CN109965875A - A kind of internal 3 D positioning system and method based on multiresolution mapping - Google Patents
A kind of internal 3 D positioning system and method based on multiresolution mapping Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/053—Measuring electrical impedance or conductance of a portion of the body
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- A—HUMAN NECESSITIES
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/053—Measuring electrical impedance or conductance of a portion of the body
- A61B5/0538—Measuring electrical impedance or conductance of a portion of the body invasively, e.g. using a catheter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
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- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/063—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using impedance measurements
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Abstract
The invention discloses the internal 3 D positioning system mapped based on multiresolution and methods, can be realized the real-time accurate positioning of internal conduit three-dimensional space position, have the characteristics that positioning accuracy is high, computational efficiency is high, real-time is good, at low cost.The system includes: multiple electrodes piece, excitation dispensing apparatus, magnetic field generator, multiple electric impedance sensors, multiple Magnetic Sensors, amplifier, controller and arithmetic processor；Wherein, controller is for controlling excitation dispensing apparatus and magnetic field generator according to the identical period and while generating excitation and magnetic field；Arithmetic processor carries out normalization for moving electrical impedance data collected in space to conduit, and it is based on magnetic field data, establishing has the magnetoelectricity mapping data of at least three resolution ratio to mapping table, by inquiring the corresponding mapping relations matrix of electrical impedance data in mapping table, to obtain corresponding magnetic coordinate data.
Description
Technical field
The present invention relates to internal three-dimensional localization techniques field more particularly to a kind of internal three-dimensionals based on multiresolution mapping
Positioning system and method.
Background technique
Currently, many medical devices are more or less directed in vivo place the implantation materials such as sensor, conduit, cooperate more
Angle CT acquires image to realize the three dimension location of implantation material.For example, existing electrical impedance positions (Electricity
Impedance Localization, EIL) in system, it can be by entering the conduit of patient's body and be attached to patient body-surface
The electric field formed between electrode slice acquires the electrical impedance between internal conduit and a certain electrode slice, and then passes through electrical impedance data
To solve catheter position coordinate.However, due in EIL system electrode slice granting motivate the electric field to be formed in the potential of distributed in three dimensions
Change of gradient is complicated, and it is lower directly to solve catheter position coordinate precision using the data of EIL system acquisition.
Existing magnetic field coordinate setting (Magnetic Field Localization, MFL) system is by using a large amount of magnetic
Sensor acquires the magnetic field coordinate of corresponding position, although solved catheter position coordinate can be improved to a certain extent
Accuracy, but cause cost excessively high due to needing to be arranged big quantity sensor, and need to carry out a large amount of magnetic field coordinate datas
Processing, Time Delay of Systems are larger.
Summary of the invention
An object of the present invention at least that, for how to overcome the above-mentioned problems of the prior art, provide one kind
Based on the internal 3 D positioning system and method for multiresolution mapping, the real-time essence of internal conduit three-dimensional space position can be realized
It determines position, has the characteristics that positioning accuracy is high, computational efficiency is high, real-time is good, at low cost.
To achieve the goals above, the technical solution adopted by the present invention includes following aspects.
A kind of internal 3 D positioning system based on multiresolution mapping comprising: dress is provided in multiple electrodes piece, excitation
It sets, magnetic field generator, multiple electric impedance sensors, multiple Magnetic Sensors, amplifier, controller and arithmetic processor；
Wherein, multiple electrodes piece is connect with excitation dispensing apparatus, for being attached to body surface；Excitation dispensing apparatus is for controlling
Under the control of device processed, multiple excitations are successively sent to electrode slice according to the period of setting；Magnetic field generator is arranged in vitro, is used for
Under the control of the controller, it is opened and closed according to the period of setting, to generate magnetic field in vivo；Controller is for controlling excitation
Dispensing apparatus and magnetic field generator according to the identical period and while generating excitation and magnetic field；
Multiple electric impedance sensor settings are on entering intracorporal conduit, for acquiring each electric impedance sensor and electrode
Resistance antinoise signal between piece；It is provided with Magnetic Sensor on the conduit of each electric impedance sensor same position, for acquiring
Magnetic field signal at moment identical as resistance antinoise signal and the same space position；Amplifier passes through sensor data cable and electricity respectively
Impedance transducer is connected with Magnetic Sensor, for amplifying to resistance antinoise signal and magnetic field signal, to obtain electrical impedance data
And magnetic field data；
Arithmetic processor carries out normalization for moving electrical impedance data collected in space to conduit, and is based on
Magnetic field data, establishing has the magnetoelectricity mapping data of at least three resolution ratio to mapping table, by mapping table
The corresponding mapping relations matrix of electrical impedance data is inquired, to obtain corresponding magnetic coordinate data.
It preferably, further comprise display, for showing the official's image and conduit of the internal device based on magnetic coordinate data
Position.
Preferably, a part in the multiple electrode slice is evenly distributed on body surface front, and another part is evenly distributed on
The body surface back side.
A kind of internal 3-D positioning method based on multiresolution mapping comprising:
By above-mentioned internal 3 D positioning system, according to the identical period and while excitation and magnetic field are generated；
Resistance antinoise signal and magnetic field signal are amplified, to obtain electrical impedance data and magnetic field data；To conduit in sky
Between middle movement electrical impedance data collected carry out normalization, and be based on magnetic field data, establishing has at least three resolution ratio
Magnetoelectricity mapping data to mapping table, pass through and inquire the corresponding mapping relations square of electrical impedance data in mapping table
Battle array, to obtain corresponding magnetic coordinate data.
Preferably, the magnetoelectricity mapping data established at least three resolution ratio include: to mapping table
The origin of EIL coordinate system and MGL coordinate system is determined respectively；Based at least three EIL coordinate system cell models
The magnetoelectricity mapping data for dividing corresponding at least three resolution ratio are enclosed to mapping table, and initialize magnetoelectricity mapping data pair
Value；
Data are mapped to mapping table for the magnetoelectricity of each resolution ratio, repeat following steps: movement is led
Pipe acquires magnetic field data and electrical impedance data in different times, by the magnetic field data of same time same position acquisition and returns
The one electrical impedance data composition magnetoelectricity changed maps data pair, maps data pair for every a pair of of magnetoelectricity, calculates magnetoelectricity and map data
To the index in mapping table；Magnetoelectricity mapping data pair and magnetoelectricity mapping data are calculated to the index bit in mapping table
Set the Minkowski Distance between the history magnetoelectricity mapping data pair at place；When the Minkowski Distance is greater than Minkowski
When distance threshold, by magnetoelectricity mapping data to write-in magnetoelectricity mapping data to the corresponding data of the index in mapping table
Column；Using the method for solving pseudo inverse matrix, index n is solvediThe mapping relations matrix of corresponding regionAnd by mapping relations square
Battle array write-in magnetoelectricity mapping data are to the corresponding rectangular array of the index in mapping table.
Preferably, the corresponding magnetic coordinate data of the acquisition include:
Normalization is carried out for electrical impedance data, obtains normalized electrical impedance data；Calculate normalized electrical impedance
Data map data to the index in mapping table in the magnetoelectricity of each resolution ratio；According to the sequence of resolution ratio from high to low according to
Secondary inquiry reflects each magnetoelectricity mapping data to mapping table, obtains the corresponding mapping relations matrix of the index；When the index pair
It is public by mapping according to normalized electrical impedance data and corresponding mapping relations matrix in the presence of the mapping relations matrix answered
Magnetic coordinate data in formula magnetic coordinate system；
Preferably, if the corresponding mapping relations matrix of the index is not present, the lower magnetoelectricity mapping number of resolution ratio is inquired
According to mapping table, to obtain corresponding mapping relations matrix.
Preferably, the magnetoelectricity mapping data that the front and back is inquired twice adjoin the resolution ratio of mapping table, to improve
The stability of query result.
Preferably, at least three resolution ratio includes: 5 × 5 × 5,15 × 15 × 15 and 50 × 50 × 50 3 points
Resolution.
Preferably, the normalization includes, according to formulaTo obtain normalized electrical impedance
Data Elei(xi,yi,zi), wherein EILA(x, y, z) and EILF(x, y, z) is is adopted by the opposite electrode slice of any two
The electrical impedance data of collection, R are regional scope coefficient.
In conclusion by adopting the above-described technical solution, the present invention at least has the advantages that
By the way that electric impedance sensor is arranged on the conduit that patient's body is placed, cooperation is attached to the electrode of patient body-surface
Piece can acquire the electrical impedance data of patient's body different location；Simultaneously by the way that magnetic is arranged on the conduit that patient's body is placed
Sensor cooperates field generator for magnetic, can acquire the magnetic field data of patient's body different location；It is based further on the more of foundation
Resolution ratio magnetoelectricity combination mapping table carries out location tracking, obtains the electrical impedance data of the corresponding acquisition of patient's body different spatial
With magnetic field data relationship, realize that in vivo three-dimensional space position is accurately positioned conduit in real time, due to accurate, efficient, steadily
Realize that EIL system to the Mapping and Converting of MGL system, can be realized in vivo the real-time of implantation catheter three-dimensional space position and accurately determine
Position has the characteristics that positioning accuracy is high, computational efficiency is high, real-time is good, at low cost.
Detailed description of the invention
Fig. 1 is the structural representation of the internal 3 D positioning system according to an embodiment of the present invention based on multiresolution mapping
Figure.
Fig. 2 is the sticking position front schematic view of electrode slice according to an embodiment of the present invention.
Fig. 3 is the sticking position schematic rear view of electrode slice according to an embodiment of the present invention.
Fig. 4 is magnetoelectricity mapping data according to an embodiment of the present invention of establishing to the flow diagram of mapping table.
Fig. 5 is the flow diagram according to an embodiment of the present invention for obtaining corresponding magnetic coordinate data.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be described in further detail, so that the purpose of the present invention, technology
Scheme and advantage are more clearly understood.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
The structure that Fig. 1 shows the internal 3 D positioning system according to an embodiment of the present invention based on multiresolution mapping is shown
It is intended to.The system of the embodiment includes: multiple electrodes piece, excitation dispensing apparatus, magnetic field generator, electric impedance sensor, magnetic biography
Sensor, amplifier, controller, arithmetic processor and display.
Wherein, multiple electrodes piece (A, B, C, D, E, F) is connect with excitation dispensing apparatus, for being attached to body surface；Electrode slice
Sticking position it is as shown in Figures 2 and 3, such as electrode slice A, E, D be evenly distributed on body surface front, electrode slice B, C, F uniformly divide
Cloth is at the body surface back side.
Motivate dispensing apparatus under the control of the controller, successively sending multiple excitations to electrode according to the period of setting
Piece (for example, successively provide and motivate according to excitation V1 > excitation V2 > excitation V3 sequence circulation)；Magnetic field generator is arranged in vitro,
For under the control of the controller, being opened and closed according to the period of setting, to generate magnetic field in vivo；Controller is for controlling
Excitation dispensing apparatus and magnetic field generator according to the identical period and while generating excitation and magnetic field；
Multiple electric impedance sensor settings are on entering intracorporal conduit, for acquiring each electric impedance sensor and electrode
Resistance antinoise signal between piece；Magnetic Sensor is set on the conduit of each electric impedance sensor same position, for acquire with
Magnetic field signal at resistance antinoise signal identical moment and the same space position；Amplifier passes through sensor data cable and resistance respectively
Anti- sensor is connected with Magnetic Sensor, for being amplified to resistance antinoise signal and magnetic field signal, with obtain electrical impedance data and
Magnetic field data；Arithmetic processor carries out normalization, and base for moving electrical impedance data collected in space to conduit
In magnetic field data, establishing has the magnetoelectricity mapping data of at least three resolution ratio to mapping table, by mapping table
The corresponding mapping relations matrix of middle inquiry electrical impedance data, to obtain corresponding magnetic coordinate data.Display is based on for showing
The official's image and catheter position of the internal device of magnetic coordinate data.
By the way that electric impedance sensor is arranged on the conduit that patient's body is placed, cooperation is attached to the electrode of patient body-surface
Piece can acquire the electrical impedance data of patient's body different location；Simultaneously by the way that magnetic is arranged on the conduit that patient's body is placed
Sensor cooperates field generator for magnetic, can acquire the magnetic field data of patient's body different location；It is based further on the more of foundation
Resolution ratio magnetoelectricity combination mapping table carries out location tracking, obtains the electrical impedance data of the corresponding acquisition of patient's body different spatial
With magnetic field data relationship, realize that in vivo three-dimensional space position is accurately positioned conduit in real time.
Fig. 4, which shows according to an embodiment of the present invention establish, has the magnetoelectricity mapping data of at least three resolution ratio to mapping
The process flow of relation table comprising following steps:
Step 401: determining the origin O of EIL coordinate system and MGL coordinate system respectivelyEle(x, y, z) and OMg(x,y,z)
For example, origin can be arbitrarily determined, but can also be according in magnetic field data and normalized electrical impedance data
Minimum value or maximum value determine, in order to intuitively embodying opposite positional relationship.
Step 402: the magnetoelectricity of corresponding at least three resolution ratio is divided based at least three EIL coordinate system range of cells
Data are mapped to mapping table, and initialize the value of magnetoelectricity mapping data pair
For example, EIL coordinate system range of cells 5 × 5 × 5 corresponds to low resolution, 15 × 15 × 15 correspond to middle resolution
Rate, 50 × 50 × 50 correspond to high-resolution mapping table, i.e., coordinate space will be divided into multiple numbers according to resolution ratio
Measure different area of space.
Data are mapped to mapping table for the magnetoelectricity of each resolution ratio, repeat following steps:
Step 403: mobile conduit acquires magnetic field data and electrical impedance data in different times, and the same time is same
The magnetic field data of station acquisition and normalized electrical impedance data composition magnetoelectricity map data pair, map number for every a pair of of magnetoelectricity
According to right, magnetoelectricity mapping data are calculated to the index n in mapping tablei
Step 404: calculating magnetoelectricity mapping data pair and magnetoelectricity maps data in mapping table at the index position
History magnetoelectricity maps the Minkowski Distance between data pair
Wherein, when first time executing step 404, magnetoelectricity map data in mapping table at the index position without going through
History data can map data pair as history magnetoelectricity using initialization value.But it is reflected executing step 405 and magnetoelectricity being written
When penetrating data pair and then secondary execution step 404, so that it may obtain corresponding history magnetoelectricity mapping data pair.
Step 405: when the Minkowski Distance is greater than Minkowski Distance threshold value, which being mapped into data pair
Magnetoelectricity mapping data are written to arrange the corresponding data of the index in mapping table
When the Minkowski Distance is less than or equal to Minkowski Distance threshold value, return step 403 is started to process
Next group of data.
Step 406: using the method for solving pseudo inverse matrix, solving index niThe mapping relations matrix of corresponding regionAnd
By mapping relations matrix write-in magnetoelectricity mapping data to the corresponding rectangular array of the index in mapping table
Wherein, parameter r indicates corresponding mapping table resolution ratio, such as 5 × 5 × 5 etc..If, can not under a resolution ratio
Mapping relations matrix is solved, then sets null value for the corresponding rectangular array of the index, that is, is not present.For each resolution ratio
Magnetoelectricity mapping data to mapping table through the above steps come be written data column and rectangular array, thus obtain at least three points
The magnetoelectricity mapping data of resolution are to mapping table.
Fig. 5 shows the inquiry electrical impedance data according to an embodiment of the present invention in mapping table to obtain corresponding magnetic
The process flow of coordinate data comprising following steps:
Step 501: normalization being carried out for electrical impedance data, obtains normalized electrical impedance data Elei(xi,yi,
zi)
With electrode slice A and F electrical impedance data EIL collectedA(x, y, z) and EILFFor (x, y, z), to electrical impedance number
According to normalization is carried out, normalized electrical impedance data is obtainedWherein, parameter R is regional scope
Coefficient (for example, maximum distance between two electrode slices).
Step 502: calculating normalized electrical impedance data in the magnetoelectricity mapping data of each resolution ratio to mapping table
In index
Step 503: successively being inquired according to the sequence of resolution ratio from high to low and reflect each magnetoelectricity mapping data to mapping relations
Table obtains the corresponding mapping relations matrix of the index
Step 504: in the presence of the corresponding mapping relations matrix of the index, according to normalized electrical impedance data and correspondence
Mapping relations matrix, pass through mapping equationCalculate the magnetic coordinate in the magnetic coordinate system under MGL system
Data
Wherein, if the corresponding mapping relations matrix of the index is not present, 503 are thened follow the steps, the low level-one of inquiry resolution ratio
Magnetoelectricity mapping data to mapping table, to obtain corresponding mapping relations matrix.By according to resolution ratio from high to low
Successively inquiry reflects each magnetoelectricity mapping data to mapping table to sequence, and the resolution ratio of mapping table that front and back is inquired twice is adjoined
Neighbour, to improve the stability of query result.
The above, the only detailed description of the specific embodiment of the invention, rather than limitation of the present invention.The relevant technologies
The technical staff in field is not in the case where departing from principle and range of the invention, various replacements, modification and the improvement made
It should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of internal 3 D positioning system based on multiresolution mapping, which is characterized in that the internal 3 D positioning system
Include: multiple electrodes piece, excitation dispensing apparatus, magnetic field generator, multiple electric impedance sensors, multiple Magnetic Sensors, amplifier,
Controller and arithmetic processor；
Wherein, multiple electrodes piece is connect with excitation dispensing apparatus, for being attached to body surface；Dispensing apparatus is motivated to be used in controller
Control under, successively send multiple excitations to electrode slice according to the period of setting；Magnetic field generator is arranged in vitro, for controlling
Under the control of device processed, opened and closed according to the period of setting, to generate magnetic field in vivo；Controller is provided for controlling excitation
Device and magnetic field generator according to the identical period and while generating excitation and magnetic field；
The setting of multiple electric impedance sensors on entering intracorporal conduit, for acquire each electric impedance sensor and electrode slice it
Between resistance antinoise signal；It is provided with Magnetic Sensor on the conduit of each electric impedance sensor same position, for acquiring and electricity
Impedance signal is mutually in the same time and the magnetic field signal at the same space position；Amplifier passes through sensor data cable and electrical impedance respectively
Sensor is connected with Magnetic Sensor, for amplifying to resistance antinoise signal and magnetic field signal, to obtain electrical impedance data and magnetic
Field data；
Arithmetic processor carries out normalization for moving electrical impedance data collected in space to conduit, and is based on magnetic field
Data, establishing has the magnetoelectricity mapping data of at least three resolution ratio to mapping table, by inquiring in mapping table
The corresponding mapping relations matrix of electrical impedance data, to obtain corresponding magnetic coordinate data.
2. internal 3 D positioning system according to claim 1, which is characterized in that further comprise display, for showing
Show the official's image and catheter position of the internal device based on magnetic coordinate data.
3. internal 3 D positioning system according to claim 1, which is characterized in that a part in the multiple electrode slice
It is evenly distributed on body surface front, another part is evenly distributed on the body surface back side.
4. a kind of internal 3-D positioning method based on multiresolution mapping, which is characterized in that the internal 3-D positioning method
Include:
By internal 3 D positioning system according to any one of claim 1 to 3, produce according to the identical period and simultaneously
Raw excitation and magnetic field；
Resistance antinoise signal and magnetic field signal are amplified, to obtain electrical impedance data and magnetic field data；In space to conduit
Mobile electrical impedance data collected carries out normalization, and is based on magnetic field data, establishes the magnetic at least three resolution ratio
Electricity mapping data are to mapping table, by inquiring the corresponding mapping relations matrix of electrical impedance data in mapping table, with
Obtain corresponding magnetic coordinate data.
5. internal 3-D positioning method according to claim 4, which is characterized in that described establish has at least three to differentiate
The magnetoelectricity of rate maps data
The origin of EIL coordinate system and MGL coordinate system is determined respectively；It is drawn based at least three EIL coordinate system range of cells
Divide the magnetoelectricity mapping data of corresponding at least three resolution ratio to mapping table, and initializes the value of magnetoelectricity mapping data pair；
Data are mapped to mapping table for the magnetoelectricity of each resolution ratio, repeat following steps: mobile conduit,
Different time acquisition magnetic field datas and electrical impedance data, by the magnetic field data of same time same position acquisition and normalized
Electrical impedance data forms magnetoelectricity and maps data pair, maps data pair for every a pair of of magnetoelectricity, calculates magnetoelectricity mapping data to reflecting
Penetrate the index in relation table；It calculates magnetoelectricity mapping data pair and magnetoelectricity maps data in mapping table at the index position
History magnetoelectricity maps the Minkowski Distance between data pair；When the Minkowski Distance is greater than Minkowski Distance threshold
When value, magnetoelectricity mapping data arrange the corresponding data of the index in mapping table write-in magnetoelectricity mapping data；Using
The method for solving pseudo inverse matrix solves index niThe mapping relations matrix of corresponding regionAnd magnetic is written into mapping relations matrix
Electricity mapping data are to the corresponding rectangular array of the index in mapping table.
6. internal 3-D positioning method according to claim 1, which is characterized in that described to obtain corresponding magnetic coordinate data
Include:
Normalization is carried out for electrical impedance data, obtains normalized electrical impedance data；Calculate normalized electrical impedance data
Data are mapped to the index in mapping table in the magnetoelectricity of each resolution ratio；It is successively looked into according to the sequence of resolution ratio from high to low
Inquiry reflects each magnetoelectricity mapping data to mapping table, obtains the corresponding mapping relations matrix of the index；When the index is corresponding
In the presence of mapping relations matrix, according to normalized electrical impedance data and corresponding mapping relations matrix, pass through mapping equation magnetic
Magnetic coordinate data in coordinate system.
7. internal 3-D positioning method according to claim 6, which is characterized in that if the corresponding mapping relations square of the index
Battle array is not present, then inquires the lower magnetoelectricity mapping data of resolution ratio to mapping table, to obtain corresponding mapping relations matrix.
8. internal 3-D positioning method according to claim 7, which is characterized in that the magnetoelectricity that the front and back is inquired twice reflects
It penetrates data to adjoin the resolution ratio of mapping table, to improve the stability of query result.
9. internal 3-D positioning method according to claim 4, which is characterized in that at least three resolution ratio includes: 5
× 5 × 5,15 × 15 × 15, and 50 × 50 × 50 3 resolution ratio.
10. internal 3-D positioning method according to claim 4, which is characterized in that the normalization includes, according to formulaTo obtain normalized electrical impedance data Elei(xi,yi,zi), wherein EILA(x, y, z) and EILF
(x, y, z) is by the opposite electrode slice of any two electrical impedance data collected, and R is regional scope coefficient.
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| CN113551675A (en) * | 2020-04-26 | 2021-10-26 | 四川锦江电子科技有限公司 | Method for improving impedance positioning navigation performance and detection system |
| CN113993476A (en) * | 2019-07-18 | 2022-01-28 | 圣犹达医疗用品心脏病学部门有限公司 | System and method for noise-tolerant cardiac positioning, navigation and mapping |
| WO2023029695A1 (en) * | 2021-08-31 | 2023-03-09 | 上海微创电生理医疗科技股份有限公司 | Positioning system, positioning method, interventional surgery system, electronic device and storage medium |
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| CN113993476A (en) * | 2019-07-18 | 2022-01-28 | 圣犹达医疗用品心脏病学部门有限公司 | System and method for noise-tolerant cardiac positioning, navigation and mapping |
| CN113551675A (en) * | 2020-04-26 | 2021-10-26 | 四川锦江电子科技有限公司 | Method for improving impedance positioning navigation performance and detection system |
| CN113551675B (en) * | 2020-04-26 | 2024-05-24 | 四川锦江电子医疗器械科技股份有限公司 | Method for improving impedance positioning navigation performance and detection system |
| WO2023029695A1 (en) * | 2021-08-31 | 2023-03-09 | 上海微创电生理医疗科技股份有限公司 | Positioning system, positioning method, interventional surgery system, electronic device and storage medium |
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