the way that at least two alignment sensors are fixedly mounted on catheter tube, two fixed
Level sensor axis is not parallel to each other, and gathers two respective bearing datas of sensor, calculates its in two alignment sensors
In a swing relative to another, and then direction of rotation and the angle of conduit are calculated, using common orientation sensing
Device can (5DOF sensors even 3DOF, 4DOF sensor), at least can be only with 2 alignment sensors.
Prior art is compared to, the acquirement to conduit rotation information can be completed with 2 alignment sensors, with Johnson ＆ Johnson
CARTO system takes handy 3 orthogonal coils to compare, and the mounting process in catheter tube narrow space is simpler
It is single, the Aurora systems of Northern Digital Inc. companies are compared to, the situation of 6DOF sensors can not passed through
Downcomer rotation information, sensor manufacturing process is simpler, cost of manufacture is lower.
Instead of hardware coil, the acquisition for realizing direction of rotation is calculated by algorithm, reduces sensor process requirement, reduced
Cost of manufacture.
As the preferred scheme of the present invention, the alignment sensor is magnetic position sensor.
As the preferred scheme of the present invention, the conduit is for the ablation catheter in heart.
As the preferred scheme of the present invention, the first direction data, second direction data and third direction data are extremely
Include the location parameter in 3 frees degree less, including the free degree it is more, the data of measurement also biography that is more accurate, while using
Sensor is also different, and cost is also different.
As the preferred scheme of the present invention, the alignment sensor quantity is 2, in the case where meeting measurement request,
It is cost-effective.
As the preferred scheme of the present invention, the alignment sensor is 5DOF sensors, is meeting measurement accuracy as far as possible
In the case of, maximumlly save sensor production cost.
As the preferred scheme of the present invention, 2 alignment sensor axis angles are 5 °~175 °, in the range of this, 2
The measurement result of individual alignment sensor is more accurate.
Disclosed herein as well is a kind of conduit that can detect itself direction of rotation, it includes：
Body；
The alignment sensor, the alignment sensor is arranged on the catheter interior, and wherein at least two positioning passes
Sensor axis is not parallel to each other.
Be compared to existing conduit, can only with two alignment sensors in the case of by the way that conduit is calculated
The anglec of rotation, make sensor mounting process simpler, while make that sensor manufacturing process is simpler, cost of manufacture is lower.
As the preferred scheme of the present invention, the alignment sensor is 5DOF sensors.
As the preferred scheme of the present invention, the alignment sensor quantity is 2.
Compared with prior art, beneficial effects of the present invention：
Make that sensor manufacturing process is simpler, cost of manufacture is lower, sensor mounting process is simpler.
Brief description of the drawings：
Fig. 1 is the detection method schematic diagram of the embodiment of the present application 1；
Fig. 2 is the conduit schematic diagram of the original state of the embodiment of the present application 1；
Fig. 3 is the postrotational conduit schematic diagram of conduit of the embodiment of the present application 1；
Fig. 4 is that the delta data of the embodiment of the present application 1 converts schematic diagram；
Fig. 5 is the step E of the embodiment of the present application 1 schematic diagram.
Marked in figure：1- bodys, 2- alignment sensors.
Embodiment
With reference to embodiment and embodiment, the present invention is described in further detail.But this should not be understood
Following embodiment is only limitted to for the scope of the above-mentioned theme of the present invention, it is all that this is belonged to based on the technology that present invention is realized
The scope of invention.
Embodiment 1
Such as Fig. 1, a kind of detection method of conduit direction of rotation, it is characterised in that step includes：
A, at least two axis of installation are not parallel to each other in conduit (conduit is for the ablation catheter in heart)
Alignment sensor 2 (alignment sensor 2 is magnetic position sensor, and is 5DOF sensors, and quantity is 2, described in 2
The axis angle of alignment sensor 2 is 5 °~175 °, and the angular relationship between two alignment sensors 2 keeps invariable),
The alignment sensor 2 is able to record that (data are comprised at least in 3 frees degree for the bearing data of alignment sensor 2 itself
Data, the position and direction of alignment sensor 2 can be represented), in the present embodiment, two alignment sensors 2 are named as sensing
Device A, sensor B；
B, the inceptive direction data of at least two alignment sensors 2 under original state (such as Fig. 2) are recorded, are designated as VA0
(xa0,ya0,za0)、VB0(xb0,yb0,zb0), preferably when conduit produces, inceptive direction number is recorded by a calibration process
According to；
C, after conduit rotation (such as Fig. 3), the first direction data of one of alignment sensor 2 under rotation status are recorded,
And (the first direction data and second direction data are the second direction data on other at least one alignment sensors 2
Real time sensor bearing data, it is designated as VA1 (xa1,ya1,za1)、VB1(xb1,yb1,zb1), it is assumed that by the rotation that X is sensors A
Axle, VA0 and VA1 are the front and rear bearing data of rotary shaft rotation), extract first direction data orientation sensing corresponding with its
The delta data of the inceptive direction data of device 2；
Specifically, the direction of rotation of conduit is caused to be detected, it is necessary to direction by the sensor B of a real-time transform
Data are compared with fixed sensor B bearing data, by some computings, can just detect the rotation side of conduit
To；
One moment can only obtain the bearing data of current sensors A and sensor B bearing data, due to sensor
A's is that direction is (i.e. the direction of rotary shaft is change) arbitrarily changed, directly using the direction of sensor B at different moments
It is infeasible that data, which are compared,；
So need to be applied to the direction change of sensors A in sensor B direction change so that current sensor
B bearing data is compared with relative to current sensor A fixed-direction all the time, obtains rotationally-varying position；
Pass through VA0 (xa0,ya0,za0)、VA1(xa1,ya1,za1) calculate VA0 to VA1 rotational transformation matrix, calculation
It is as follows：
1. calculate the rotary shaft Vr perpendicular to VA0, VA1：Vr=VA0 × VA1；
2. calculate VA0, VA1 angle
3. pass through angleMatrix M0 is calculated in rotary shaft Vr；
D, the inceptive direction data of alignment sensor 2 corresponding to the second direction data are entered by the delta data
Line translation, obtain third direction data VB0 ' (xb0’,yb0’,zb0’)；
Specifically, VB0 is obtained into VB0 ' by matrix M0；
Obtained VB0 ' can be construed to VA0 to VA1 X-axis change being applied to Y-axis (assuming that being sensor B rotation by Y
Rotating shaft) so that VB0 ' and VA1 relation and VB0 and VA0 relationship consistency；
As accompanying drawing 4 shows, as seen from the figure, VA0 changes to VA1, and the direction that VB0, which is original state, to be obtained, due to VA0 change
Change, VB0 loses comparative sense in contrast to obtaining VB1 afterwards, so using VA0 to VA1 change, VB0 is changed to VB1；
E, show that the angle that conduit rotates is (described by first direction data, second direction data and third direction data
First direction data, second direction data and third direction data comprise at least the location parameter in 3 frees degree)；
Specifically, according to VB0 ', VA1, VB1 three relation can with to schematic diagram as shown in Figure 5, VB0 ' with
VA1 angle is fixed, and can try to achieve Vt0 (Vt0 connects perpendicular to VA1 and with VB0 ')；VB1 and VA1 angle is fixed, and tries to achieve Vt1
(Vt1 connects perpendicular to VA1 and with VB1, and Vt0 and Vt1 connect on 1 point of VA1), then calculate the angle between Vt0, Vt1, i.e.,
The angle [alpha] of conduit rotation is tried to achieve, further according to some defined inceptive direction (any direction before conduit rotation, according to need
Ask selection), you can to conduit rotation direction.
The present embodiment also discloses a kind of conduit that can detect itself direction of rotation, and it includes：
Body 1；
Described alignment sensor 2 (alignment sensor 2 is 5DOF sensors and quantity is 2), the positioning pass
Sensor 2 is arranged on inside the conduit 1, and the axis of wherein at least two alignment sensor 2 is not parallel to each other, the orientation sensing
The supporting Magnetic oriented system of device 2, preferable Magnetic oriented system is Northern Digital Inc. companies in of the invention
Aurora systems, magnetic position sensor select the 5DOF sensors of Aurora system supports.
Claims (10)
1. a kind of detection method of conduit direction of rotation, it is characterised in that step includes：
The alignment sensor that at least two axis are not parallel to each other is installed in conduit, the alignment sensor is able to record positioning
The bearing data of sensor itself；
Record the inceptive direction data of at least two alignment sensors under original state；
Conduit rotation after, record rotation status under one of alignment sensor first direction data, and other at least one
Second direction data on individual alignment sensor, extract the initial side of first direction data alignment sensor corresponding with its
To the delta data of data；
The inceptive direction data of alignment sensor corresponding to the second direction data are entered line translation by the delta data,
Obtain third direction data；
The angle of conduit rotation is drawn by first direction data, second direction data and third direction data.
A kind of 2. detection method of conduit direction of rotation according to claim 1, it is characterised in that the alignment sensor
For magnetic position sensor.
A kind of 3. detection method of conduit direction of rotation according to claim 1, it is characterised in that the conduit be for
Ablation catheter in heart.
4. the detection method of a kind of conduit direction of rotation according to claim 1-3 any one, it is characterised in that described
First direction data, second direction data and third direction data comprise at least the location parameter in 3 frees degree.
A kind of 5. detection method of conduit direction of rotation according to claim 4, it is characterised in that the alignment sensor
Quantity is 2.
A kind of 6. detection method of conduit direction of rotation according to claim 5, it is characterised in that the alignment sensor
For 5DOF sensors.
7. the detection method of a kind of conduit direction of rotation according to claim 6, it is characterised in that 2 positioning pass
Sensor axis angle is 5 ° ~ 175 °.
A kind of 8. conduit that can detect itself direction of rotation, it is characterised in that including：
Body；
Alignment sensor described in claim 1-7 any one, the alignment sensor are arranged on the catheter interior, and its
In at least two alignment sensor axis be not parallel to each other.
9. the conduit according to claim 8 that itself direction of rotation can be detected, it is characterised in that the alignment sensor
For 5DOF sensors.
10. the conduit according to claim 9 that itself direction of rotation can be detected, it is characterised in that the orientation sensing
Device quantity is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769751.9A CN107773299B (en) | 2016-08-30 | 2016-08-30 | Method for detecting rotation direction of guide pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610769751.9A CN107773299B (en) | 2016-08-30 | 2016-08-30 | Method for detecting rotation direction of guide pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107773299A true CN107773299A (en) | 2018-03-09 |
| CN107773299B CN107773299B (en) | 2020-03-31 |
Family
ID=61440728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610769751.9A Active CN107773299B (en) | 2016-08-30 | 2016-08-30 | Method for detecting rotation direction of guide pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN107773299B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109568769A (en) * | 2017-09-28 | 2019-04-05 | 四川锦江电子科技有限公司 | A kind of method and apparatus for the detection of conduit direction of rotation |
| CN111001075A (en) * | 2019-12-24 | 2020-04-14 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
Citations (6)
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|---|---|---|---|---|
| CN101927053A (en) * | 2009-06-22 | 2010-12-29 | 韦伯斯特生物官能公司 | Catheter with obliquely-oriented coils |
| CN102892364A (en) * | 2009-10-06 | 2013-01-23 | 史密夫和内修有限公司 | Targeting orthopaedic device landmarks |
| CN103156598A (en) * | 2011-12-08 | 2013-06-19 | 韦伯斯特生物官能(以色列)有限公司 | Prevention of incorrect catheter rotation |
| CN103874525A (en) * | 2011-10-14 | 2014-06-18 | 直观外科手术操作公司 | Catheter systems |
| CN104023630A (en) * | 2011-12-30 | 2014-09-03 | 麦迪盖德有限公司 | Roll detection and six degrees of freedom sensor assembly |
| CN105616001A (en) * | 2014-11-03 | 2016-06-01 | 乐普（北京）医疗器械股份有限公司 | Electromagnetic positioning marking device as well as electromagnetic positioning system and method |
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2016
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101927053A (en) * | 2009-06-22 | 2010-12-29 | 韦伯斯特生物官能公司 | Catheter with obliquely-oriented coils |
| CN102892364A (en) * | 2009-10-06 | 2013-01-23 | 史密夫和内修有限公司 | Targeting orthopaedic device landmarks |
| CN103874525A (en) * | 2011-10-14 | 2014-06-18 | 直观外科手术操作公司 | Catheter systems |
| CN103156598A (en) * | 2011-12-08 | 2013-06-19 | 韦伯斯特生物官能(以色列)有限公司 | Prevention of incorrect catheter rotation |
| CN104023630A (en) * | 2011-12-30 | 2014-09-03 | 麦迪盖德有限公司 | Roll detection and six degrees of freedom sensor assembly |
| CN105616001A (en) * | 2014-11-03 | 2016-06-01 | 乐普（北京）医疗器械股份有限公司 | Electromagnetic positioning marking device as well as electromagnetic positioning system and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109568769A (en) * | 2017-09-28 | 2019-04-05 | 四川锦江电子科技有限公司 | A kind of method and apparatus for the detection of conduit direction of rotation |
| CN111001075A (en) * | 2019-12-24 | 2020-04-14 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
| 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 |
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| Publication number | Publication date |
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| CN107773299B (en) | 2020-03-31 |
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Address after: No. 5, Wuke East 3rd Road, Wuhou District, Chengdu, Sichuan 610000 Patentee after: Sichuan Jinjiang Electronic Medical Device Technology Co.,Ltd. Address before: No.5, Wuke East 3rd road, Wuhou Science Park, Chengdu hi tech Industrial Development Zone, Sichuan 610045 Patentee before: SICHUAN JINJIANG ELECTRONIC SCIENCE AND TECHNOLOGY Co.,Ltd. |
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