CN111513848B - Method and device for individually setting working magnetic field intensity and magnetic navigation system - Google Patents
Method and device for individually setting working magnetic field intensity and magnetic navigation system Download PDFInfo
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- CN111513848B CN111513848B CN202010346818.4A CN202010346818A CN111513848B CN 111513848 B CN111513848 B CN 111513848B CN 202010346818 A CN202010346818 A CN 202010346818A CN 111513848 B CN111513848 B CN 111513848B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
Abstract
The invention discloses a method and a device for individually setting working magnetic field intensity and a magnetic navigation system.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method and a device for individually setting working magnetic field intensity and a magnetic navigation system.
Background
The existing magnetic navigation equipment adopts a permanent magnet to construct a working magnetic field, so the magnetic field intensity is fixed, namely, the existing magnetic navigation equipment can only adopt the magnetic field with the same intensity to guide the treatment operation for all patients. However, since there is a difference in individual parameters between patients, which may affect the safety of the treatment when the field intensity is too high relative to the individual, and affect the near-term effect of the treatment when the field intensity is too low relative to the individual, there is a need for improvement in the method of using a fixed magnetic field intensity for all individuals.
Disclosure of Invention
The invention provides a method and a device for individually setting working magnetic field intensity and a magnetic navigation system, which aim to solve the problem that the magnetic navigation technology in the prior art can only adopt the same magnetic field intensity.
In a first aspect, the present invention provides a method for individually setting the operating magnetic field strength, the method comprising: measuring the working radius of the body to be measured; determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and the preset contact pressure; wherein, the working radius is the action radius of the working magnetic field intensity on the body to be measured.
Optionally, the determining the working magnetic field strength corresponding to the object to be measured according to the working radius and the preset contact pressure includes: based on the working radius and the preset contact pressure, determining the working magnetic field intensity corresponding to the object to be detected by searching a preset working radius-magnetic field intensity comparison table; and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
Optionally, the preset process of the preset working radius-magnetic field strength comparison table includes:
determining the working radius range of the object to be measured according to different objects to be measured, and setting the working radius increasing interval;
setting a contact pressure range and a contact pressure increasing interval;
respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations;
and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
Optionally, the determining the working radius of the object to be measured includes: and measuring the straight-line distance from the heart center point of the body to be measured to the outer edge of the left chest wall.
Optionally, the central point of the heart of the subject is 2cm away from the left edge of the fourth intercostal sternum.
In a second aspect, the present invention provides an apparatus for individually setting the intensity of an operating magnetic field, the apparatus comprising: the device comprises a testing unit, a detecting unit and a control unit, wherein the testing unit is used for determining the working radius of a body to be tested, and the working radius is the action radius of the working magnetic field intensity on the body to be tested; and the processing unit is used for determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and the preset contact pressure.
Optionally, the processing unit is further configured to determine, based on the working radius and the preset contact pressure, a working magnetic field strength corresponding to the object to be measured by looking up a preset working radius-magnetic field strength comparison table; and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
Optionally, the apparatus further comprises: the setting unit is used for determining the working radius range of the object to be measured according to different objects to be measured and setting the working radius increasing interval; setting a contact pressure range and a contact pressure increasing interval; respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations; and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
In a third aspect, the present invention provides a magnetic navigation system comprising means for individually setting the operating magnetic field strength as described in any one of the above.
In a fourth aspect, the present invention provides a computer-readable storage medium storing a signal-mapped computer program which, when executed by at least one processor, implements any one of the above-mentioned methods for individually setting an operating magnetic field strength.
The invention has the following beneficial effects:
the invention realizes the setting of the working magnetic field intensity based on an individual by detecting the working radius of the object to be detected and determining the corresponding working magnetic field intensity according to the working radius and the preset contact pressure, namely, the invention can set the working magnetic field intensity corresponding to the individual according to different individuals, thereby improving the safety of treatment and playing a great auxiliary role in the treatment.
Drawings
FIG. 1 is a schematic flow chart of a method for individually setting the intensity of an operating magnetic field according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an apparatus for individually setting working magnetic field strength according to a second embodiment of the present invention.
Detailed Description
The embodiment of the invention sets the working magnetic field intensity corresponding to the individual aiming at different individuals, and compared with the method that the existing magnetic navigation system can only adopt the magnetic field with the same intensity for all the objects to be detected, namely, the treated people or animals, the invention can greatly improve the treatment safety and plays a great auxiliary role in the treatment. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
A first embodiment of the invention provides a method for individually setting the operating magnetic field strength, which, with reference to fig. 1, comprises:
s101, measuring the working radius of a body to be measured;
it should be noted that the object to be measured according to the embodiment of the present invention is an object acted by a magnetic navigation system, and may be a human body or other various animal bodies.
The existing magnetic navigation system can only adopt magnetic fields with the same intensity for all objects to be measured, but the working radiuses of different objects to be measured are different, and the influence of the magnetic navigation system on the objects to be measured with different working radiuses is also different under the same working magnetic field intensity.
In specific implementation, in step S101 of the embodiment of the present invention, a working radius of the object to be measured is obtained by detecting a linear distance from a heart center point of the object to be measured to an outer side edge of the left chest wall, where in the embodiment of the present invention, the heart center point of the object to be measured is 2cm from a left edge of a fourth intercostal sternum.
Specifically, the embodiment of the invention obtains the working radius of the body to be measured by measuring the straight-line distance from the central point of the heart of different bodies to be measured, namely the left edge 2cm of the fourth intercostal sternum to the outer edge of the left chest wall, wherein the working radius is the unit of cm. Of course, the working radius may be defined and detected by other ways according to actual needs by those skilled in the art, and the present invention is not limited to this.
S102, determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and preset contact pressure;
in specific implementation, the embodiment of the invention can apply the working magnetic field strength to the body to be tested according to the determined working magnetic field strength to perform operations such as surgery and the like.
Namely, the working magnetic field intensity corresponding to the individual is set according to different individuals, so that the working magnetic field intensity is set individually, the treatment safety is improved finally, and a great auxiliary effect is achieved on the treatment.
It should be noted that the preset contact pressure in the embodiment of the present invention is the expected catheter contact force, the value of the preset contact pressure can be set empirically, and in the implementation, the value of the preset contact pressure can be selected from 5-20g from the safety point of view.
In a specific implementation, in the embodiment of the present invention, the determining the working magnetic field strength corresponding to the object to be measured according to the working radius and the preset contact pressure includes: based on the working radius and the preset contact pressure, determining the working magnetic field intensity corresponding to the object to be detected by searching a preset working radius-magnetic field intensity comparison table; and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
Specifically, for convenience of implementation, in the embodiment of the present invention, a large number of experiments are performed in advance to measure the working magnetic field strengths corresponding to different works and different contact pressures, and the working magnetic field strengths are stored in the preset working radius-magnetic field strength comparison table.
In the embodiment of the present invention, the method further includes a preset process of the working radius-magnetic field strength comparison table, where the preset process specifically includes:
determining the working radius range of the object to be measured according to different objects to be measured, and setting the working radius increasing interval;
setting a contact pressure range and a contact pressure increasing interval;
respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations;
and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
That is to say, in the embodiment of the present invention, first, the working radius range of the object to be measured needs to be determined according to different objects to be measured, the working radius increment interval is set, and the contact pressure range and the contact pressure increment interval are set;
in specific implementation, a person skilled in the art may finally obtain the working radius of the object to be tested according to a large number of actual tests, for example, the working radius range of the object to be tested may be set to 10-30cm, and in order to facilitate subsequent queries with as few missing points as possible, the working radius increment interval is set as small as possible, for example, the working radius increment interval may be set to 0.5mm or the like, that is, the working radius range is 10-30cm, and one test point is set at each interval of 0.5mm for testing.
From the safety point of view, the contact pressure range is set to be 5-20g in the embodiment of the present invention, however, in a specific implementation, a person skilled in the art may set other contact pressure ranges as needed, and in order to provide greater convenience for subsequent use, when setting the working radius-magnetic field strength comparison table, the present invention divides the contact pressure increment interval as detailed as possible, for example, the contact pressure increment interval is set to be 0.5g, that is, it is required to perform testing at every 0.5g point within 5g, 5.5g, 6g, 6.5g.
It should be noted that the working radius range, the working radius increment interval, the contact pressure range and the contact pressure increment interval of the embodiment of the present invention can be set according to actual situations.
And finally, testing the working magnetic field strength under different working radiuses and different contact pressures according to the working radius increment interval and the contact pressure increment interval, and storing the corresponding working radius, contact pressure and working magnetic field strength in the preset working radius-magnetic field strength comparison table.
That is, in the embodiment of the present invention, all the working radii and the contact pressures are sequentially paired one by one, and the working magnetic field strength is tested. And finally, the calculated corresponding relation is finally stored in a preset working radius-magnetic field intensity comparison table, the preset working radius-magnetic field intensity comparison table represents the one-to-one corresponding relation among the working radius, the contact pressure and the working magnetic field intensity, and a person skilled in the art can conveniently obtain the working magnetic field intensity corresponding to the individual through table lookup according to the working radius and the set contact pressure of different individuals.
Generally speaking, the core idea of the invention is to set up a comparison table of contact pressure-working radius-magnetic field strength, that is, the preset working radius-magnetic field strength comparison table, and through table lookup, the working magnetic field strength corresponding to the individual can be set up according to individual parameters of different individuals, that is, the working radius, and finally the working magnetic field strength corresponding to the individual can be set up based on the individual.
The method of the invention will be described in detail below by way of a specific example:
the method for individually setting the working magnetic field strength comprises the following steps:
step 1, detecting the working radius: the straight line distance from the center point of the heart (the left edge of the fourth intercostal sternum, 2cm) to the outer edge of the left chest wall of different patients was measured to obtain the working radius in cm.
Step 2, under experimental conditions, making a working radius-magnetic field intensity comparison table by using different contact pressures:
(1) determining the working radius range, changing the size of the saline bag, simulating the difference of the working radius of the human body, and simulating the variation density of 1 cm;
(2) adjusting the concentration of the saline bag to be close to the chest impedance average value of the body to be measured;
(3) placing an animal myocardial tissue specimen with preset size, volume and weight in a saline water bag, placing a pressure sensor behind the specimen, and detecting the contact pressure of a catheter positioned in front of the myocardial tissue specimen on the specimen;
(4) and respectively taking the contact pressure of 5g, 10g, 15g and 20g as expected values, gradually changing the working radius, recording the actual magnetic field intensity required after each change, and respectively obtaining a working radius-magnetic field intensity comparison table when the contact pressure of 5g, 10g, 15g and 20g is expected.
In the actual use process, the working radius of the current body to be measured needs to be measured in unit of centimeter, the expected contact pressure and unit of gram are set, the corresponding basic working field intensity is obtained by searching the comparison table according to the working radius and the contact force, and the basic magnetic field intensity is applied to the body to be measured.
For example, the following steps are carried out: through testing, the working radius of the magnetic field of the current body to be tested is measured to be 25cm, the expected contact pressure is set to be 20g, and the corresponding basic working field intensity is 870 gauss obtained by looking up a comparison table according to two parameters of the working radius and the contact force.
A second embodiment of the invention provides a device for individually setting the intensity of an operating magnetic field, see fig. 2, comprising: the device comprises a testing unit, a detecting unit and a control unit, wherein the testing unit is used for determining the working radius of a body to be tested, and the working radius is the action radius of the working magnetic field intensity on the body to be tested; and the processing unit is used for determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and the preset contact pressure.
Finally, the determined working magnetic field intensity is used as a basic magnetic field intensity and is applied to an object to be measured to perform operations such as surgery and the like.
It should be noted that the object to be measured according to the embodiment of the present invention is an object acted by a magnetic navigation system, and may be a human body or other various animal bodies. The predetermined contact pressure in the embodiment of the present invention is the expected catheter contact force.
The existing magnetic navigation system can only adopt magnetic fields with the same intensity for all objects to be measured, but the working radiuses of different objects to be measured are different, and the influence of the magnetic navigation system on the objects to be measured with different working radiuses is also different under the same working magnetic field intensity.
Generally speaking, the working magnetic field intensity corresponding to the individual is set according to different individuals, so that the working magnetic field intensity is set individually, the treatment safety is improved finally, and a great auxiliary effect is achieved on the treatment.
In a specific implementation, in the embodiment of the present invention, the processing unit is further configured to determine, based on the working radius and the preset contact pressure, a working magnetic field strength corresponding to the object to be measured by searching a preset working radius-magnetic field strength comparison table; and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
Specifically, for convenience of implementation, in the embodiment of the present invention, a large number of experiments are performed in advance to measure the working magnetic field strengths corresponding to different works and different contact pressures, and the working magnetic field strengths are stored in the preset working radius-magnetic field strength comparison table.
Further, the apparatus according to the embodiment of the present invention further includes: the setting unit is used for setting the working radius-magnetic field intensity comparison table. Specifically, the preset process of the setting unit on the working radius-magnetic field strength comparison table in the embodiment of the present invention includes: determining the working radius range of the object to be measured according to different objects to be measured, and setting the working radius increasing interval; setting a contact pressure range and a contact pressure increasing interval; respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations; and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
Specifically, the embodiment of the invention sequentially combines all the working radii and the contact pressure, and tests the working magnetic field intensity. And finally, the calculated corresponding relation is finally stored in a preset working radius-magnetic field intensity comparison table, the preset working radius-magnetic field intensity comparison table represents the one-to-one corresponding relation among the working radius, the contact pressure and the working magnetic field intensity, and a person skilled in the art can conveniently obtain the working magnetic field intensity corresponding to the individual through table lookup according to the working radius and the set contact pressure of different individuals.
Further, in an embodiment of the present invention, the testing unit is further configured to determine a linear distance from a center point of the heart of the subject to be tested to an outer edge of the left chest wall. And the central point of the heart of the body to be detected is 2cm away from the left edge of the fourth intercostal sternum.
Specifically, the embodiment of the invention obtains the working radius of the body to be measured by measuring the straight-line distance from the central point of the heart of different bodies to be measured, namely the left edge 2cm of the fourth intercostal sternum to the outer edge of the left chest wall, wherein the working radius is the unit of cm. Of course, the working radius may be defined and detected by other ways according to actual needs by those skilled in the art, and the present invention is not limited to this.
The relevant content of the embodiments of the present invention can be understood by referring to the first embodiment of the present invention, and will not be discussed in detail herein.
A third embodiment of the invention provides a magnetic navigation system comprising a device for individualized setting of operating magnetic field strength as described in any of the second embodiments of the invention.
The contents of the embodiments of the present invention can be understood by referring to the first and second embodiments of the present invention, and will not be discussed in detail herein.
A fourth embodiment of the invention provides a computer-readable storage medium having stored thereon a signal-mapped computer program which, when executed by at least one processor, carries out the method of individually setting an operating magnetic field strength as set forth in any one of the first embodiments of the invention.
The contents of the embodiments of the present invention can be understood by referring to the first and second embodiments of the present invention, and will not be discussed in detail herein.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (7)
1. A method for individually setting the intensity of an operating magnetic field for use in a magnetic navigation system, comprising:
measuring the working radius of the body to be measured;
determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and the preset contact pressure;
wherein the working radius is the acting radius of the working magnetic field intensity on the body to be measured;
the measuring of the working radius of the body to be measured comprises the following steps:
measuring the linear distance from the heart center point of the body to be measured to the outer edge of the left chest wall;
the determining the working magnetic field intensity corresponding to the object to be measured according to the working radius and the preset contact pressure comprises the following steps:
based on the working radius and the preset contact pressure, determining the working magnetic field intensity corresponding to the object to be detected by searching a preset working radius-magnetic field intensity comparison table;
and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
2. The method of claim 1, wherein the predetermined procedure of the predetermined working radius-magnetic field strength comparison table comprises:
determining the working radius range of the object to be measured according to different objects to be measured, and setting the working radius increasing interval;
setting a contact pressure range and a contact pressure increasing interval;
respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations;
and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
3. The method of claim 1,
the central point of the heart of the body to be detected is 2cm away from the left edge of the sternum between the fourth ribs.
4. An apparatus for individually setting an operating magnetic field strength, the apparatus being disposed on a magnetic navigation system, the apparatus comprising:
the device comprises a testing unit, a measuring unit and a control unit, wherein the testing unit is used for measuring the working radius of a body to be measured, in particular the linear distance from the heart center point of the body to be measured to the outer edge of the left chest wall, and the working radius is the action radius of the working magnetic field intensity on the body to be measured;
the processing unit is used for determining the working magnetic field intensity corresponding to the body to be measured according to the working radius and the preset contact pressure;
the processing unit is further used for determining the working magnetic field intensity corresponding to the object to be measured by searching a preset working radius-magnetic field intensity comparison table based on the working radius and the preset contact pressure; and working magnetic field strengths corresponding to different contact pressures and different working radii are stored in the preset working radius-magnetic field strength comparison table.
5. The apparatus of claim 4, further comprising:
the setting unit is used for determining the working radius range of the object to be measured according to different objects to be measured and setting the working radius increasing interval; setting a contact pressure range and a contact pressure increasing interval; respectively adjusting the working radius and the contact pressure according to the working radius increasing interval and the contact pressure increasing interval to obtain all different working radius and contact pressure combinations, and testing the working magnetic field intensity corresponding to the different working radius and different contact pressure combinations; and storing the corresponding working radius, the contact pressure and the working magnetic field intensity in the preset working radius-magnetic field intensity comparison table.
6. A magnetic navigation system, characterized in that it comprises a device for individualized setting of operating magnetic field strength according to any of claims 4-5.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program of signal mapping, which computer program, when being executed by at least one processor, is adapted to carry out the method of individualized setting of an operating magnetic field strength according to any one of claims 1-3.
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