CN111345897B - Method and device for determining entrance and exit of catheter electrode into and out of sheath - Google Patents

Method and device for determining entrance and exit of catheter electrode into and out of sheath Download PDF

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CN111345897B
CN111345897B CN201811565036.9A CN201811565036A CN111345897B CN 111345897 B CN111345897 B CN 111345897B CN 201811565036 A CN201811565036 A CN 201811565036A CN 111345897 B CN111345897 B CN 111345897B
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electrode
sheath
catheter
coefficient
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CN111345897A (en
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邓立
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Sichuan Jinjiang Electronic Medical Device Technology Co ltd
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Sichuan Jinjiang Electronic Science and Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems

Abstract

The invention discloses a method and a device for determining that a catheter electrode enters a sheath and leaves the sheath in the field of magnetoelectric combined medical positioning navigation. The method comprises the following steps: 1. setting a discrimination model, wherein the model comprises form description parameters; 2. acquiring impedance coordinate data of the catheter electrode, and converting the impedance coordinate data into second morphological description parameters which can be identified by a discriminant model; 3. and comparing the shape description parameter with the second shape description parameter to judge whether the electrode enters the sheath state or leaves the sheath state. The method and the device realize the rapid identification of the entry sheath and the exit sheath of the in-vivo implanted catheter electrode, and have the characteristics of high accuracy, good real-time performance and self-learning self-adaption. The problem of poor modeling and mapping accuracy caused by the morphological distortion of the catheter can be effectively avoided, so that the judgment error of a doctor on a focus area is effectively avoided, and the accuracy of the treatment position of the doctor is improved.

Description

Method and device for determining entrance and exit of catheter electrode into and out of sheath
Technical Field
The invention relates to a magnetoelectricity combined medical positioning navigation method, in particular to a method and a device for determining that a catheter electrode enters a sheath and leaves the sheath.
Background
Currently, many three-dimensional medical positioning catheter devices place a catheter having multiple impedance collectors within a living body and determine the position of the catheter using electrical impedance positioning. In order to improve the supporting force of the operator for bending and rotating the catheter, a sheath tube is usually arranged outside the catheter. However, after the sheath is added, the impedance data acquired by the impedance acquisition unit of the same catheter electrode are obviously different in two states of being positioned in the sheath and being positioned outside the sheath, which causes inaccurate positioning of the catheter electrode and error in mapping, thereby causing the positioning error of an operator to a lesion position. Aiming at the problems, the impedance data collected by the electrode can be corrected only by identifying whether the catheter electrode is in or out of the sheath in real time, so that the impedance data collected by the electrode is not influenced by the sheath, and accurate positioning is realized.
Disclosure of Invention
It is an object of the present invention to overcome the above-mentioned deficiencies of the prior art and to provide a method and apparatus for determining the entry and exit of a catheter electrode into and out of a sheath.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method of determining entry and exit of a catheter electrode into and out of a sheath, the steps comprising:
and step S1, setting a discrimination model, wherein the discrimination model comprises morphological description parameters, and a data matrix and/or a threshold value of the morphological description parameters and the catheter electrode impedance coordinate data are related.
Step S2: catheter electrode impedance coordinate data is acquired and converted to second morphological descriptive parameters recognizable by the model.
Step S3: and comparing the shape description parameter with the second shape description parameter to judge whether the electrode enters the sheath state or leaves the sheath state.
The data matrix and/or threshold values of the correlation of the morphological description parameters and the catheter electrode impedance coordinate data of step S1 include: the device comprises an inter-electrode included angle parameter matrix, an included angle parameter range matrix, a relational expression matrix of included angle parameters and included angle parameter ranges, an inter-electrode distance parameter matrix, an electrode spacing range matrix, a relational expression matrix of inter-electrode distance parameters and electrode spacing ranges, a lower limit threshold of an angle coefficient, an upper limit threshold of the angle coefficient, a lower limit threshold of the distance coefficient and an upper limit threshold of the distance coefficient.
The second morphological description parameter in step S2 is an angle coefficient between the catheter electrodes and a distance coefficient between the catheter electrodes.
When the catheter is annular, the calculation formula of the included angle coefficient between the catheter electrodes is as follows:
Figure GDA0002776614460000021
wherein E isAngleIs the coefficient of the included angle between the electrodes of the catheter,
Figure GDA0002776614460000022
is the included angle coefficient of the electrode in the normal direction of the ring surface,
Figure GDA0002776614460000023
is the angle coefficient, omega, of the electrode in the vector direction of the ring handle0Is the parameter of the included angle between the ring surface and the ring handle
Figure GDA0002776614460000024
The corresponding angle correction coefficient is set to be,
Figure GDA0002776614460000025
is the coefficient of included angle of the electrode in the normal direction of the torus
Figure GDA0002776614460000026
The corresponding angle correction coefficient,
Figure GDA0002776614460000027
Is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure GDA0002776614460000028
Corresponding angle correction factor, omega0、
Figure GDA0002776614460000029
Is a parameter related to the position of the electrode. N is the number of electrodes on the ring surface.
The calculation formula of the distance coefficient between the catheter electrodes is as follows:
Figure GDA0002776614460000031
wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure GDA0002776614460000032
is a distance correction factor related to the catheter electrode position,
Figure GDA0002776614460000033
is the parameter of the distance between electrodes, N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
When the catheter is linear, the calculation formula of the included angle coefficient between the catheter electrodes is as follows:
Figure GDA0002776614460000034
wherein E isAngleIs a catheterThe coefficient of the included angle between the electrodes,
Figure GDA0002776614460000035
is the angle coefficient of the electrode in the vector direction of the head electrode,
Figure GDA0002776614460000036
is the angle coefficient, omega, of the electrode in the magnetic direction of the head0Is the parameter of the included angle between the vector of the head end electrode and the magnetic direction of the head end
Figure GDA0002776614460000037
The corresponding angle correction coefficient is set to be,
Figure GDA0002776614460000038
is the coefficient of the included angle between the electrode and the vector direction of the head electrode
Figure GDA0002776614460000039
The corresponding angle correction coefficient is set to be,
Figure GDA00027766144600000310
is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure GDA00027766144600000311
Corresponding angle correction factor, omega0、
Figure GDA00027766144600000312
Is a parameter related to the position of the electrode.
The calculation formula of the distance coefficient between the catheter electrodes is as follows:
Figure GDA00027766144600000313
wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure GDA00027766144600000314
is a distance related to the position of the catheter electrodeThe correction factor is a function of the number of pixels,
Figure GDA00027766144600000315
is the parameter of the distance between electrodes, N is the number of electrodes on the head end of the conduit, M is the number of electrodes on the tail end of the conduit, Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
Judging whether the electrode enters a sheath pipe state or leaves the sheath pipe state, adopting a non-manual judgment mode and a manual judgment mode, and directly outputting a recognition result in the non-manual judgment mode; and outputting an artificial identification result in an artificial identification mode, storing the current morphological description parameters to a learning sample set when the identification result of the identification model is inconsistent with the artificial identification result, self-learning the identification model, and updating the identification model.
Directly outputting the identification result in a non-manual discrimination mode, comprising the following steps:
step S11: the sheath-out state counting accumulated parameter and the sheath-in state counting accumulated parameter are set to be zero, and the default electrode is in a sheath-out state;
step S12: aiming at one of the electrodes, if the included angle coefficient between the electrodes is within the range of the angle coefficient threshold value and the distance coefficient between the electrodes is within the range of the distance coefficient threshold value, the electrode is in the sheath-out state, the counting accumulation parameter of the sheath-out state is added with 1, and the counting accumulation parameter of the sheath-in state is set to be 0; otherwise, the electrode is in a sheath entering state, the counting accumulation parameter of the sheath entering state is added with 1, and the counting accumulation parameter of the sheath exiting state is set to be 0;
step S13: sequentially judging the sheath-out or sheath-in state of each electrode on the catheter according to the step S12;
step S14: repeating the step S13 circularly until the sheath-out state counting accumulated parameter value or the sheath-in state counting accumulated parameter value is larger than or equal to the judgment parameter, the sheath-out state counting accumulated parameter value is larger than or equal to the judgment parameter, and outputting and storing the sheath-out state result; the sheath entering state counting accumulated parameter value is more than or equal to the judgment parameter, and a sheath entering state result is output and stored; and outputting the last state result in other cases.
The invention also discloses a device for determining the method for the catheter electrode to enter the sheath and leave the sheath, the control unit controls the excitation dispensing device to circularly and sequentially dispense excitation according to the sequence of the excitation source V1, the excitation source V2 and the excitation source V3, each impedance sensor on the catheter respectively collects impedance data between the impedance sensor and an electrode plate, the impedance data is amplified by the amplifier, the control unit controls the magnetic field generator to be turned on and off, and when the magnetic field generator is turned on, the magnetic sensor on the catheter collects magnetic coordinate data, the device is characterized by further comprising an arithmetic processor, the arithmetic processor is used for storing the magnetic coordinate data and the impedance data amplified by the amplifier and is used for processing the initialization of morphological description parameters, the calculation of the included angle coefficient between the catheter electrodes, the calculation of the distance coefficient between the catheter electrodes, the conversion of second-state description parameters, a non-artificial judgment mode and an artificial judgment mode, and judging whether the electrode enters the sheath tube state or leaves the sheath tube state.
Compared with the prior art, the invention has the beneficial effects that:
1. the in-vivo implanted catheter electrode can be rapidly recognized as entering and leaving the sheath, and the method has the characteristics of high accuracy, good real-time performance and self-learning self-adaption.
2. After the method and the device provided by the invention are adopted to determine the states of the catheter entering and exiting the sheath, the problem of poor modeling and mapping accuracy caused by the morphological distortion of the catheter can be effectively avoided, so that the judgment error of a doctor on a focus area is effectively avoided, and the accuracy of the treatment position of the doctor is improved.
Description of the drawings:
FIG. 1 is a flow chart of a method of determining entry and exit of a catheter electrode into and out of a sheath in accordance with the present invention;
FIG. 2 is a flow chart of determining whether the electrode enters the sheath or leaves the sheath in the non-manual determination mode;
FIG. 3 is a flow chart of determining whether the electrode enters the sheath or leaves the sheath in the manual determination mode;
FIG. 4 is a schematic view of a circular catheter of example 1 with all electrodes outside the sheath;
FIG. 5 is a schematic view of a first electrode of a circular catheter inside a sheath according to example 1 of the present invention;
FIG. 6 is a schematic view of a first and second electrode of a circular catheter within a sheath according to example 1 of the present invention;
FIG. 7 is a schematic view of the division of the head end and the tail end of a linear catheter in accordance with embodiment 2 of the present invention;
FIG. 8 is a schematic view of a linear catheter electrode outside a sheath according to example 2 of the present invention;
FIG. 9 is a schematic view of a first electrode at the trailing end of a linear catheter inside a sheath in accordance with embodiment 2 of the present invention;
FIG. 10 is a schematic view of the linear catheter with the tail electrode inside the sheath and the tip electrode outside the sheath according to embodiment 2 of the present invention;
fig. 11 is a schematic view of the first electrode at the tail end and the first electrode at the head end of the linear catheter in the sheath according to embodiment 2 of the present invention.
Fig. 12 is an illustration of an apparatus for determining the entry and exit of a catheter electrode into and out of a sheath in accordance with the present invention.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific 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
The first step, obtaining the initial parameters of the discriminant model in a supervised learning mode, including: the device comprises an inter-electrode included angle parameter matrix, an included angle parameter range matrix, a relational expression matrix of included angle parameters and included angle parameter ranges, inter-electrode distance parameters, an electrode distance range, a relational expression matrix of electrode distances and electrode distance ranges, a lower limit threshold of an angle coefficient, an upper limit threshold of the angle coefficient, a lower limit threshold of the distance coefficient and an upper limit threshold of the distance coefficient.
The initial parameters of the discriminant model can be extracted from default catheter configuration information, and can also be set by the catheter manufacturer according to the catheter shape and size information provided by the catheter manufacturer.
And secondly, inputting the impedance coordinate data of the catheter electrode, and converting the impedance coordinate data into morphological description parameters which can be identified by a discriminant model.
Fig. 4 is a schematic view of the circular catheter with all electrodes outside the sheath, fig. 5 is a schematic view of the circular catheter with the first electrode inside the sheath, and fig. 6 is a schematic view of the circular catheter with the first and second electrodes inside the sheath.
Annular catheter morphology description parameter calculation process:
(1) calculating the included angle parameter between the ring surface and the ring handle
Solving a normal vector of the ring surface:
Figure GDA0002776614460000071
and (3) solving the ring handle vector:
Figure GDA0002776614460000072
the included angle parameter between the ring surface and the ring handle is as follows:
Figure GDA0002776614460000073
wherein N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, and Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M.
(2) Calculating the included angle parameter between the electrodes
Figure GDA0002776614460000074
Figure GDA0002776614460000075
Wherein the content of the first and second substances,
Figure GDA0002776614460000076
is the included angle coefficient of the electrode in the normal direction of the ring surface,
Figure GDA0002776614460000077
is the angle coefficient of the electrode in the vector direction of the ring handle, N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, Pi(x, yz) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N.
(3) Calculating inter-electrode distance parameters
Figure GDA0002776614460000081
Wherein N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, and Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
Figure GDA0002776614460000082
The dimensional parameters between the ith electrode and the i +1 electrodes are set by the operator according to the parameters provided by the catheter manufacturer.
(4) Calculating the coefficient of included angle between catheter electrodes
Figure GDA0002776614460000083
Wherein E isAngleIs the coefficient of the included angle between the electrodes of the catheter,
Figure GDA0002776614460000084
is the included angle coefficient of the electrode in the normal direction of the ring surface,
Figure GDA0002776614460000085
is the angle coefficient, omega, of the electrode in the vector direction of the ring handle0Is the parameter of the included angle between the ring surface and the ring handle
Figure GDA0002776614460000086
The corresponding angle correction coefficient is set to be,
Figure GDA0002776614460000087
is the coefficient of included angle of the electrode in the normal direction of the torus
Figure GDA0002776614460000088
The corresponding angle correction coefficient,
Figure GDA0002776614460000089
Is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure GDA00027766144600000810
Corresponding angle correction factor, omega0、
Figure GDA00027766144600000811
Is a parameter related to the position of the electrode and is automatically configured by the system. N is the number of electrodes on the ring surface.
(5) Calculating the distance coefficient between the catheter electrodes
Figure GDA00027766144600000812
Wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure GDA00027766144600000813
is a distance correction coefficient related to the position of the catheter electrode, and is automatically configured by a system.
Figure GDA00027766144600000814
Is the parameter of the distance between electrodes, N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
And thirdly, judging whether the electrode enters a sheath pipe state or leaves the sheath pipe state in a non-manual judging mode and a manual judging mode respectively.
The discrimination model of the non-artificial discrimination mode is as follows:
RModel＝JudgeModel(EAngle，EDistance，nTimes) (9)
wherein Judggel model (E)Angle，EDistancenTimes) is a discriminant model function, and nTimes is a continuous in-and-out sheath state identification decision parameter.
And under the non-manual judging mode, judging whether the count of the electrodes continuously judged to be in the same state is larger than a threshold value, if the count value is smaller than or equal to the threshold value, reading and outputting a historical identification result, outputting the identification result, and storing the result as the historical identification result. The specific judging process is as follows:
step S301: outCount is a sheath-out state counting accumulation parameter, inCount is a sheath-in state counting accumulation parameter, outCount is set to be 0, inCount is set to be 0, and the historical identification result is set to be in a sheath-out state.
Step S302: minAngle and maxAngle are lower threshold and upper threshold of the angle coefficient; minDistance and maxDenstance are the lower threshold and the upper threshold of the distance coefficient. When minAngle < EAngle< maxAngle and minDistance < EDistanceIf the electrode is in the sheath-out state, the sheath-out state count is accumulated to be 1, namely outCount +1, and the sheath-in state count is set to be zero, namely inCount is set to be 0; otherwise, the electrode is in sheath-in state, the sheath-in state count is incremented by 1, i.e., inCount +1, and the sheath-out state count is set to zero, i.e., outCount is set to 0.
In step S303, the state of sheath exit or sheath entry is sequentially determined for each electrode on the catheter in accordance with step S32.
Step S304: repeating the third step, when the sheath-out state counting accumulation parameter outCount is larger than nTimes, outputting a sheath-out state result, and storing the result as a historical identification result; when the sheath entering state counting accumulation parameter inCount is larger than nTimes, outputting a sheath entering state identification result, and storing the result as a historical identification result; otherwise, the historical recognition result is output by default.
And in the manual distinguishing mode, preferentially outputting a manual distinguishing result, and adding the parameter into a learning sample set of the distinguishing model when the distinguishing result of the distinguishing model is inconsistent with the manual distinguishing result, so that the distinguishing model can learn by itself and update the parameters of the distinguishing model.
The discrimination model of the artificial discrimination mode is as follows:
RHuman＝HumanModel(EHuman，nTimes) (10)
wherein E isHumanThe nTimes is a continuous in-and-out sheath state identification judgment parameter for the state result of the sheath electrode entering or leaving the sheath identified by the operator operating the catheter according to the experience of the operator. And when the manual identification indicates that the number of times of the sheath exit or sheath entry state is greater than or equal to nTimes, outputting an operator identification result by the HumanModel function, and otherwise, outputting a historical identification result.
And when the identification result of the discrimination model is inconsistent with the manual identification result, storing the current form description parameters into a learning sample set, self-learning the discrimination model, and updating the discrimination model parameters.
The learning sample set parameters of the discriminant model refer to included angle parameters between catheter electrodes and distance parameters between the catheter electrodes.
The learning and updating process of the discriminant model comprises the following steps:
(1) the included angle parameters between the electrodes of the catheter are learned by updating the discriminant model, and the updating results are shown in formulas (11), (12) and (13).
Figure GDA0002776614460000101
Figure GDA0002776614460000111
Figure GDA0002776614460000112
Wherein, CAngleIs an inter-electrode included angle parameter matrix determined by impedance coordinates of the catheter electrodes;
RAnglethe included angle parameter range matrix obtained in the supervised classification learning mode is related to the shape and the size of the catheter. The form size is provided by a catheter manufacturer, an operator inputs the system, and the system automatically configures the model parameters.
FAngleThe relation matrix of the correlation between the included angle parameter obtained in the supervised classification learning mode and the included angle parameter range threshold is related to the shape and the size of the catheter. The form size is provided by a catheter manufacturer, an operator inputs the system, and the system automatically configures the model parameters.
Updating the threshold value of the included angle parameter range, wherein the updating result is shown in the formulas (14) and (15):
RAngle(j，1)＝fmin(CAngle(i，j)) (14)
RAngle(j，2)＝fmax(CAngle(i，j)) (15)
wherein R isAngle(j, 1) and RAngleAnd (j, 2) is the updated lower limit threshold and the upper limit threshold of the angle coefficient, j is more than or equal to 1 and less than or equal to k, and k is the number of samples in the learning sample set.
(2) The distance parameters between the electrodes of the catheter are learned by updating the discriminant model, and the updating results are shown in equations (16), (17) and (18).
Figure GDA0002776614460000121
Figure GDA0002776614460000122
Figure GDA0002776614460000123
Wherein, CDistanceIs an inter-electrode distance parameter determined by catheter electrode impedance coordinates.
RDistanceThe electrode spacing range obtained in the supervised classification learning mode is related to the shape and the size of the catheter. The form size is provided by a catheter manufacturer, an operator inputs the system, and the system automatically configures the model parameters.
FDistanceA relational expression matrix obtained in a supervised classification learning mode and related to the electrode distance and the electrode distance range threshold value and related to the shape and the size of the catheter. The form size is provided by a catheter manufacturer, an operator inputs the system, and the system automatically configures the model parameters.
The distance parameter range threshold is updated, and the updating results are shown in formulas (19) and (20):
RDistance(j，1)＝fmin(CDistance(i，j)) (19)
RDistance(j，2)＝fmax(CDistance(i，j)) (20)
wherein R isDistance(j, 1) and RDistanceAnd (j, 2) is the updated lower limit threshold and the upper limit threshold of the distance coefficient, j is more than or equal to 1 and less than or equal to k, and k is the number of samples in the learning sample set.
A device for determining the method of entering and leaving the sheath of the catheter electrode, as shown in figure 12, the control unit controls the excitation dispensing device to dispense the excitation according to the sequence of the excitation source V1, the excitation source V2 and the excitation source V3, each impedance sensor on the catheter collects the impedance data between the electrode plates, the impedance data is amplified by the amplifier, the control unit controls the magnetic field generator to be turned on and off, when turned on, the magnetic sensor on the catheter collects the magnetic coordinate data, the device is characterized in that the device also comprises an operation processor, the operation processor is used for storing the magnetic coordinate data and the impedance data amplified by the amplifier, and is used for processing the initialization of the morphological description parameters, the calculation of the included angle coefficient between the catheter electrodes, the calculation of the distance coefficient between the catheter electrodes, the conversion of the second morphological description parameters, the non-artificial distinguishing mode and the artificial distinguishing mode, and judging whether the electrode enters the sheath tube state or leaves the sheath tube state.
Example 2
The difference between embodiment 2 and embodiment 1 is that the catheter shape of embodiment 1 is a loop shape, and the catheter shape of embodiment 2 is a line shape, and the influence of this is that the specific calculation method of inputting the catheter electrode impedance coordinate data and converting it into a morphological description parameter recognizable by the discriminant model differs in step S2.
Fig. 8 is a schematic view of the electrodes of the linear catheter outside the sheath, fig. 9 is a schematic view of the first electrode at the tail end of the linear catheter inside the sheath, fig. 10 is a schematic view of the electrode at the tail end of the linear catheter inside the sheath and the electrode at the head end of the linear catheter outside the sheath, and fig. 11 is a schematic view of the electrode at the tail end of the linear catheter and the first electrode at the head end of the linear catheter inside the sheath.
The calculation process of the morphological description parameters of the linear catheter comprises the following steps:
(1) calculating included angle parameter between head end electrode and head end magnetic direction
The head electrode vector is shown in equation (21):
Figure GDA0002776614460000131
the head end magnetic direction vector is:
Figure GDA0002776614460000132
the real-time acquisition is obtained by a catheter head end magnetic sensor, as shown in fig. 7.
Calculating the included angle parameter between the head end electrode vector and the head end magnetic direction, wherein the result is shown in a formula (22):
Figure GDA0002776614460000133
the division of the head and tail of the catheter is shown in FIG. 7, where M is the number of electrodes on the head, N is the number of electrodes on the tail, and P isi(x, y, z) is the impedance coordinate of the ith electrode, and M +1 is more than or equal to i is more than or equal to M + N.
(2) Calculating the included angle parameter between the electrodes
Figure GDA0002776614460000141
Figure GDA0002776614460000142
Wherein the content of the first and second substances,
Figure GDA0002776614460000143
is the angle coefficient of the electrode in the vector direction of the head electrode,
Figure GDA0002776614460000144
is the angle coefficient of the electrodes in the magnetic direction of the head end, M is the number of electrodes on the head end, N is the number of electrodes on the tail end, Pi(x, y, z) is the impedance coordinate of the ith electrode, and M +1 is more than or equal to i is more than or equal to M + N.
(3) Calculating inter-electrode distance parameters
Figure GDA0002776614460000145
Wherein M is the number of electrodes at the head end, N is the number of electrodes at the tail end, Pi(x, y, z) is the impedance coordinate of the ith electrode, and M +1 is more than or equal to i is more than or equal to M + N.
Figure GDA0002776614460000146
The dimensional parameters between the ith electrode and the i +1 electrodes are set by the operator according to the parameters provided by the catheter manufacturer.
(4) Calculating the coefficient of included angle between catheter electrodes
Figure GDA0002776614460000147
Wherein E isAngleIs the coefficient of the included angle between the electrodes of the catheter,
Figure GDA0002776614460000148
is the angle coefficient of the electrode in the vector direction of the head electrode,
Figure GDA0002776614460000149
is the angle coefficient, omega, of the electrode in the magnetic direction of the head0Is the parameter of the included angle between the vector of the head end electrode and the magnetic direction of the head end
Figure GDA00027766144600001410
The corresponding angle correction coefficient is set to be,
Figure GDA00027766144600001411
is the coefficient of the included angle between the electrode and the vector direction of the head electrode
Figure GDA00027766144600001412
The corresponding angle correction coefficient is set to be,
Figure GDA00027766144600001413
is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure GDA00027766144600001414
Corresponding angle correction factor, omega0、
Figure GDA00027766144600001415
Is a parameter related to the position of the electrode and is automatically configured by the system.
(5) Calculating the distance coefficient between the catheter electrodes
Figure GDA00027766144600001416
Wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure GDA0002776614460000151
is a distance correction coefficient related to the position of the catheter electrode, is automatically configured by the system,
Figure GDA0002776614460000152
is the parameter of the distance between electrodes, N is the number of electrodes on the head end of the conduit, M is the number of electrodes on the tail end of the conduit, Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
Other steps in embodiment 2 are the same as those in embodiment 1, and are not described herein again.

Claims (6)

1. A method of determining entry and exit of a catheter electrode into and out of a sheath, the steps comprising:
step S1, setting a discrimination model, wherein the model comprises morphological description parameters, and the morphological description parameters and a data matrix and/or a threshold value associated with the catheter electrode impedance coordinate data;
step S2: acquiring catheter electrode impedance coordinate data and converting the data into second morphological descriptive parameters which can be identified by the model;
step S3: comparing the morphology description parameter with the second morphology description parameter to determine whether the electrode enters a sheath state or leaves the sheath state;
the data matrix and/or threshold value of the correlation between the morphological description parameter and the catheter electrode impedance coordinate data of step S1 includes: one or more of an inter-electrode included angle parameter matrix, an included angle parameter range matrix, a relational expression matrix of included angle parameters and included angle parameter ranges, an inter-electrode distance parameter matrix, an electrode spacing range matrix, a relational expression matrix of inter-electrode distance parameters and electrode spacing ranges, a lower limit threshold of an angle coefficient, an upper limit threshold of an angle coefficient, a lower limit threshold of a distance coefficient, and an upper limit threshold of a distance coefficient;
the second morphological description parameter of step S2 is an angle coefficient and a distance coefficient between the catheter electrodes.
2. The method of claim 1, wherein, when the catheter is annular,
the calculation formula of the included angle coefficient between the catheter electrodes is as follows:
Figure FDA0002776614450000011
wherein E isAngleIs the coefficient of the included angle between the electrodes of the catheter,
Figure FDA0002776614450000012
is the included angle coefficient of the electrode in the normal direction of the ring surface,
Figure FDA0002776614450000013
is the angle coefficient, omega, of the electrode in the vector direction of the ring handle0Is the parameter of the included angle between the ring surface and the ring handle
Figure FDA0002776614450000014
The corresponding angle correction coefficient is set to be,
Figure FDA0002776614450000015
is the coefficient of included angle of the electrode in the normal direction of the torus
Figure FDA0002776614450000016
The corresponding angle correction coefficient is set to be,
Figure FDA0002776614450000017
is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure FDA0002776614450000018
Corresponding angle correction factor, omega0、
Figure FDA0002776614450000019
Is a parameter related to the position of the electrode, and N is the number of electrodes on the ring surface;
the calculation formula of the distance coefficient between the catheter electrodes is as follows:
Figure FDA00027766144500000110
wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure FDA00027766144500000111
is a distance correction factor related to the catheter electrode position,
Figure FDA00027766144500000112
is the parameter of the distance between electrodes, N is the number of electrodes on the ring surface, M is the number of electrodes on the ring handle, Pi(x, y, z) is the impedance coordinate of the ith electrode, i is not less than i and not more than N + M-1.
3. The method of claim 1, wherein the step of determining when the catheter electrode enters the sheath and exits the sheath comprises, when the catheter is linear,
the calculation formula of the included angle coefficient between the catheter electrodes is as follows:
Figure FDA0002776614450000021
wherein E isAngleIs the coefficient of the included angle between the electrodes of the catheter,
Figure FDA0002776614450000022
is the angle coefficient of the electrode in the vector direction of the head electrode,
Figure FDA0002776614450000023
is the angle coefficient, omega, of the electrode in the magnetic direction of the head0Is the parameter of the included angle between the vector of the head end electrode and the magnetic direction of the head end
Figure FDA0002776614450000024
The corresponding angle correction coefficient is set to be,
Figure FDA0002776614450000025
is the coefficient of the included angle between the electrode and the vector direction of the head electrode
Figure FDA0002776614450000026
The corresponding angle correction coefficient is set to be,
Figure FDA0002776614450000027
is the coefficient of the included angle between the electrode and the annular handle in the vector direction
Figure FDA0002776614450000028
Corresponding angle correction factor, omega0、
Figure FDA0002776614450000029
Is a parameter related to the electrode position;
the calculation formula of the distance coefficient between the catheter electrodes is as follows:
Figure FDA00027766144500000210
wherein E isDistanceIs the coefficient of the distance between the catheter electrodes,
Figure FDA00027766144500000211
is a distance correction factor related to the catheter electrode position,
Figure FDA00027766144500000212
is the parameter of the distance between electrodes, N is the number of electrodes on the head end of the conduit, M is the number of electrodes on the tail end of the conduit, Pi(x, y, z) is the impedance coordinate of the ith electrode, and i is more than or equal to 1 and less than or equal to N + M < -1 >.
4. The method of claim 1, wherein said determining whether the electrode enters the sheath or leaves the sheath uses a non-manual discrimination mode and a manual discrimination mode, and the recognition result is directly outputted in the non-manual discrimination mode; and outputting an artificial identification result in the artificial identification mode, storing the current morphological description parameters to a learning sample set when the identification result of the identification model is inconsistent with the artificial identification result, self-learning the identification model, and updating the identification model.
5. The method of claim 4, wherein the step of directly outputting the recognition result in the non-manual discrimination mode comprises:
step S11: the sheath-out state counting accumulated parameter and the sheath-in state counting accumulated parameter are set to be zero, and the default electrode is in a sheath-out state;
step S12: aiming at one of the electrodes, if the included angle coefficient between the electrodes is within the range of the angle coefficient threshold value and the distance coefficient between the electrodes is within the range of the distance coefficient threshold value, the electrode is in the sheath-out state, the counting accumulation parameter of the sheath-out state is added with 1, and the counting accumulation parameter of the sheath-in state is set to be 0; otherwise, the electrode is in a sheath entering state, the counting accumulation parameter of the sheath entering state is added with 1, and the counting accumulation parameter of the sheath exiting state is set to be 0;
step S13: sequentially judging the sheath-out or sheath-in state of each electrode on the catheter according to the step S12;
step S14: repeating the step S13 circularly until the sheath-out state counting accumulated parameter value or the sheath-in state counting accumulated parameter value is larger than or equal to the judgment parameter, the sheath-out state counting accumulated parameter value is larger than or equal to the judgment parameter, and outputting and storing the sheath-out state result; the sheath entering state counting accumulated parameter value is more than or equal to the judgment parameter, and a sheath entering state result is output and stored; and outputting the last state result in other cases.
6. An apparatus for performing the method of any one of claims 1-5 for determining the entry and exit of the catheter-electrode into and from the sheath, wherein the control unit controls the excitation-delivering device to sequentially deliver the excitation according to the sequential cycle of the excitation source V1, the excitation source V2, and the excitation source V3, the impedance sensors on the catheter respectively collect the impedance data between the impedance sensors and the electrode plates, the impedance data are amplified by the amplifier, and the control unit controls the magnetic field generator to turn on and off, and when the magnetic field generator is turned on, the magnetic sensors on the catheter collect the magnetic coordinate data, and the apparatus further comprises an operation processor for storing the magnetic coordinate data and the impedance data amplified by the amplifier, and for processing the initialization of the morphological description parameters, the calculation of the angle coefficient between the catheter-electrodes, the calculation of the distance coefficient between the catheter-electrodes, the, And under the conversion of the second form description parameters, the non-manual judgment mode and the manual judgment mode, judging whether the electrode enters the sheath tube state or leaves the sheath tube state.
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