CN112928831B

CN112928831B - Positioning method, device and system for guiding charging of implantable closed-loop system

Info

Publication number: CN112928831B
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: 2023-06-16
Anticipated expiration: 2041-02-05
Also published as: CN112928831A

Abstract

One or more embodiments of the present specification disclose a positioning method, apparatus and system for guiding charging of an implantable closed loop system, the method comprising: after the external equipment approaches to a living body and can provide voltage for the internal implanted equipment, coupling voltage and current fed back by the implanted equipment and acceleration information in the sliding process of the external equipment are obtained in real time; calculating a coupling efficiency variation based on a preset coil coupling model and the acquired coupling voltage and current; determining the distance between the external equipment and the target coupling position according to an optimization method; based on the determined distance, in combination with the acceleration information, the implantable device is directed to slide to a target coupling position to charge the implantable device. Therefore, the problem that in the prior art, positioning is inaccurate only by means of manual trial and error searching is avoided, and the scheme can improve guiding positioning accuracy and charging efficiency.

Description

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

Technical Field

The present document 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 (Implantable Medical Device, IMD) are very popular, and many implantable devices require timed charges to maintain proper function after a period of use after the implantable device is implanted in a living being.

However, the implantation position of the existing implantable device is not exposed, and the charging efficiency is often not guaranteed due to inaccurate positioning of the charging position caused by an implant with an ambiguous implantation position or a non-planar implant.

Disclosure of Invention

An object of one or more embodiments of the present disclosure is to provide a positioning method, device and system for guiding charging of an implantable closed loop system, so as to accurately position a target coupling position for charging, and improve charging efficiency.

To solve the above technical problems, 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 to an implantable closed-loop self-response stimulation system at least comprising an implantable device and an extracorporeal device, and the positioning method comprises:

after the external equipment approaches to a living body and can provide voltage for the internal implanted equipment, coupling voltage and current fed back by the implanted equipment and acceleration information in the sliding process of the external equipment are obtained in real time;

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

determining the distance between the external equipment and the target coupling position according to an optimization method;

based on the determined distance, in combination with the acceleration information, the implantable device is directed to slide to a target coupling position to charge the implantable device.

In a second aspect, a positioning device for guiding charging of an implantable closed loop system is provided, comprising:

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

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

the determining module is used for determining the distance between the external equipment and the target coupling position according to an optimization method;

and the guiding module is used for guiding the implantable device to slide to the target coupling position to charge the implantable device based on the determined distance and combined with the acceleration information.

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

According to the technical scheme provided by one or more embodiments of the present disclosure, the coupling efficiency variation can be determined based on the preset coil coupling model and the currently acquired coupling current, the sliding path is further determined according to the optimization method and the acceleration information, and the implantable device is guided to slide to the target coupling position to charge the implantable device, so that inaccurate positioning caused by a manual trial and error searching mode in the prior art is avoided.

Drawings

For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, reference will be made below to the accompanying drawings which are used in the description of one or more embodiments or of the prior art, it being apparent that the drawings in the description below are only some of the embodiments described in the description, from which, without inventive faculty, other drawings can also be obtained for a person skilled in the art.

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

Fig. 2 is a schematic structural view of a positioning device for guiding charging of an implantable closed-loop system according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of an implantable closed-loop self-response stimulation system according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

In order that those skilled in the art will better understand the technical solutions in this specification, a clear and complete description of the technical solutions in one or more embodiments of this specification will be provided below with reference to the accompanying drawings in one or more embodiments of this specification, and it is apparent that the one or more embodiments described are only a part of embodiments of this specification, not all embodiments. All other embodiments, which can be made by one or more embodiments of the present disclosure without inventive faculty, are intended to be within the scope of the present disclosure.

Example 1

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

step 102: after the external equipment approaches to a living body and can provide voltage for the internal implanted equipment, 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 extracorporeal device is close to the living being, the extracorporeal device can provide voltage for the implantable device in the living being when the distance reaches a chargeable range, so as to charge the implantable device. It will be appreciated that charging at this time is mostly not optimal, as the extracorporeal device is not nearest to the implanted device, charging efficiency is not high and time consuming.

Although the optimal charging position is not the optimal charging position, the external device can be relied on to provide voltage for the implanted device, and the coupling voltage and the coupling current fed back by the voltage provided by the external device received by the implanted device can be obtained in real time in the process that the external device slides to find the optimal charging position, namely 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 the present embodiment, a tri-axial accelerometer is also provided in the extracorporeal device for registering three axial acceleration components at each location. Therefore, the moving direction of the external equipment can be accurately and effectively determined.

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

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

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

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

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

In fact, the preset time for establishing the coil coupling model may be pre-established before positioning, or may be determined after positioning begins. The present specification examples are not limited thereto.

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

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

The established preset coil coupling model may be a coil coupling voltage space model, and a relation diagram between voltage and displacement is shown in the model, wherein displacement may be an abscissa, voltage is an ordinate, and a hillside coordinate graph may be obtained, and the voltage increases with the decrease of displacement (displacement is understood to be displacement of the position of the extracorporeal device from the target coupling position). When the extracorporeal device slides, the amount of change in the coupling efficiency change in each direction is calculated, assuming that, taking xyz three axial directions as an example, Δx= (Ix 2-Ix 1)/(X2-X1), Δy= (Iy 2-Iy 1)/(y 2-y 1), and Δz= (Iz 2-Iz 1)/(z 2-z 1). Wherein I represents the coupling current and xyz represents the distance of the different components, respectively.

Step 106: and determining the distance between the external device and the target coupling position according to an optimization method.

In an embodiment of the present disclosure, the optimization method at least includes: 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, and then the optimum distance is obtained by combination.

Step 108: based on the determined distance, in combination with the acceleration information, the implantable device is directed to slide to a target coupling position to charge the implantable device.

Optionally, the acceleration information includes acceleration component information of three dimensions; when step 108 is based on the determined distance, and in combination with the acceleration information, guiding the implantable device to slide to the target coupling position to charge the implantable device, the method specifically includes:

based on the determined distance, combining acceleration component information of three dimensions to determine a sliding path;

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

After the distance and acceleration component information is determined, the size and direction of the path are determined, and the sliding path is determined. Thereafter, the implantable device is guided to slide to the target coupling position according to the determined sliding path 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 implantable device is guided to slide to the target coupling position to charge the implantable device, so that inaccurate positioning caused by a manual trial and error searching mode in the prior art is avoided.

In a preferred design, the extracorporeal device is suspended on a head wearing device, which may resemble a helmet or a headgear, and the extracorporeal device may automatically slide to a target coupling position according to a determined sliding path to charge the implantable device, thereby avoiding manual participation and further improving guiding and positioning accuracy.

Example two

Referring to fig. 2, a positioning device 200 for guiding charging of an implantable closed loop system according to an embodiment of the present disclosure is provided, where the device 200 may include:

the acquiring module 202 is configured to acquire coupling voltage and current fed back by the implanted device and acceleration information in real time in a sliding process of the external device after the external device approaches to a living body and is capable of providing voltage for the implanted device in the body;

the calculating module 204 is 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, configured to determine a distance between the extracorporeal device and a target coupling location according to an optimization method;

and a guiding module 208, configured to guide the implantable device to slide to the 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 in the living being;

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

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

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

In yet another specific implementation manner of the embodiments of the present disclosure, 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 of an embodiment of the present disclosure, the acceleration information includes acceleration component information of three dimensions;

the guiding device is specifically configured to, when based on the determined distance and in combination with the acceleration information, guide the implantable device to slide to a target coupling position to charge the implantable device:

Example III

Embodiments of the present disclosure provide an implantable closed loop self-responsive stimulation system including the positioning device for guiding 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 source 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, a patient interface 3046. The external device 304 may send the voltage generated by the emission voltage 3043 to the charging coil 3023 of the implantable device 302 through the emission 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. The acceleration information collected by the triaxial accelerometer 3045 is sent to the control module 3044, so that the control module 3044 performs calculation processing based on the first embodiment mode, and finally determines a sliding path, and guides the extracorporeal device to move to the target coupling position according to the sliding path to charge the implantable device.

Example IV

Fig. 4 is a schematic structural view of an electronic device according to an embodiment of the present specification. Referring to fig. 4, at the hardware level, the electronic device includes a processor, and optionally 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 (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, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.

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

The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs, and a positioning device for guiding the charging of the implantable device is formed on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:

The method performed by the apparatus disclosed in the embodiment shown in fig. 1 of the present specification may be applied to a processor or implemented 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 by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) 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 description 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 a hardware decoding processor or in a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

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 is not described herein.

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

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

Example five

The present description also proposes 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, enable the portable electronic device to perform the method of the embodiment of fig. 1, and in particular to perform the method of:

after the external equipment approaches to a living body and can emit voltage for the internal implanted equipment, coupling current and acceleration information fed back by the implanted equipment in the sliding process of the external equipment are obtained in real time;

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

In summary, the foregoing description is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the protection scope of the present specification.

The systems, devices, modules, or units illustrated in one or more of the embodiments described above may be implemented in particular by a computer chip or entity, or by a product having some function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can 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 are also possible or may be advantageous.

Claims

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

calculating the variation of the coupling efficiency variation in each three-dimensional axial direction based on a preset coil coupling model and the acquired coupling voltage and current;

based on the determined coupling efficiency variation, approximating the efficiency to be optimal according to an optimization method, obtaining an optimal distance component when the coupling efficiency is optimal, and then combining the optimal distance component to determine the distance between the external equipment and the target coupling position; the optimization method at least comprises a gradient descent method, a simulated annealing method, a genetic algorithm, an ant colony algorithm and a particle swarm algorithm;

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

the preset coil coupling model is established by the following modes:

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

the acceleration information comprises acceleration component information of three dimensions;

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

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

2. A positioning device for guiding charging of an implantable closed loop system, comprising:

the calculation module is used for calculating the variation of the coupling efficiency variation in each three-dimensional axial direction based on a preset coil coupling model and the acquired coupling voltage and current;

the determining module is used for approaching the efficiency to the optimum according to an optimization method based on the determined coupling efficiency variation, obtaining an optimum distance component when the coupling efficiency is optimum, and further combining the optimum distance component to determine the distance between the external equipment and the target coupling position; the optimization method at least comprises a gradient descent method, a simulated annealing method, a genetic algorithm, an ant colony algorithm and a particle swarm algorithm;

the guiding module is used for guiding the external equipment to slide to a target coupling position to charge the implantable equipment based on the determined distance and combined with the acceleration information;

the preset coil coupling model is established by the following modes:

the guiding module is specifically configured to, when based on the determined distance and in combination with the acceleration information, guide the extracorporeal device to slide to a target coupling position to charge the implantable device:

3. An implantable closed loop self-responsive stimulation system comprising the positioning device of claim 2 for directing charging of the implantable closed loop system.