CN107773299B - Method for detecting rotation direction of guide pipe - Google Patents
Method for detecting rotation direction of guide pipe Download PDFInfo
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- CN107773299B CN107773299B CN201610769751.9A CN201610769751A CN107773299B CN 107773299 B CN107773299 B CN 107773299B CN 201610769751 A CN201610769751 A CN 201610769751A CN 107773299 B CN107773299 B CN 107773299B
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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 invention relates to the field of ablation catheters, in particular to a method for detecting the rotation direction of a catheter, which comprises the following steps: A. installing at least two positioning sensors with axes which are not parallel to each other in the conduit; B. recording initial direction data of at least two positioning sensors in an initial state; C. recording first direction data of one positioning sensor in a rotating state and second direction data of other positioning sensors, and extracting change data of the first direction data and initial direction data of the corresponding positioning sensor; D. transforming the initial direction data of the positioning sensor corresponding to the second direction data through the change data to obtain third direction data; E. the invention aims to provide a method for detecting the rotation direction of a guide pipe, which has the advantages of simpler manufacturing process of a sensor, lower manufacturing cost and simpler installation process of the sensor, and also discloses a corresponding guide pipe structure.
Description
Technical Field
The invention relates to the field of ablation catheters, in particular to a method for detecting the rotation direction of a catheter.
Background
Cardiac arrhythmias are one of the common diseases in the world and radio frequency ablation using ablation catheters has been widely used to treat such diseases, with radio frequency energy being transmitted through the ablation catheter to the electrodes, the tissue with which the electrodes are in contact and the tissue surrounding the electrodes for ablation.
When the ablation catheter is used for treatment, the ablation catheter is inserted into a heart, and a working end of the ablation catheter is in contact with the inner wall of the heart, and in the process, the catheter needs to be positioned (not only in the heart-related field, but also in other catheter fields needing to be positioned, such as the kidney-related field and the lung-related field).
In catheter positioning applications, it is desirable to provide information on the rotational orientation of the catheter based on knowledge of the catheter position and orientation in order to further determine the direction in which the catheter bends. In a magnetic positioning system, a known forced CARTO system acquires position and direction information and rotation information at the same time by using 3 mutually perpendicular coils, but the process is complicated because the 3 mutually perpendicular coils are installed in a narrow space of a catheter tube body. The Aurora system of Northern Digital inc, while the 5DOF sensor used can only provide position and orientation information and cannot acquire rotation information, the 6DOF sensor used in the Aurora system can acquire the information, but the sensor process is complicated and the manufacturing cost is high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a method for detecting the rotation direction of a guide pipe, which has the advantages of simpler manufacturing process, lower manufacturing cost and simpler sensor installation process.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for detecting the rotation direction of a catheter comprises the following steps:
A. installing at least two positioning sensors with axes which are not parallel to each other in a conduit, wherein the positioning sensors can record the direction data of the positioning sensors;
B. recording initial direction data of at least two positioning sensors in an initial state;
C. after the catheter rotates, recording first direction data of one positioning sensor in a rotating state and second direction data on at least one other positioning sensor, and extracting change data of the first direction data and initial direction data of the corresponding positioning sensor;
D. transforming the initial direction data of the positioning sensor corresponding to the second direction data through the change data to obtain third direction data;
E. the angle of catheter rotation is derived from the first orientation data, the second orientation data, and the third orientation data.
The technical scheme is superior to the traditional method in that at least two positioning sensors are fixedly mounted on a catheter body, the axes of the two positioning sensors are not parallel to each other, the respective direction data of the two sensors are collected, the rotation degree of one of the two positioning sensors relative to the other is calculated, the rotation direction and the rotation angle of the catheter are further calculated, common positioning sensors (5DOF sensors, even 3DOF and 4DOF sensors) are adopted, and at least 2 positioning sensors can be used.
Compared with the prior art, the catheter rotation information acquisition method has the advantages that 2 positioning sensors can be used for acquiring the catheter rotation information, compared with a forced CARTO system which adopts 3 mutually perpendicular coils, the installation process in a narrow space of a catheter body is simpler, compared with an Aurora system of Northern Digital Inc., the catheter rotation information acquisition method can acquire the catheter rotation information without passing through a 6DOF sensor, and the sensor manufacturing process is simpler and the manufacturing cost is lower.
The method has the advantages that hardware coils are replaced, the acquisition of the rotating direction is realized through algorithm calculation, the technological requirements of the sensor are reduced, and the manufacturing cost is reduced.
As a preferable aspect of the present invention, the positioning sensor is a magnetic positioning sensor.
As a preferred aspect of the present invention, the catheter is an ablation catheter for use in the heart.
As a preferred embodiment of the present invention, the first direction data, the second direction data, and the third direction data each include at least position parameters in 3 degrees of freedom, the more degrees of freedom included, the more accurate the measured data, and the different sensors and the different costs are used.
As the preferable scheme of the invention, the number of the positioning sensors is 2, and the cost is saved under the condition of meeting the measurement requirement.
In a preferred embodiment of the present invention, the positioning sensor is a 5DOF sensor, and the manufacturing cost of the sensor is saved to the maximum extent while satisfying the measurement accuracy as much as possible.
As a preferable scheme of the invention, the included angle of the axes of the 2 positioning sensors is 5-175 degrees, and the measurement results of the 2 positioning sensors are more accurate in the range.
The present application also discloses a catheter capable of detecting a self rotation direction, which includes:
a pipe body;
the positioning sensor mounted inside the catheter and wherein at least two positioning sensor axes are not parallel to each other.
Compared with the existing conduit, the rotating angle of the conduit can be obtained by calculation under the condition that only two positioning sensors are used, so that the sensor installation process is simpler, and meanwhile, the sensor manufacturing process is simpler and the manufacturing cost is lower.
As a preferred aspect of the present invention, the positioning sensor is a 5DOF sensor.
As a preferable aspect of the present invention, the number of the positioning sensors is 2.
Compared with the prior art, the invention has the beneficial effects that:
the sensor manufacturing process is simpler, the manufacturing cost is lower, and the sensor installation process is simpler.
Description of the drawings:
FIG. 1 is a schematic view of the detection method of example 1 of the present application;
FIG. 2 is a schematic view of the catheter in an initial state according to example 1 of the present application;
FIG. 3 is a schematic view of a catheter rotated according to the embodiment 1 of the present application;
FIG. 4 is a schematic diagram of transformation data of embodiment 1 of the present application;
FIG. 5 is a schematic diagram of step E of example 1 of the present application.
The labels in the figure are: 1-tube body, 2-positioning sensor.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
Referring to fig. 1, a method for detecting a rotation direction of a catheter includes the steps of:
A. at least two positioning sensors 2 with non-parallel axes are arranged in a catheter (the catheter is an ablation catheter used in a heart), wherein the positioning sensors 2 are magnetic positioning sensors and are 5DOF sensors, the number of the positioning sensors 2 is 2, the included angle between the axes of the 2 positioning sensors is 5-175 degrees, and the angular relationship between the two positioning sensors 2 is kept constant, the positioning sensors 2 can record the direction data of the positioning sensors 2 (the data at least comprises data on 3 degrees of freedom and can represent the positions and the directions of the positioning sensors 2), and in the embodiment, the two positioning sensors 2 are named as a sensor A and a sensor B;
B. recording initial direction data of at least two positioning sensors 2 in an initial state (as shown in FIG. 2), and recording the initial direction data as VA0 (x)a0,ya0,za0)、VB0(xb0,yb0,zb0) Recording initial orientation data, preferably during catheter production, by a calibration procedure;
C. after the catheter is rotated (as shown in fig. 3), the first direction data of one of the positioning sensors 2 in the rotating state and the second direction data of the other at least one positioning sensor 2 are recorded (the first direction data and the second direction data are real-time sensor direction data and are marked as VA1 (x)a1,ya1,za1)、VB1(xb1,yb1,zb1) Assuming that X is the rotation axis of the sensor a and VA0 and VA1 are direction data before and after the rotation axis is rotated), extracting variation data of the first direction data and the initial direction data of the positioning sensor 2 corresponding thereto;
specifically, to detect the rotation direction of the catheter, the direction data of a sensor B that is changed in real time needs to be compared with the direction data of a fixed sensor B, and the rotation direction of the catheter can be detected through some operations;
the direction data of the sensor A and the direction data of the sensor B can be obtained only at one moment, and since the direction of the sensor A is randomly changed (namely the direction of the rotating shaft is changed), the direct use of the direction data of the sensor B at different moments for comparison is not feasible;
therefore, the direction change of the sensor a needs to be applied to the direction change of the sensor B, so that the current direction data of the sensor B is always compared with the fixed direction of the sensor a to obtain a rotation change position;
by VA0 (x)a0,ya0,za0)、VA1(xa1,ya1,za1) The rotational transformation matrix of VA0 to VA1 is calculated as follows:
1. calculating the rotation axis Vr perpendicular to VA0, VA 1: vr ═ VA0 × VA 1;
2. calculating the included angle between VA0 and VA1
3. Through an included angle
Calculating a rotation axis Vr to obtain a matrix M0;
D. the initial direction data of the position sensor 2 corresponding to the second direction data is converted into the change data to obtain third direction data VB 0' (x)b0’,yb0’,zb0’)；
Specifically, VB0 is processed through a matrix M0 to obtain VB 0';
the resulting VB0 'can be interpreted as applying the X-axis variation of VA0 to VA1 to the Y-axis (assuming that Y is the axis of rotation of sensor B) such that the VB 0' to VA1 relationship is consistent with the VB0 to VA0 relationship;
as shown in fig. 4, it can be seen that VA0 changes to VA1, and VB0 is the direction obtained from the initial state, and since VA0 changes, VB0 loses the comparative meaning compared with VB1 obtained later, so that VB0 changes to VB1 by using VA0 to VA 1;
E. deriving an angle of catheter rotation from the first, second and third orientation data (each comprising at least a positional parameter in 3 degrees of freedom);
specifically, according to the relationship between VB0 ', VA1 and VB1, as shown in fig. 5, the included angle between VB0 ' and VA1 is fixed, Vt0(Vt0 is perpendicular to VA1 and is connected with VB0 ') is obtained, the included angle between VB1 and VA1 is fixed, Vt1(Vt1 is perpendicular to VA1 and is connected with VB1, Vt0 is connected with Vt1 at one point of VA 1) is obtained, the included angle between Vt0 and Vt1 is calculated, the angle α of the rotation of the catheter is obtained, and the direction of the rotation of the catheter can be obtained according to a certain defined initial direction (any direction before the rotation of the catheter is selected according to requirements).
The present embodiment also discloses a catheter capable of detecting a rotation direction thereof, which includes:
a pipe body 1;
the positioning sensors 2 (the positioning sensors 2 are 5DOF sensors and the number of the positioning sensors 2 is 2), the positioning sensors 2 are arranged in the catheter 1, the axes of at least two positioning sensors 2 are not parallel to each other, the positioning sensors 2 are matched with a magnetic field positioning system, the preferred magnetic field positioning system in the invention is an Aurora system of Northern Digital Inc., and the magnetic positioning sensors are 5DOF sensors matched with the Aurora system.
Claims (7)
1. A method for detecting the rotation direction of a catheter is characterized by comprising the following steps:
installing at least two positioning sensors with axes which are not parallel to each other in a conduit, wherein the positioning sensors can record the direction data of the positioning sensors;
recording initial direction data of at least two positioning sensors in an initial state;
after the catheter rotates, recording first direction data of one positioning sensor in a rotating state and second direction data on at least one other positioning sensor, and extracting change data of the first direction data and initial direction data of the corresponding positioning sensor;
transforming the initial direction data of the positioning sensor corresponding to the second direction data through the change data to obtain third direction data;
the angle of catheter rotation is derived from the first orientation data, the second orientation data, and the third orientation data.
2. The method of claim 1, wherein the positioning sensor is a magnetic positioning sensor.
3. The method for detecting the rotation direction of a catheter according to claim 1, wherein the catheter is an ablation catheter used in the heart.
4. A method as claimed in any one of claims 1 to 3, wherein the first, second and third orientation data each include at least 3 degrees of freedom of position parameters.
5. The method as claimed in claim 4, wherein the number of the positioning sensors is 2.
6. The method of claim 5, wherein the positioning sensor is a 5DOF sensor.
7. The method as claimed in claim 6, wherein the included angle between the axes of the 2 positioning sensors is 5 ° to 175 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610769751.9A CN107773299B (en) | 2016-08-30 | 2016-08-30 | Method for detecting rotation direction of guide pipe |
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| CN201610769751.9A CN107773299B (en) | 2016-08-30 | 2016-08-30 | Method for detecting rotation direction of guide pipe |
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| CN107773299B true CN107773299B (en) | 2020-03-31 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
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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- 2016-08-30 CN CN201610769751.9A patent/CN107773299B/en active Active
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 |
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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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