CN112928831A

CN112928831A - Positioning method, device and system for guiding charging of implantable closed-loop system

Info

Publication number: CN112928831A
Application number: CN202110190609.XA
Authority: CN
Inventors: 王伟; 周华明; 陈新蕾; 曹鹏
Original assignee: Hangzhou Nuowei Medical Technology Co ltd
Current assignee: Hangzhou Nuowei Medical Technology Co ltd
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-06-08
Anticipated expiration: 2041-02-05
Also published as: CN112928831B

Abstract

One or more embodiments of the present specification disclose a positioning method, apparatus and system for guiding charging of an implanted closed-loop system, the method comprising: after the in-vitro equipment is close to the organism and can provide voltage for the implanted equipment in the organism, coupling voltage and current fed back by the implanted equipment in the sliding process of the in-vitro equipment and acceleration information are obtained in real time; calculating the coupling efficiency variation based on a preset coil coupling model and the obtained coupling voltage and current; determining a distance between the extracorporeal device and a target coupling location according to an optimization method; based on the determined distance, in conjunction with the acceleration information, direct the implantable device to slide to a target coupling location to charge the implantable device. Therefore, inaccurate positioning caused by a manual trial searching mode in the prior art is avoided, the scheme can improve the guiding and positioning accuracy and improve the charging efficiency.

Description

Positioning method, device and system for guiding charging of implantable closed-loop system

Technical Field

The present invention relates to the technical field of medical devices, and in particular, to a positioning method, device, and system for guiding charging of an implantable closed-loop system.

Background

Currently, Implantable Medical Devices (IMDs) have a very high popularity, and many Implantable devices need to be charged regularly after a certain period of time after being implanted in a living body to maintain normal functions.

However, the implantation position of the conventional implantable device is not exposed, and the charging position is often inaccurately positioned due to the ambiguous implantation position or the non-planar implant during charging, so that the charging efficiency cannot be ensured.

Disclosure of Invention

One or more embodiments of the present disclosure provide a positioning method, an apparatus, and a system for guiding charging of an implanted closed-loop system, so as to accurately position a target coupling location for charging, thereby improving charging efficiency.

To solve the above technical problem, one or more embodiments of the present specification are implemented as follows:

in a first aspect, a positioning method for guiding charging of an implantable closed-loop system is provided, which is applied in an implantable closed-loop self-responsive stimulation system including at least an implantable device and an extracorporeal device, and includes:

after the in-vitro equipment is close to the organism and can provide voltage for the implanted equipment in the organism, coupling voltage and current fed back by the implanted equipment in the sliding process of the in-vitro equipment and acceleration information are obtained in real time;

calculating the coupling efficiency variation based on a preset coil coupling model and the obtained coupling voltage and current;

determining a distance between the extracorporeal device and a target coupling location according to an optimization method;

based on the determined distance, in conjunction with the acceleration information, direct the implantable device to slide to a target coupling location to charge the implantable device.

In a second aspect, a positioning apparatus for guiding charging of an implantable closed-loop system is provided, including:

the acquisition module is used for acquiring coupling voltage and current fed back by the implantable equipment in the sliding process of the external equipment in real time and acceleration information after the external equipment is close to an organism and can provide voltage for the implantable equipment in the organism;

the calculation module is used for calculating the coupling efficiency variation quantity based on a preset coil coupling model and the acquired coupling voltage and current;

a determining module for determining a distance between the extracorporeal device and a target coupling location according to an optimization method;

a guiding module, configured to guide the implantable device to slide to a target coupling location to charge the implantable device based on the determined distance in combination with the acceleration information.

In a third aspect, an implantable closed-loop self-response stimulation system is provided, which comprises the positioning device for guiding the charging of the implantable closed-loop system.

As can be seen from the technical solutions provided in one or more embodiments of the present specification, a coupling efficiency variation can be determined based on a preset coil coupling model and a currently obtained coupling current, a sliding path is further determined according to an optimization method and acceleration information, and the implanted device is guided to slide to a target coupling position to charge the implanted device, so that positioning inaccuracy caused by a manual trial search method in the prior art is avoided, the guiding and positioning accuracy can be improved, and the charging efficiency can be improved.

Drawings

In order to more clearly illustrate one or more embodiments or prior art solutions of the present specification, reference will now be made briefly to the attached drawings, which are needed in the description of one or more embodiments or prior art, and it should be apparent that the drawings in the description below are only some of the embodiments described in the specification, and that other drawings may be obtained by those skilled in the art without inventive exercise.

Fig. 1 is a schematic diagram illustrating steps of a positioning method for guiding charging of an implanted closed-loop system according to an embodiment of the present disclosure.

Fig. 2 is a schematic structural diagram of a positioning apparatus for guiding charging of an implantable closed-loop system provided in an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of an implantable closed-loop self-response stimulation system provided in an embodiment of the present specification.

Fig. 4 is a schematic structural diagram of an electronic device provided in an embodiment of the present specification.

Detailed Description

In order to make the technical solutions in the present specification better understood, the technical solutions in one or more embodiments of the present specification will be clearly and completely described below with reference to the accompanying drawings in one or more embodiments of the present specification, and it is obvious that the one or more embodiments described are only a part of the embodiments of the present specification, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from one or more of the embodiments described herein without making any inventive step shall fall within the scope of protection of this document.

Example one

Referring to fig. 1, a positioning method for guiding charging of an implantable closed-loop system provided in an embodiment of the present disclosure is applied to an implantable closed-loop self-responsive stimulation system including at least an implantable device and an extracorporeal device, and the positioning method includes:

step 102: after the external equipment is close to the organism and can provide voltage for the implanted equipment in the organism, the coupling voltage and current fed back by the implanted equipment in the sliding process of the external equipment and acceleration information are obtained in real time.

When the distance reaches the chargeable range when the extracorporeal device is close to the organism, the extracorporeal device can provide voltage for the implantable device in the body, so that the implantable device is charged. It will be appreciated that charging is most often not optimal because the extracorporeal device is not closest to the implantable device, charging is inefficient and time consuming.

Although the optimal charging position is not provided, the implantable device may be powered by the extracorporeal device, and the coupling voltage and current fed back by the implantable device receiving the voltage provided by the extracorporeal device may be obtained in real time during the process of the extracorporeal device sliding to find the optimal charging position, i.e., the target coupling position. At the same time, at each position where the coupling voltage and current are acquired, acceleration information is also acquired.

It will be appreciated that in embodiments of the present description, a three-axis accelerometer is also provided in the extracorporeal device for recording acceleration components in three axial directions at each location. Therefore, the moving direction of the extracorporeal device can be accurately and effectively determined.

Step 104: and calculating the coupling efficiency variable quantity based on a preset coil coupling model and the acquired coupling voltage and current.

Optionally, in this embodiment of the present specification, the preset coil coupling model may be established by:

the first step, determining the implantation position when the implantable device is implanted in a living body;

secondly, acquiring coupling voltage and current fed back by the implanted equipment at different positions and a path between each position and the implanted position in real time in a distance section between the implanted position and the close position;

and thirdly, establishing a coil coupling model according to the voltage and the path obtained by converting the coupling voltage and the current.

In fact, the establishment time of the preset coil coupling model may be established in advance before positioning, or may be determined after positioning starts. The examples in this specification do not limit this.

Further, in this embodiment of the present specification, the step 104, when calculating the coupling efficiency variation based on the preset coil coupling model and the obtained coupling voltage and current, may specifically be performed as:

and substituting the obtained coupling current into the preset coil coupling model, and calculating the variation of the coupling efficiency variation in each axial direction.

The preset coil coupling model may be a coil coupling voltage space model, and a relationship graph between voltage and displacement is shown in the model, where the displacement may be an abscissa and the voltage may be an ordinate, so that a hill-shaped coordinate graph may be obtained, and the voltage increases with the decrease of the displacement (the displacement herein is understood as the displacement of the position of the extracorporeal device from the target coupling position). When the extracorporeal device slides, the variation of the coupling efficiency variation in each direction is calculated, and assuming xyz three axes as an example, Δ X ═ is (Ix2-Ix1)/(X2-X1), Δ y ═ is (Iy2-Iy1)/(y2-y1), and Δ z ═ is (Iz2-Iz1)/(z2-z 1). Where I denotes a coupling current, and xyz denotes the distance of different components, respectively.

Step 106: determining a distance between the extracorporeal device and a target coupling location according to an optimization method.

In the embodiments of the present specification, the optimization method includes at least: gradient descent method, simulated annealing method, genetic algorithm, ant colony algorithm and particle swarm algorithm.

Based on the determined coupling efficiency variation, the efficiency is approximated to the optimum by adopting a selected optimization method, and the optimum distance component in the optimum coupling efficiency can be obtained, so that the optimum distance can be obtained by combination.

Step 108: based on the determined distance, in conjunction with the acceleration information, direct the implantable device to slide to a target coupling location to charge the implantable device.

Optionally, the acceleration information includes three-dimensional acceleration component information; when step 108 is to guide the implantable device to slide to the target coupling position to charge the implantable device based on the determined distance and the acceleration information, the method specifically includes:

determining a sliding path based on the determined distance by combining the acceleration component information of the three dimensions;

and guiding the implantable device to slide to the target coupling position according to the determined sliding path so as to charge the implantable device.

After the distance and the acceleration component information are determined, the size and the direction of the path are determined, and then the sliding path is determined. And then guiding the implantable device to slide to the target coupling position according to the determined sliding path so as to charge the implantable device.

Through the technical scheme, the coupling efficiency variation can be determined based on the preset coil coupling model and the currently acquired coupling voltage and current, the sliding path is further determined according to the optimization method and the acceleration information, and the implanted device is guided to slide to the target coupling position to charge the implanted device, so that the inaccuracy of positioning caused by the mode of manual trial searching in the prior art is avoided, the guiding and positioning accuracy can be improved, and the charging efficiency is improved.

An optimal design scheme, external equipment can suspend the setting on head-mounted equipment, and this head-mounted equipment can be similar helmet or headgear, and external equipment can charge to implanted equipment according to the slip path automatic sliding that confirms to target coupling position to, avoid artifical the participation, promote the guide positioning accuracy further.

Example two

Referring to fig. 2, a positioning apparatus 200 for guiding charging of an implantable closed-loop system provided in an embodiment of the present disclosure may include:

the acquiring module 202 is configured to acquire, in real time, coupling voltage and current fed back by an implantable device during sliding of the external device, and acceleration information after the external device is close to a living body and is capable of providing voltage to the implantable device inside the body;

a calculating module 204, configured to calculate a coupling efficiency variation based on a preset coil coupling model and the obtained coupling voltage and current;

a determining module 206 for determining a distance between the extracorporeal device and a target coupling location according to an optimization method;

a guiding module 208 configured to guide the implantable device to slide to a target coupling position to charge the implantable device based on the determined distance in combination with the acceleration information.

Optionally, as an embodiment, the preset coil coupling model is established by:

determining an implantation location when the implantable device is implanted within the organism;

acquiring coupling voltage and current fed back by implantable equipment at different positions and a path between each position and the implanted position in real time in a distance section between the implanted position and the close position;

and establishing a coil coupling model according to the voltage and the path obtained by converting the coupling voltage and the current.

In a specific implementation manner of the embodiment of the present specification, when the calculating module calculates the coupling efficiency variation based on a preset coil coupling model and the acquired coupling voltage and current, the calculating module is specifically configured to:

In another specific implementation manner of the embodiments of the present specification, the optimization method at least includes:

gradient descent method, simulated annealing method, genetic algorithm, ant colony algorithm and particle swarm algorithm.

In yet another specific implementation manner of the embodiment of the present specification, the acceleration information includes three-dimensional acceleration component information;

when the guiding apparatus guides the implantable device to slide to the target coupling position to charge the implantable device based on the determined distance and the acceleration information, the guiding apparatus is specifically configured to:

EXAMPLE III

Embodiments of the present disclosure provide an implantable closed-loop self-responsive stimulation system, including the positioning apparatus for guiding the charging of an implantable device. Referring to fig. 3, the implantable system may include an implantable device 302 and an extracorporeal device 304. Wherein the implantable device 302 further comprises: a communication module 3021, a rechargeable power supply 3022, and a charging coil 3023; the extracorporeal device 304 further comprises: a communication module 3041, a transmit coil 3042, a transmit voltage 3043, a control module 3044, a three-axis accelerometer 3045, and a patient interface 3046. The external device 304 may send the voltage generated by the transmitting voltage 3043 to the charging coil 3023 of the implantable device 302 through the transmitting coil 304, and the implantable device 302 feeds back the coupling current generated by the charging coil 3023 after charging to the communication module 3041 of the external device through the communication module 3021 and transmits the coupling current to the control module 3044 for processing. Acceleration information acquired by the three-axis accelerometer 3045 is sent to the control module 3044, so that the control module 3044 performs calculation processing based on the first embodiment, and finally determines a sliding path, and guides the external device to move to a target coupling position according to the sliding path to charge the implanted device.

Example four

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. Referring to fig. 4, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.

And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.

The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to form a positioning device for guiding the implantable device to charge on a logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:

The method performed by the apparatus according to the embodiment shown in fig. 1 of the present specification may be implemented in or by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The methods, steps, and logic blocks disclosed in one or more embodiments of the present specification may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with one or more embodiments of the present disclosure may be embodied directly in hardware, in a software module executed by a hardware decoding processor, or in a combination of the hardware and software modules executed by a hardware decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The electronic device may also execute the method of fig. 1 and implement the functions of the corresponding apparatus in the embodiment shown in fig. 1, which are not described herein again in this specification.

Of course, besides the software implementation, the electronic device of the embodiment of the present disclosure does not exclude other implementations, such as a logic device or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or a logic device.

Through the technical scheme, the coupling efficiency variable quantity can be determined based on the preset coil coupling model and the currently obtained coupling current, the sliding path is further determined according to the optimization method and the acceleration information, and the implanted device is guided to slide to the target coupling position to charge the implanted device, so that the inaccurate positioning caused by the manual trial searching mode in the prior art is avoided, the guiding and positioning accuracy can be improved, and the charging efficiency is improved.

EXAMPLE five

Embodiments of the present specification also propose a computer-readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a portable electronic device comprising a plurality of application programs, are capable of causing the portable electronic device to perform the method of the embodiment shown in fig. 1, and in particular for performing the method of:

after the external equipment is close to the organism and can transmit voltage to the implanted equipment in the organism, acquiring coupling current and acceleration information fed back by the implanted equipment in the sliding process of the external equipment in real time;

calculating the coupling efficiency variation based on a preset coil coupling model and the obtained coupling current;

In short, the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

The system, apparatus, module or unit illustrated in one or more of the above embodiments may be implemented by a computer chip or an entity, or by an article of manufacture with a certain functionality. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Claims

1. A positioning method for guiding charging of an implantable closed-loop system, wherein the positioning method is applied to an implantable closed-loop self-responsive stimulation system at least comprising an implantable device and an extracorporeal device, and comprises:

2. The method of claim 1, wherein the predetermined coil coupling model is established by:

3. The method for positioning guided implantable closed-loop system charging according to claim 1, wherein calculating a coupling efficiency variation based on a preset coil coupling model and the obtained coupling voltage and current comprises:

and substituting the obtained coupling voltage and current into the preset coil coupling model, and calculating the variation of the coupling efficiency variation in each axial direction.

4. The method of claim 1, wherein the optimization method comprises at least:

5. The method of any of claims 1-4, wherein the acceleration information comprises three-dimensional acceleration component information;

based on the determined distance, in combination with the acceleration information, guiding the implantable device to slide to a target coupling position to charge the implantable device, specifically including:

6. A positioning device for guiding charging of an implanted closed-loop system, comprising:

7. The apparatus of claim 6, wherein the predetermined coil coupling model is established by:

8. The apparatus of claim 6, wherein the calculation module, when calculating the coupling efficiency variation based on the preset coil coupling model and the obtained coupling voltage and current, is specifically configured to:

9. The apparatus of claim 6, wherein the optimization method comprises at least:

10. The apparatus of any of claims 6-9, wherein the acceleration information comprises three-dimensional acceleration component information;

11. An implantable closed-loop self-responsive stimulation system, comprising a positioning device according to any of claims 6-10 for guiding the charging of the implantable closed-loop system.