CN114271924A - Grid partition based catheter calibration method and device - Google Patents
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Abstract
The invention relates to the field of electrophysiological ablation and mapping, in particular to a grid partition-based catheter calibration method and device. The method comprises the following steps: s1, establishing a parameter matrix at the stress end of the catheter according to a preset azimuth angle, an elevation angle and an acting force; vectorizing the parameter matrix, and establishing a basic parameter vector matrix; s2, applying an acting force to the stress end of the guide pipe according to the parameter matrix, and simultaneously collecting the pressure value of the pressure sensor to construct a corresponding basic pressure matrix; and S3, establishing a pressure value calibration relation model according to the basic pressure matrix and the basic parameter vector matrix, wherein the pressure value calibration relation model is used for solving the stress size and the stress direction of the conduit according to the pressure sensor acquired in real time. The pressure calibration method of the pressure-sensing electrophysiological catheter disclosed by the invention has the advantages that the requirement on the linearity of the pressure sensor is reduced, and the pressure of the catheter can be quickly calibrated and output with high precision.
Description
Technical Field
The invention relates to the field of electrophysiological ablation and mapping, in particular to a grid partition-based catheter calibration method and device.
Background
Arrhythmia is one of the commonly seen arrhythmia diseases in the world, and the clinical application of catheters for radiofrequency ablation is widely applied to treat the diseases. Radiofrequency energy is transmitted through the catheter to the electrodes and the site of electrode contact and surrounding myocardial tissue for ablation. The clinical application proves that the ablation can achieve better treatment effect only under the condition that the contact pressure of the electrode at the far end of the catheter and the myocardial tissue is proper. In ablation catheter treatment, in which a catheter is inserted into the heart and the distal end of the catheter is brought into contact with the inner wall of the heart, it is often important to have good contact of the distal end of the catheter with the inner wall of the heart and to determine the correct abutment direction and position, otherwise excessive pressure or incorrect abutment position may cause undesirable damage to the heart tissue, even perforation of the heart wall, while accurate positioning of the catheter is also of great importance.
The existing technology adopts an electromagnetic or optical technology to measure the sticking pressure of the distal end and the tissue, has high requirements and complexity on equipment, and has relatively high manufacturing cost. For example, CN103908337A, the patent mentions that a magnetic induction sensor is incorporated in the catheter to sense the contact force between the distal end of the catheter and the organ, and the sensor is susceptible to distortion caused by the external magnetic field in the application, and the technology requires a difficult process of installing a plurality of magnetic sensors in a very small space at the distal end of the catheter, thereby increasing the manufacturing cost. In modern scientific development, a pressure measurement method using a strain gauge alone is considered, but the pressure measurement method is greatly influenced by temperature, so that no pressure conduit using the strain gauge method exists at present.
At present, if a strain gauge is used for detecting the pressure of a conduit, a matched calibration device and method are needed, and the calibration by using the strain gauge sensor is extremely complex and extremely high in equipment, so that an efficient and reliable calibration method and device system are urgently needed to meet the requirement of mass production.
Disclosure of Invention
The invention overcomes the problems of extremely complicated calibration and extremely high equipment of a strain gauge sensor in the prior art, and provides a grid partition-based catheter calibration method and device.
In order to achieve the above purpose, the invention provides the following technical scheme:
a grid partition based catheter calibration method is used for a catheter with a stress end provided with a plurality of pressure sensors, and comprises the following steps:
s1, establishing a parameter matrix at the stress end of the catheter according to a preset azimuth angle, an elevation angle and an acting force; vectorizing the parameter matrix, and establishing a basic parameter vector matrix;
s2, applying acting force to the stress end of the catheter according to the parameter matrix, simultaneously collecting the pressure value of the pressure sensor, and constructing a basic pressure matrix, wherein the array in the basic pressure matrix and the vector in the basic parameter vector matrix are in one-to-one correspondence;
and S3, establishing a pressure value calibration relation model according to the basic pressure matrix and the basic parameter vector matrix, wherein the pressure value calibration relation model is used for solving the stress size and the stress direction of the catheter according to the values of the pressure sensor acquired in real time.
As a preferred embodiment of the present invention, the parameter matrix establishing process in step S1 is: the center of the cross section of the catheter is taken as the origin of a spherical coordinate, the cross section of the catheter is equally divided into N azimuth angles, the angle from the axis of the catheter to the cross section of the catheter is equally divided into K elevation angles, and the acting force in the direction of the axis of the catheter is a scalar distance.
As a preferred scheme of the present invention, N takes the value of 12, and the azimuth angle takes the value of: 0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °.
As a preferred scheme of the present invention, the value of K is 4, and the value of elevation angle is: 0 °, 30 °, 60 °, 90 °.
In a preferred embodiment of the present invention, the force applied in the axial direction of the catheter is 10g, 20g, 30g, 40g, 50g, 60g, or 70 g.
In a preferred embodiment of the present invention, in step S1, the vector in the basic parameter vector matrix is defined by the first parameter δiSecond parameter εiAnd a third parameter muiThe components of the composition are as follows,
first parameter deltaiThe calculation formula of (2) is as follows:
second parameter εiThe calculation formula of (2) is as follows:
the third parameter muiIs calculated byThe formula is as follows:
wherein alpha isiIs the elevation angle, betaiIs the azimuth angle, F is the acting force, i is more than or equal to 1 and less than or equal to n, and n is the total number of the array formed by the azimuth angle, the elevation angle and the acting force in the parameter matrix.
As a preferred embodiment of the present invention, the pressure value calibration relation model is:
Mi＝pinv(Qi)*Ri
wherein M isiCell relation matrix, R, being a pressure value calibration relation modeliIs a basic parameter vector matrix, QiThe pressure value array is a basic pressure matrix, the array in the basic pressure matrix is a pressure value array corresponding to the vector in the basic parameter vector matrix, pinv () is an inversion formula, i is more than or equal to 1 and less than or equal to n, and n is the total number of the vectors in the basic parameter vector matrix.
Based on the same conception, the invention also provides a method for detecting the stress of the catheter, which is used for the catheter with a plurality of pressure sensors arranged at the stress end and comprises the following steps:
a1, simultaneously acquiring pressure values of a plurality of pressure sensors to form a pressure acquisition array;
a2, adopting the pressure value calibration relation model obtained by any one of the above calibration methods, and finding a reference cell relation matrix with the shortest relative distance to the pressure acquisition array from the pressure value calibration relation model;
and A3, solving the stress size and the stress direction of the catheter according to the reference cell relation matrix and the pressure acquisition array.
As a preferred embodiment of the present invention, step a2 specifically includes the following steps:
a21, calculating the relative distance between the current pressure acquisition array and the array in the basic pressure matrix;
a22, finding the index number of the corresponding array when the relative distance is minimum;
and A23, finding a corresponding reference cell relation matrix in the pressure value calibration relation model according to the index number.
Based on the same conception, the invention also provides a catheter calibration device based on grid subareas, which comprises a force application device, a force application size measurement device and an azimuth angle and elevation angle control device for controlling the force application direction, wherein the force application device is used for realizing the application of pressure to the force application end of the catheter,
the force application size measuring device is used for acquiring the pressure value applied to the stress end of the guide pipe in real time,
the azimuth angle and elevation angle control device for controlling the force application direction is used for controlling the force application device to apply pressure to the force bearing end of the guide pipe according to the preset azimuth angle and elevation angle,
and the force application device, the force application size measuring device and the azimuth angle and elevation angle control device for controlling the force application direction apply the acting force to the force application end of the catheter according to any one calibration method and according to the parameter matrix.
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a pressure calibration method and a calibration device for a pressure sensing electrophysiological catheter.
Description of the drawings:
FIG. 1 is a schematic view of a pressure sensing catheter used in the method of the present invention;
FIG. 2 is a schematic diagram of the placement of the distal electrode of the catheter on the pressure sensing catheter used in the method of the present invention;
FIG. 3 is a flowchart of a grid-partitioned catheter calibration method according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of a spherical coordinate system established at the distal end of a catheter according to preset azimuth, elevation and force in embodiment 1 of the present invention;
FIG. 5 is a schematic view of an azimuth sector viewed from the top in embodiment 1 of the present invention;
FIG. 6 is a schematic view of the sectional view in the elevation angle viewed from the side in embodiment 1 of the present invention;
FIG. 7 is a structural diagram of a calibration device in embodiment 2 of the present invention;
FIG. 8 is a structural diagram of a calibration device in embodiment 3 of the present invention;
FIG. 9 is a flow chart of a method of detecting catheter stress in accordance with embodiment 4 of the present invention;
FIG. 10 is a graph showing the calibration effect in embodiment 4 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
The pressure sensing catheter, as shown in fig. 1, can be divided into a distal portion, a proximal portion and a handle, wherein the distal portion includes a pressure sensor. The arrangement mode of the pressure sensor at the far end of the catheter has various forms, an example that three and four pressure sensors are arranged at the far end of the pressure sensing catheter is given in figure 1, three pressure sensors (or four pressure sensors) are arranged along the circumferential direction of the catheter when the cross section of the catheter is seen, real-time calibration output of the magnitude of the pressure value and the pressure direction of the catheter can be realized through the calibration method of the invention, and figure 2 is a schematic diagram of the arrangement of a far-end electrode of the catheter, the electrode is used for energy output, and the stress direction and the magnitude of the far end of the catheter directly influence the working effect of the electrode.
Specifically, the distal electrode of the pressure sensing catheter is fixedly connected with the elastic body, the elastic body enables the distal electrode to return to a natural state after pressure is removed, and a plurality of pressure sensors are uniformly distributed in a stress concentration area on the elastic body. Taking 3 pressure sensors as an example, the 3 pressure sensors are symmetrically arranged on the elastic body. The value reflected by each pressure sensor when sensing the stretching and the compression can be regarded as a vector with directionality (namely, positive and negative), and when the pressure sensing catheter is subjected to pressure with direction, corresponding vector values with uniqueness are detected on the three pressure sensors. When various pressures and directions are known, different value groups of the pressure sensors are measured (the values of 3 pressure sensors in each group have positive and negative values), and the obtained corresponding relation is arranged into a database storage data storage module. Can be at the actual measurement in-process, according to the data of prestoring, revise pipe atress size and direction for the calculated value is more accurate.
Example 1
A flow chart of a mesh partition based catheter calibration method, as shown in fig. 3, comprising the steps of:
and S1, establishing a spherical coordinate system at the stress end of the catheter according to the preset azimuth angle, elevation angle and acting force along the axial direction of the catheter, and establishing a parameter matrix.
And S2, vectorizing the parameter matrix, and establishing a basic parameter vector matrix.
And S3, applying acting force to the stress end of the guide pipe according to the parameter matrix, and simultaneously collecting the pressure values of the pressure sensors to construct a basic pressure matrix, wherein the array in the basic pressure matrix and the vector in the basic parameter vector matrix are in one-to-one correspondence.
And S4, establishing a pressure value calibration relation model according to the basic pressure matrix and the basic parameter vector matrix, wherein the pressure value calibration relation model is used for solving the stress size and the stress direction of the conduit according to the pressure sensor acquired in real time.
In step S1, a schematic diagram of establishing a spherical coordinate system at the distal end of the catheter according to the preset azimuth angle, elevation angle and acting force is shown in fig. 4. A spherical coordinate system is correspondingly established by taking the axial direction of the catheter as the Z axis, the center of the cross section of the catheter as the origin of a spherical coordinate and the cross section of the catheter as an XOY surface, the azimuth angle is beta, the elevation angle is alpha, the cross section of the catheter is equally divided into N azimuth angles, and the angle from the axial direction of the catheter to the cross section of the catheter is equally divided into K elevation angles. The force F applied to the catheter is taken as a scalar distance in a spherical coordinate system.
Preferably, the cross section of the catheter is divided into 12 equal azimuth angles, N being 12, the azimuth angles being 0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °, and the azimuth divisions viewed from above are shown in fig. 5. The azimuth angle may be equally divided by other values as required, for example, N-6, N-24, N-36, etc.
As a preferred solution, the angle from the axis of the catheter to the cross section of the catheter is equally divided into 4 elevation angles, K is 4, the azimuth angle is 0 °, 30 °, 60 °, 90 °, and the elevation angle division is seen in the lateral direction as shown in fig. 6. The azimuth angle may be equally divided by other values as required, for example, N-3, N-5, N-6, etc.
Preferably, the forces F applied to the guide tube are 10g, 20g, 30g, 40g, 50g, 60g, 70g, where g is the unit of gram, the unit of reading of the dynamometer, 1g corresponds to the weight of 1g of the object, and if g is 9.8N/Kg, the unit of reading is 1g, which is 9.8X 10-3N。
For a clearer illustration of the scheme, the method of the present invention will be described below with the azimuth angle of 0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °, the elevation angle of 0 °, 30 °, 60 °, 90 °, and the applied force F of the catheter of 10g, 20g, 30g, 40g, 50g, 60g, and 70g, respectively, but the present invention is not limited to be implemented in the sequential scheme, and any scheme that performs the calibration and pressure test of the catheter with other values based on the concept of the present invention is still within the protection scope of the present invention.
From the azimuth angle beta, the elevation angle alpha and the force F exerted by the catheter, a parameter matrix P can be established, wherein,
n is the total number of arrays in the parameter matrix P formed from azimuth, elevation and force. For example, if the azimuth angle β is 12, the elevation angle α is 4, and the acting force F is 7, then after permutation and combination, the 12 × 4 × 7-364 force application schemes are formed, that is, 364 arrays are formed,
in step S2, the parameter matrix is vectorized, and the calculation method is as follows:
setting a basic parameter vector matrix as R, wherein,
the vector in the basic parameter vector matrix is composed of a first parameter deltaiSecond parameter εiAnd a third parameter muiThe components of the composition are as follows,
and establishing a one-to-one correspondence relationship between the arrays in the parameter matrix and the vectors in the basic parameter vector matrix through subscript i, wherein each parameter matrix array corresponds to the vector of the basic parameter vector matrix, and therefore the same subscript is adopted. When in use
Accordingly, the method can be used for solving the problems that,
in step S3, when a plurality of pressure sensors are disposed at the force-bearing end of the catheter, and when an acting force is applied to the force-bearing end of the catheter according to the parameter matrix, pressure values of the plurality of pressure sensors can be collected to form a plurality of pressure value arrays, which can form a basic pressure matrix, and taking a pressure sensing catheter including three pressure sensors as an example, the obtained basic pressure matrix is represented as:
when in use
In time, correspond to
(α1，β1F) the obtained array of base pressures is (x)1，y1，z1)，(α2，β2，F2) Under the force application scheme, the obtained array of the base pressure is (x)2，y2，z2) And by analogy, establishing the one-to-one corresponding relation between the array in the parameter matrix and the array in the basic pressure matrix through the subscript i. Therefore, through the subscript i, the vector in the basic parameter vector matrix and the array in the basic pressure matrix establish a one-to-one correspondence relationship.
In step S4, a pressure value calibration relationship model is established according to the basic pressure matrix and the basic parameter vector matrix, and the method specifically includes the following steps:
according to the basic parameter vector matrix RiAnd base pressure matrix QiThe relationship matrix of the two can be solved, and the calculation formula of the relationship matrix is as follows:
Mi＝pinv(Qi)*Ri
wherein, pinv () is an inversion formula, i is more than or equal to 1 and less than or equal to n, n is the total number of the arrays formed in the parameter matrix P according to the azimuth angle, the elevation angle and the acting force, and is the number of the vectors in the basic parameter vector matrix, and is the number of the arrays in the basic pressure matrix. MiAnd (5) calibrating the relation model by the established pressure value. For a catheter with three pressure sensors at the tip, the base pressure matrix
Accordingly, MiIs a3 x 3 matrix.
Will relation matrix MiAnd a base pressure sub-matrix QiWrite memory module, denoted as Cell { M ═ Mi，QiAnd the power supply output process is called, and is used for solving the stress size and the stress direction of the catheter according to the pressure sensor acquired in real time, i is more than or equal to 1 and less than or equal to n, and n is the total number of the arrays formed in the parameter matrix P according to the azimuth angle, the elevation angle and the acting force.
Example 2
The embodiment 1 shows a method for calibrating a catheter based on grid partition, and a pressure value calibration relation model is established. The method needs a corresponding device for implementation. One of the calibration devices is shown in fig. 7, and includes a bracket, a force application device capable of moving up and down on the bracket, a force application size measuring device installed on the force application device, and a rocker angle and rotation angle control device for controlling the force application direction.
The force application device module controls the force application device to move up and down or move left and right along the support so as to realize the contact between the force application platform and the head end of the catheter and the pressure application, and the force application size measuring device feeds back the size of the applied pressure in real time. And the force application device control module realizes accurate force application on the head end of the catheter according to feedback.
The rocker angle and rotation angle control device for controlling the force application direction comprises a force application angle control module, a rocker angle control motor and a rotation angle control motor. The force application angle control module realizes the accurate control of the force application direction through the rocker angle control motor and the rotation angle control motor.
The catheter is fixed on a tool clamp of the force application angle control module, the tail end electrode and the pressure sensor part are exposed, the angle relation between the head end of the catheter and the force application table, namely the angle of a rocker arm (corresponding to the azimuth angle in a spherical coordinate system) is controlled under the driving of a rocker arm control motor, and in addition, the rotation angle control motor controls the rotation angle between the head end of the catheter and the force application table (corresponding to the elevation angle in the spherical coordinate system). The force application size detection module is a standard pressure electronic scale and can slide up and down, left and right on the force application device so as to meet the control of the set angle and the rotation angle of the rocker arm.
By the aid of the calibrating device, force can be applied to the front end of the catheter according to set azimuth angles, elevation angles and acting force, data are collected, and a pressure value calibrating relation model is established.
Example 3
Example 3 shows another calibration device, as shown in fig. 8. The device comprises an angle adjusting device, a standard electronic scale and control equipment.
The catheter is fixed on the angle adjusting device, the tail end electrode and the pressure sensor part are exposed, the contact part of the head end of the standard electronic scale device and the catheter is a flat plane and is recorded when force is exerted on the plane, the angle adjusting device on the control equipment controls the included angle (elevation angle) and the rocker angle (azimuth angle) between the tail end electrode of the catheter and the plane of the electronic scale, the rotation control device on the control equipment can control the rotation of the catheter, namely the rotation angle between the tail end electrode of the catheter and the plane of the electronic scale, and the control equipment can control the integral movement of the tail end electrode of the catheter so as to realize the control of the set angle and pressure.
Example 4
The magnitude and direction of the pressure of the catheter can be obtained by calibrating the relation model according to the acquired pressure values, so that a method for detecting the stress of the catheter is provided, and a flow chart is shown in fig. 9. The method comprises the following steps:
and A1, simultaneously acquiring the pressure values of the plurality of pressure sensors to form a pressure acquisition array. In which the pressure sensors are arranged at the distal end of the catheter as shown in fig. 2, and are arranged at the distal end of the catheter, in this embodiment, 3 pressure sensors are used for illustration, and the pressure acquisition array acquired in real time is denoted as Vin＝(xnow，ynow，znow)。
A2, adopting the pressure value calibration relation model obtained by the calibration method of the embodiment 1, and finding the reference cell relation matrix with the shortest relative distance to the pressure acquisition array from the pressure value calibration relation model.
And A3, solving the stress size and the stress direction of the catheter according to the reference cell relation matrix and the pressure acquisition array.
Further, step a2 includes the following steps:
and A21, finding the relative distance between the current pressure acquisition array and the array in the base pressure matrix.
A22, finding the index number of the corresponding array when the relative distance is minimum;
and A23, finding a corresponding cell relation matrix in the pressure value calibration relation model according to the index number, wherein the cell relation matrix corresponding to the index number is used as the reference cell relation matrix.
In step A21, L is preferably usedpDistance (L)pDistance) or Minkowski Distance (Minkowski Distance) calculation method, and calculating the current pressure acquisition array Vin＝(xnow，ynow，znow) And a base pressure matrix QiRelative distance of the middle array, in LpDistance (Min distance) example, current pressure acquisition array Vin＝(xnow，ynow，znow) The relative distance to the ith base pressure array is calculated as follows:
wherein the content of the first and second substances,
is the current pressure acquisition array Vin＝(xnow，ynow，znow) The relative distance from the ith base pressure array, i is more than or equal to 1 and less than or equal to n, and n is a base pressure matrix QiThe total number of arrays in (1) and p is a constant, and the slice can be 1 or 2.
In step A22, the relative distances are compared
Finding out the value with the minimum relative distance and the index number i corresponding to the minimum valuemin。
In step A23, index number i corresponding to the minimum relative distanceminFinding out the relation matrix in the pressure value calibration relation model
The corrected conduit pressure gamma can be obtained by the following formulaoutAnd direction (from rocker angle alpha)outAngle of rotation betaoutRepresents):
wherein, γoutIs the magnitude of the output duct pressure, αoutIs the angle of the output rocker arm, betaoutIs the angle of rotation of the output and,
minimum relative distance index number iminCorresponding relationship matrix, xout、youtAnd zoutIs a matrix of passing relationships
And correcting vector values of the three pressure sensors.
By utilizing the calibration device and the calibration scheme, 100 groups are randomly verified, the effect is shown in fig. 10, the pressure deviation is obtained by subtracting the system output pressure value from the true value, the rocker angle deviation is obtained by subtracting the system output rocker angle value from the true value, and the rotation angle deviation is obtained by subtracting the system output rotation angle value from the true value.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A grid partition based catheter calibration method is used for a catheter with a stress end provided with a plurality of pressure sensors, and is characterized by comprising the following steps:
s1, establishing a parameter matrix at the stress end of the catheter according to a preset azimuth angle, an elevation angle and an acting force; vectorizing the parameter matrix, and establishing a basic parameter vector matrix;
s2, applying acting force to the stress end of the catheter according to the parameter matrix, simultaneously collecting the pressure value of the pressure sensor, and constructing a basic pressure matrix, wherein the array in the basic pressure matrix and the vector in the basic parameter vector matrix are in one-to-one correspondence;
and S3, establishing a pressure value calibration relation model according to the basic pressure matrix and the basic parameter vector matrix, wherein the pressure value calibration relation model is used for solving the stress size and the stress direction of the catheter according to the value of the pressure sensor acquired in real time.
2. The method for grid-partition-based catheter calibration according to claim 1, wherein the parameter matrix building procedure of step S1 is: the center of the cross section of the catheter is taken as the origin of a spherical coordinate, the cross section of the catheter is equally divided into N azimuth angles, the angle from the axis of the catheter to the cross section of the catheter is equally divided into K elevation angles, and the acting force in the direction of the axis of the catheter is a scalar distance.
3. The grid-partitioning-based catheter calibration method of claim 2, wherein N is 12, and the azimuth angle is: 0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 °, 210 °, 240 °, 270 °, 300 °, 330 °, 360 °.
4. The grid-partitioning-based catheter calibration method according to claim 3, wherein K is 4, and the elevation angle is: 0 °, 30 °, 60 °, 90 °.
5. The method of claim 4, wherein the axial force of the catheter is 10g, 20g, 30g, 40g, 50g, 60g, or 70 g.
6. The method for grid-partitioning-based catheter calibration according to claim 1, wherein in step S1, the vector in the basic parameter vector matrix is defined by the first parameter δiSecond parameter εiAnd a third parameter muiThe components of the composition are as follows,
first parameter deltaiThe calculation formula of (2) is as follows:
second parameter εiThe calculation formula of (2) is as follows:
the third parameter muiThe calculation formula of (2) is as follows:
wherein alpha isiIs the elevation angle, betaiIs the azimuth angle, F is the acting force, i is more than or equal to 1 and less than or equal to n, and n is the total number of the array formed by the azimuth angle, the elevation angle and the acting force in the parameter matrix.
7. The grid-partitioning-based catheter calibration method of claim 1, wherein the pressure value calibration relationship model is:
Mi＝pinv(Qi)*Ri
wherein M isiCell relation matrix, R, being a pressure value calibration relation modeliIs a basic parameter vector matrix, QiThe pressure value array is a basic pressure matrix, the array in the basic pressure matrix is a pressure value array corresponding to the vector in the basic parameter vector matrix, pinv () is an inversion function, i is more than or equal to 1 and less than or equal to n, and n is the total number of vectors in the basic parameter vector matrix.
8. A method for detecting the stress of a catheter, which is used for the catheter with a plurality of pressure sensors arranged at the stress end, is characterized by comprising the following steps:
a1, simultaneously acquiring pressure values of a plurality of pressure sensors to form a pressure acquisition array;
a2, adopting a pressure value calibration relation model obtained by the calibration method according to any one of claims 1-7, and finding a reference cell relation matrix with the shortest relative distance to the pressure acquisition array from the pressure value calibration relation model;
and A3, solving the stress size and the stress direction of the catheter according to the reference cell relation matrix and the pressure acquisition array.
9. The method of detecting catheter stress of claim 8, wherein step a2 comprises the steps of:
a21, calculating the relative distance between the current pressure acquisition array and the array in the basic pressure matrix;
a22, finding the index number of the corresponding array when the relative distance is minimum;
and A23, finding a corresponding reference cell relation matrix in the pressure value calibration relation model according to the index number.
10. A catheter calibration device based on grid subareas is characterized by comprising a force application device, a force application size measurement device and an azimuth angle and elevation angle control device for controlling the force application direction, wherein the force application device is used for realizing the application of pressure to the force application end of a catheter,
the force application size measuring device is used for acquiring the pressure value applied to the stress end of the guide pipe in real time,
the azimuth angle and elevation angle control device for controlling the force application direction is used for controlling the force application device to apply pressure to the force bearing end of the guide pipe according to the preset azimuth angle and elevation angle,
the force application device, the force application magnitude measuring device and the azimuth and elevation control device for controlling the force application direction apply the force to the force bearing end of the catheter according to the method of any one of claims 1-7 according to the parameter matrix.
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| US6066125A (en) * | 1997-09-05 | 2000-05-23 | Cordis Webster, Inc. | Omni-directional steerable catheter |
| CN102510735A (en) * | 2009-07-17 | 2012-06-20 | 计算机心脏股份有限公司 | Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia |
| CN103908337A (en) * | 2012-12-31 | 2014-07-09 | 韦伯斯特生物官能(以色列)有限公司 | Catheter with serially connected sensing structures and methods of calibration and detection |
| CN106606373A (en) * | 2016-08-30 | 2017-05-03 | 四川锦江电子科技有限公司 | Ablation catheter capable of accurate pressure measurement |
| CN111084659A (en) * | 2018-10-24 | 2020-05-01 | 韦伯斯特生物官能(以色列)有限公司 | Instant calibration for catheter position and orientation |
| CN111345901A (en) * | 2018-12-20 | 2020-06-30 | 四川锦江电子科技有限公司 | Method for measuring stress of radio frequency ablation pressure catheter |
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| US6066125A (en) * | 1997-09-05 | 2000-05-23 | Cordis Webster, Inc. | Omni-directional steerable catheter |
| CN102510735A (en) * | 2009-07-17 | 2012-06-20 | 计算机心脏股份有限公司 | Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia |
| CN103908337A (en) * | 2012-12-31 | 2014-07-09 | 韦伯斯特生物官能(以色列)有限公司 | Catheter with serially connected sensing structures and methods of calibration and detection |
| CN106606373A (en) * | 2016-08-30 | 2017-05-03 | 四川锦江电子科技有限公司 | Ablation catheter capable of accurate pressure measurement |
| CN111084659A (en) * | 2018-10-24 | 2020-05-01 | 韦伯斯特生物官能(以色列)有限公司 | Instant calibration for catheter position and orientation |
| CN111345901A (en) * | 2018-12-20 | 2020-06-30 | 四川锦江电子科技有限公司 | Method for measuring stress of radio frequency ablation pressure catheter |
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