CN114403882A - Electrocardiogram chest lead placing system - Google Patents
Electrocardiogram chest lead placing system Download PDFInfo
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- CN114403882A CN114403882A CN202210070860.7A CN202210070860A CN114403882A CN 114403882 A CN114403882 A CN 114403882A CN 202210070860 A CN202210070860 A CN 202210070860A CN 114403882 A CN114403882 A CN 114403882A
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- 210000000038 chest Anatomy 0.000 claims abstract description 174
- 210000000779 thoracic wall Anatomy 0.000 claims abstract description 152
- 210000001519 tissue Anatomy 0.000 claims description 116
- 210000004872 soft tissue Anatomy 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 27
- 210000003109 clavicle Anatomy 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 20
- 210000001562 sternum Anatomy 0.000 claims description 12
- 230000003601 intercostal effect Effects 0.000 claims description 11
- 210000000988 bone and bone Anatomy 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 210000000103 occipital bone Anatomy 0.000 claims description 3
- 239000000463 material Substances 0.000 description 6
- 238000003745 diagnosis Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000035515 penetration Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/28—Bioelectric electrodes therefor specially adapted for particular uses for electrocardiography [ECG]
- A61B5/282—Holders for multiple electrodes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/271—Arrangements of electrodes with cords, cables or leads, e.g. single leads or patient cord assemblies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
- A61B5/321—Accessories or supplementary instruments therefor, e.g. cord hangers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/318—Heart-related electrical modalities, e.g. electrocardiography [ECG]
- A61B5/325—Preparing electrode sites, e.g. by abrasion
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Abstract
The invention relates to an electrocardiogram chest lead placing system, which comprises: the device comprises an examination bed, a mechanical arm, a chest lead and a main controller, wherein a pressure sensor array is arranged on the surface of the examination bed and used for collecting pressure data between a human body and the examination bed; the mechanical arm is connected with the chest leads, and a three-dimensional pressure sensor is arranged between the mechanical arm and the chest leads; the main controller constructs a human body pressure distribution image according to pressure data acquired by the pressure sensor array, calculates projection coordinates of the placement positions of the chest leads on the plane of the examination table, drives the mechanical arm to drive the chest leads to move above the corresponding coordinates, enables the chest leads to be in contact with the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates the hardness and the properties of the chest leads in contact with the chest wall and adjacent tissues according to the displacement-pressure data curve slope of the chest leads, and accordingly adjusts and confirms the placement positions of the chest leads. Compared with the prior art, the invention has the advantages of accurate and reliable determination of the placement position of the chest lead, realization of automatic placement, stable and reliable placement of the chest lead and the like.
Description
Technical Field
The invention relates to the field of medical health and artificial intelligence, in particular to an electrocardiogram chest lead placing system.
Background
The conventional electrocardiographic examination needs to place chest leads, the identification colors are respectively red, yellow, green, brown, black and purple, and the identification colors are respectively numbered as V1, V2, V3, V4, V5 and V6.
The placement positions of the chest leads are as follows:
lead V1: the right sternal margin, intercostal 4.
Lead V2: left sternal margin, intercostal 4.
Lead V3: the midpoint of the line connecting V2 and V4.
Lead V4: the left mid-clavicle line and the 5 th intercostal.
Lead V5: the left anterior axillary line is at the same level as V4.
Lead V6: at the level of the axillary midline at V4.
The positions of the chest leads are distinguished according to color identification, and the situation of wrong placement sequence can occur in actual use; the position of the electrode is manually placed and subjectively judged according to vision, so that the position of the electrode deviates from a standard position. The electrocardiogram form change can be caused by wrong placement order or position deviation of the chest leads, and the electrocardiogram diagnosis is deviated, so that a wrong diagnosis conclusion is made.
The chest leads are fixed by rubber suction balls at present, the suction balls are aged to generate air leakage, the internal pressure is reduced, the quality of recorded electrocardiogram waveforms is reduced, and the serious patient leads to wrong diagnosis conclusion.
The electrocardiogram acquisition process needs medical personnel to participate, so that doctor-patient contradiction is easily caused, and the privacy of a detected person is revealed; the process of collecting the electrocardiogram requires the close contact of medical staff and a detected person, and cross infection is easily caused.
Hardness, a term of art in physics, the ability of a material to resist locally the penetration of a hard object into its surface is called hardness. The local resistance of solid to the invasion of external objects is an index for comparing the hardness of various materials. Different hardness standards exist due to the different test methods specified. The hardness is divided into: (ii) scratch hardness. ② press-in hardness. ③ rebound hardness. The press-in hardness is that a specified press head is pressed into a tested material by a certain load, the hardness of the tested material is compared according to the degree of local plastic deformation of the surface of the material, and the harder the material is, the smaller the plastic deformation is.
Disclosure of Invention
The invention aims to provide an electrocardiogram chest lead placement system for overcoming the defects that the positions of chest leads in the prior art are easy to deviate, personnel are required to participate, and contradictions between doctors and patients are easy to cause.
The invention calculates the tissue hardness by utilizing the slope of the chest lead displacement-pressure data curve according to the test method of the pressing hardness, thereby distinguishing the bony tissue from the soft tissue.
The purpose of the invention can be realized by the following technical scheme:
an electrocardiogram chest lead placement system comprising: the device comprises an examination bed, a mechanical arm, a chest lead and a main controller, wherein a pressure sensor array is arranged on the surface of the examination bed and used for collecting pressure data between a human body and the examination bed; the mechanical arm is connected with the chest lead, and a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead and used for acquiring three-dimensional pressure data between the mechanical arm and the chest lead; the main controller is respectively connected with the pressure sensor array, the mechanical arm and the three-dimensional pressure sensor; pressure data collected by the pressure sensor array and the three-dimensional pressure sensor are input into the main controller; the main controller outputs action instructions to the mechanical arm;
the main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the identification information of the pressure sensor, calculates the projection coordinate of the placement position of each chest lead on the plane of the examination bed by utilizing an image recognition technology, drives the mechanical arm to drive the chest lead to move above the corresponding projection coordinate, leads the chest lead to contact the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates the actual coordinate of the chest lead according to the joint angle of the mechanical arm, calculates the three-dimensional pressure data between the chest lead and the chest wall according to the three-dimensional pressure data between the mechanical arm and the chest lead acquired by the three-dimensional pressure sensor, and draws a displacement-pressure data curve of the chest lead by combining the actual coordinate of the chest lead and the three-dimensional pressure data between the chest lead and the chest wall, and calculating the hardness and the property of the chest lead at the position contacting the chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest lead, thereby adjusting and confirming the placement position of the chest lead.
The method comprises the following steps of calculating the hardness and the properties of the chest lead at the position contacting with the chest wall and adjacent tissues according to the slope of a displacement-pressure data curve of the chest lead, and specifically comprises the following steps:
the first step is as follows: after the mechanical arm drives the chest lead to be in contact with the chest wall and applies pressure, the mechanical arm drives the chest lead to be perpendicular to the plane of the examination bed to increase the pressure to the chest wall, and the hardness of the tissue at the position where the chest lead is in contact with the chest wall is calculated according to the slope of the displacement-pressure data curve of the chest lead. The high slope of the displacement-pressure data curve of the chest lead indicates that the hardness of the tissue at the chest lead contact chest wall is high, and the high hardness of the tissue at the chest lead contact chest wall indicates that the chest lead contact chest wall is a bony tissue structure; the small slope of the displacement-pressure data curve of the chest lead indicates that the hardness of the tissue at the chest lead contact chest wall is small, and the small hardness of the tissue at the chest lead contact chest wall indicates that the chest lead contact chest wall is a soft tissue structure;
the second step is that: after the fact that the position, contacting with the chest wall, of the chest lead is a soft tissue structure is confirmed, the mechanical arm drives the chest lead to increase pressure to adjacent tissues in a specific direction parallel to the plane of the examination bed under the premise that the longitudinal pressure is kept unchanged, and the hardness of the adjacent tissues is calculated according to the slope of a displacement-pressure data curve of the chest lead. The high slope of the displacement-pressure data curve of the chest lead indicates that the tissue adjacent to the chest lead is hard, and the high hardness of the tissue adjacent to the chest lead indicates that the tissue adjacent to the chest lead is a bony tissue structure; the small slope of the displacement-pressure data curve of the chest lead indicates that the adjacent tissue of the chest lead has small hardness, and the small hardness of the adjacent tissue of the chest lead indicates that the adjacent tissue of the chest lead is a soft tissue structure.
Further, the electrocardiogram chest lead placement system is used for placing the V2 leads.
A three-dimensional coordinate system is established in advance, wherein an xy plane of the three-dimensional coordinate system is a horizontal plane of the examination bed, a central axis of a human body is taken as an x axis, a straight line which is perpendicular to the x axis and penetrates through the occipital bone and a central point of a pressure area of the examination bed is taken as a y axis, and a z axis is a straight line which is perpendicular to the xy plane and penetrates through an original point;
the placement process of the V2 lead includes the following steps:
the master controller drives the mechanical arm to drive the V2 lead to the calculated projection coordinate (x2, y2) of the 4 th intercostal of the left edge of the sternum in the xy plane, so that the V2 lead contacts the chest wall perpendicular to the xy plane and applies pressure to adjust the joint angle of the mechanical arm, calculating the actual coordinate of the V2 lead according to the joint angle of the mechanical arm, calculating the three-dimensional pressure data between the V2 lead and the chest wall contact point according to the three-dimensional pressure data between the mechanical arm and the V2 lead collected by the three-dimensional pressure sensor, drawing a displacement-pressure data curve of the V2 lead by combining the actual coordinate of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, the V2 lead contact chest wall and adjacent tissue hardness and properties are calculated according to the slope of the displacement-pressure data curve of the V2 lead, so that the V2 lead placement position is adjusted and confirmed.
The hardness and the properties of the V2 lead at the position contacting the chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V2 lead, and the method specifically comprises the following steps:
the first step is as follows: after the mechanical arm drives the V2 lead to contact the chest wall and apply pressure, the mechanical arm drives the V2 lead to increase the pressure to the chest wall perpendicular to the plane of the examination bed, and the hardness of the tissue at the position where the V2 lead contacts the chest wall is calculated according to the slope of a displacement-pressure data curve of the V2 lead. The large slope of the displacement-pressure data curve of the V2 lead indicates that the hardness of the tissue at the chest wall contacted by the V2 lead is large, and the hardness of the tissue at the chest wall contacted by the V2 lead is large, which indicates that the tissue structure at the chest wall contacted by the V2 lead is bony; the small slope of the displacement-pressure data curve of the V2 lead indicates that the hardness of the tissue at the chest wall contacted by the V2 lead is small, and the hardness of the tissue at the chest wall contacted by the V2 lead is small, so that the chest wall contacted by the V2 lead is a soft tissue structure;
the second step is that: after confirming that the contact of the V2 lead with the chest wall is a soft tissue structure, the mechanical arm drives the V2 lead to increase the pressure to the adjacent tissue in a specific direction parallel to the plane of the examination bed under the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissue is calculated according to the slope of the displacement-pressure data curve of the V2 lead. The large slope of the displacement-pressure data curve of the V2 lead indicates that the adjacent tissue of the V2 lead is hard, and the large hardness of the adjacent tissue of the V2 lead indicates that the adjacent tissue of the V2 lead is a bony tissue structure; the small slope of the displacement-pressure data curve for the V2 lead indicates that the adjacent tissue of the V2 lead has low stiffness, and the small stiffness of the adjacent tissue of the V2 lead indicates that the adjacent tissue of the V2 lead is a soft tissue structure.
Adjusting the position of the V2 lead to ensure that the position of the V2 lead contacting the chest wall is a soft tissue structure, keeping the position after adjacent tissues in three directions are all bone tissue structures, and calculating the actual coordinates (x2 ', y2 ', z2 ') of the V2 lead according to the joint angles of the mechanical arm;
the adjacent tissues in three directions where the V2 lead contacts the chest wall are all bony structures, which comprises: adjacent tissues at the head side, the right side and the foot side where the V2 lead contacts the chest wall are all bony tissues (the lower edge of the fourth rib, the left edge of the sternum and the upper edge of the fifth rib);
further, the electrocardiogram chest lead placing system is also used for placing the V1 lead, and the placing process of the V1 lead comprises the following steps:
the master calculates the coordinates (x1, y1) of the V1 lead from the actual coordinates of the V2 lead, wherein x1 is x2 ', y1 is y 2';
the master controller drives the mechanical arm to drive the V1 lead to be above the coordinates (x1, y1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, applies pressure and maintains the pressure.
Further, the electrocardiogram chest lead placing system is also used for placing the V4 lead, and the placing process of the V4 lead comprises the following steps:
the main controller calculates the position coordinates of the clavicle shoulder peak end and the clavicle sternum end by using an image recognition technology according to the human body pressure distribution image, and calculates the projection coordinate y4 of the clavicle midline on the y axis according to the position coordinates of the clavicle shoulder peak end and the clavicle sternum end;
the master controller drives the mechanical arm to drive the V4 lead to be above the calculated projection coordinates (x4, y4) of the 5 th intercostal of the clavicle midline in the xy plane, so that the V4 lead is perpendicular to the xy plane and contacts the chest wall and applies pressure to adjust the joint angle of the mechanical arm, calculating the actual coordinate of the V4 lead according to the joint angle of the mechanical arm, calculating the three-dimensional pressure data between the V4 lead and the chest wall contact point according to the three-dimensional pressure data between the mechanical arm and the V4 lead collected by the three-dimensional pressure sensor, drawing a displacement-pressure data curve of the V4 lead by combining the actual coordinate of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, the V4 lead contact chest wall and adjacent tissue hardness and properties are calculated according to the slope of the displacement-pressure data curve of the V4 lead, so that the V4 lead placement position is adjusted and confirmed.
The hardness and the properties of the V4 lead at the position contacting the chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V4 lead, and the method specifically comprises the following steps:
the first step is as follows: after the mechanical arm drives the V4 lead to contact the chest wall and apply pressure, the mechanical arm drives the V4 lead to be vertical to the plane of the examining table to increase the pressure to the chest wall, and the hardness of the tissue at the position where the V4 lead contacts the chest wall is calculated according to the slope of the displacement-pressure data curve of the V4 lead. The large slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the chest wall contacted by the V4 lead is large, and the hardness of the tissue at the chest wall contacted by the V4 lead is large, which indicates that the tissue structure at the chest wall contacted by the V4 lead is bony; the small slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the chest wall contacted by the V4 lead is small, and the hardness of the tissue at the chest wall contacted by the V4 lead is small, so that the chest wall contacted by the V4 lead is a soft tissue structure;
the second step is that: after confirming that the contact of the V4 lead with the chest wall is a soft tissue structure, the mechanical arm drives the V4 lead to increase the pressure to the adjacent tissue in a specific direction parallel to the plane of the examination bed under the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissue is calculated according to the slope of the displacement-pressure data curve of the V4 lead. The large slope of the displacement-pressure data curve of the V4 lead indicates that the adjacent tissue of the V4 lead is hard, and the large hardness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is a bony tissue structure; the small slope of the displacement-pressure data curve for the V4 lead indicates that the adjacent tissue of the V4 lead has low stiffness, and the small stiffness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is a soft tissue structure.
Adjusting the position of the V4 lead to ensure that the position of the V4 lead contacting the chest wall is a soft tissue structure, keeping the position after adjacent tissues in two directions are bone tissue structures, and calculating the actual coordinates (x4 ', y4, z 4') of the V4 lead;
the adjacent tissues in two directions where the V4 lead contacts the chest wall are bony tissue structures, which comprises: the adjacent tissues on the head side and the foot side where the V4 lead contacts the chest wall are bony tissues (the lower edge of the fifth rib and the upper edge of the sixth rib).
Further, the electrocardiogram chest lead placing system is also used for placing the V3 lead, and the placing process of the V3 lead comprises the following steps:
the master calculates the coordinates (x3, y3) of the V3 lead according to the actual coordinates of the V2 lead and the V4 lead, wherein x3 ═ is (x2 ' + x4 ')/2, and y3 ═ is (y2 ' + y 4)/2;
the master controller drives the mechanical arm to drive the V3 lead to be above coordinates (x3, y3), the V3 lead is made to contact the chest wall in a mode that the V3 lead is perpendicular to the xy plane, pressure is applied and the V3 lead is kept, and actual coordinates (x3, y3, z 3') of the V3 lead are calculated according to the angles of all joints of the mechanical arm.
Further, the electrocardiogram chest lead placing system is also used for placing the V6 lead, and the placing process of the V6 lead comprises the following steps:
the coordinates of the V6 lead were calculated from the actual coordinates of the V2 lead, the V3 lead, and the V4 lead: x6 ═ x4 ', z6 ═ z 2' + z3 '+ z 4')/6, i.e. 1/2 for the arithmetic mean of the z coordinates of the V6 leads V2, V3, V4;
the master controller drives the mechanical arm to drive the V6 lead to move downwards between the left chest wall and the left upper arm to a position z6, so that the V6 lead is in contact with the chest wall perpendicular to an xz plane, pressure is applied and maintained, and the actual coordinates (x6, y 6', z6) of the V6 lead are calculated according to the joint angles of the mechanical arm at the moment.
Further, the electrocardiogram chest lead placing system is also used for placing the V5 lead, and the placing process of the V5 lead comprises the following steps:
the main controller constructs a left chest outline three-dimensional contour according to the human body pressure distribution image and actual coordinates of a V2 lead, a V3 lead, a V4 lead and a V6 lead at the position contacting with the chest wall, calculates contour coordinates of the left chest outline on a yz plane of the V4 lead, and calculates central point coordinates of an arc line between the position contacting with the chest wall at the V4 lead and the position contacting with the chest wall at the V6 lead as V5 lead coordinates (x5, y5 and z 5);
the master drives the robotic arm to bring the V5 lead into contact with the chest wall at an angle perpendicular to the chest wall at (x5, y5, z5), applying pressure and holding.
Further, the V1 lead, the V2 lead, the V3 lead, the V4 lead, the V5 lead, and the V6 lead are driven by mechanical arms in one-to-one correspondence, respectively.
Furthermore, the top of the chest lead is a curved tip, the bottom of the chest lead is a plane, the top of the chest lead is used for contacting the chest wall of the detected person, and the bottom of the chest lead is connected with the mechanical arm.
Further, the cross section of the chest lead is in a semi-elliptical shape.
Furthermore, the main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the identification information of the pressure sensors, and calculates the position coordinates of the bony signs of the back on the xy plane by using an image recognition technology, thereby calculating the projection coordinates of each intercostal space, the sternum and the middle line of the clavicle on the surface of the examination bed.
Further, a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead. Compared with the prior art, the invention has the following advantages:
(1) the invention firstly collects the pressure data between the human body and the examination bed through the pressure sensor array on the surface of the examination bed, and the main controller constructs the human body pressure distribution image and calculates the placement position of the chest lead according to the pressure data, in order to avoid the error caused by calculating the placement position of the chest lead only by adopting the human body pressure distribution image.
(2) The invention calculates the actual coordinates of the chest leads one by one, and after confirming the actual coordinates of the V2 lead and the V4 lead, the calculated actual coordinates of the chest leads are adopted to calculate the coordinates of the V1 lead, the V3 lead, the V6 lead and the V5 lead, thereby fully utilizing the calculated accurate coordinates and further ensuring the accuracy of the placement position of each chest lead.
(3) According to the invention, each chest lead is automatically placed by the mechanical arm, the whole data is automatically processed by the main controller, personnel participation is not required, the risks of position deviation and placing errors are reduced, and the privacy of a detected person can be prevented from being revealed.
(4) In the invention, each chest lead is fixed by the mechanical arm, and the contact pressure is kept in real time by the three-dimensional pressure sensor, so that the device is stable and reliable, and the situations of air leakage and unstable connection caused by adopting a rubber suction ball can be avoided.
Drawings
FIG. 1 is a schematic structural diagram of a system for placing electrocardiogram chest leads according to an embodiment of the present invention
FIG. 2 is a schematic diagram of a connection state of chest leads according to an embodiment of the present invention
FIG. 3 is a flow chart of chest lead placement confirmation provided in the embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "left", "right", "vertical", "horizontal", "head", "foot", "longitudinal", "transverse", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention conventionally place when in use, and are used for convenience of description and simplicity of description only, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
Example 1
As shown in fig. 1, the present embodiment provides an electrocardiogram chest lead placing system, which comprises: an examining table, a mechanical arm, a chest lead and a main controller,
the surface of the examination bed is provided with a pressure sensor array for synchronously acquiring pressure data at high frequency, the acquired pressure data and the sensor identification information are transmitted to a main control program, and the pressure data acquired at the same time point are processed to form a pressure distribution image.
The mechanical arm is connected with the chest lead, a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead, and three-dimensional pressure data between the mechanical arm and the chest lead are collected; the main controller is respectively connected with the pressure sensor array, the mechanical arm and the three-dimensional pressure sensor; pressure data acquired by the three-dimensional pressure sensor is input into the main controller; the main controller outputs action instructions to the mechanical arm.
As shown in fig. 2, the top of the chest lead is a curved tip, the bottom is a plane, the top of the chest lead is used for contacting the thorax of the subject, and the bottom is connected with a mechanical arm. Preferably, the chest lead is semi-elliptical in cross-section.
The general working principle of the electrocardiogram chest lead placing system is as follows:
the main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the identification information of the pressure sensor, calculates the projection coordinates of the placement positions of the chest leads on the plane of the examination bed by utilizing an image recognition technology, drives the mechanical arm to drive the chest leads to move to the positions above the corresponding coordinates, enables the chest leads to be in contact with the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates the actual coordinates of the chest leads according to the joint angle of the mechanical arm, calculates the three-dimensional pressure data between the chest leads and the chest wall according to the three-dimensional pressure data between the mechanical arm and the chest leads acquired by the three-dimensional pressure sensor, draws a displacement-pressure data curve of the chest leads by combining the actual coordinates of the chest leads and the three-dimensional pressure data between the chest leads and the chest wall, and calculates the hardness and the properties of adjacent tissues at the position where the chest leads are in contact with the chest wall according to the slope of the displacement-pressure data curve of the chest leads, thereby adjusting and confirming chest lead placement.
The electrocardiogram chest lead placing system of the embodiment is implemented as follows:
the chest lead placement system for the electrocardiogram can realize automatic placement of a V1 lead, a V2 lead, a V3 lead, a V4 lead, a V5 lead and a V6 lead, and the leads are respectively driven by mechanical arms in one-to-one correspondence.
When in use, the examined person lies on the examination bed, and the whole body is relaxed.
The main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the identification information of the pressure sensors.
The main controller uses a central axis of a human body as an x-axis, a straight line which is perpendicular to the x-axis and passes through the central point of the occipital bone and the pressure area of the examination bed is a y-axis, the xy plane is the horizontal plane of the examination bed, and the z-axis is a straight line which passes through the original point and is perpendicular to the xy plane, so that a three-dimensional coordinate system is established.
The main controller calculates the projection coordinate of each chest lead placement position on an xy plane by utilizing an image recognition technology according to a human body pressure distribution image, drives the mechanical arm to drive the chest lead to move above the corresponding coordinate, so that the chest lead is in contact with the chest wall and applies pressure, adjusts the joint angle of the mechanical arm, calculates the actual coordinate of the chest lead according to the joint angle of the mechanical arm, calculates the three-dimensional pressure data between the chest lead and the chest wall according to the three-dimensional pressure data between the mechanical arm and the chest lead collected by the three-dimensional pressure sensor, draws a displacement-pressure data curve of the chest lead by combining the actual coordinate of the chest lead and the three-dimensional pressure data between the chest lead and the chest wall, calculates the hardness and the property of the chest lead at the position in contact with the chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest lead, and accordingly adjusts and confirms the placement position of the chest lead.
The placement process of the V2 lead includes the following steps:
the main controller drives the 1 st mechanical arm to drive the V2 lead to the calculated projection coordinate (x2, y2) of the 4 th intercostal at the left edge of the sternum, the V2 lead is enabled to be in contact with the chest wall in a vertical mode to the xy plane and to apply pressure, the joint angle of the 1 st mechanical arm is adjusted, the actual coordinate of the V2 lead is calculated according to the joint angle of the 1 st mechanical arm, the three-dimensional pressure data between the V2 lead and the chest wall contact point is calculated according to the three-dimensional pressure data between the 1 st mechanical arm and the V2 lead collected by the three-dimensional pressure sensor, the displacement-pressure data curve of the V2 lead is drawn by combining the actual coordinate of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, the hardness and the properties of the chest wall where the V2 lead is in contact with the chest wall are calculated according to the slope of the displacement-pressure data curve of the V2 lead, the position of the V2 lead is adjusted, so that the V2 lead is in contact with the chest wall as a soft tissue structure, after adjacent tissues in three directions are all bony tissue structures, position maintenance is carried out, and the actual coordinates (x2 ', y2 ', z2 ') of the V2 lead are calculated according to the joint angle of the 1 st mechanical arm;
the placement process of the V1 lead includes the following steps:
the master calculates the coordinates (x1, y1) of the V1 lead according to the actual coordinates of the V2 lead, wherein x1 is x2 ', y1 is y 2';
the master controller drives the 2 nd mechanical arm to bring the V1 lead above the coordinates (x1, y1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, applies pressure and maintains the pressure.
The placement process of the V4 lead includes the following steps:
the main controller calculates the position coordinates of the clavicle shoulder peak end and the clavicle sternum end by using an image recognition technology according to the human body pressure distribution image, and calculates the projection coordinate y4 of the clavicle midline on the y axis according to the position coordinates of the clavicle shoulder peak end and the clavicle sternum end;
the main controller drives the 3 rd mechanical arm to drive the V4 lead to be above the projection coordinates (x4, y4) of the calculated 5 th intercostal of the clavicle midline on the xy plane, the V4 lead is made to be perpendicular to the xy plane to contact with the chest wall and apply pressure, the joint angle of the 3 rd mechanical arm is adjusted, the actual coordinate of the V4 lead is calculated according to the joint angle of the 3 rd mechanical arm, the three-dimensional pressure data between the V4 lead and the chest wall contact point is calculated according to the three-dimensional pressure data between the 3 rd mechanical arm and the V4 lead collected by the three-dimensional pressure sensor, the displacement-pressure data curve of the V4 lead is drawn by combining the actual coordinate of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, the hardness and the properties of the V4 lead in contact with the chest wall are calculated according to the displacement-pressure data curve slope of the V4 lead, and the placement position of the V4 lead is adjusted and confirmed.
Calculating the hardness and the properties of the V4 lead at the position contacting the chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the V4 lead, which comprises the following steps:
the first step is as follows: after the 3 rd mechanical arm drives the V4 lead to contact the chest wall and apply pressure, the 3 rd mechanical arm drives the V4 lead to be vertical to the plane of the examining table to increase the pressure to the chest wall, and the hardness of the tissue at the position where the V4 lead contacts the chest wall is calculated according to the slope of the displacement-pressure data curve of the V4 lead. The large slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the chest wall contacted by the V4 lead is large, and the hardness of the tissue at the chest wall contacted by the V4 lead is large, which indicates that the tissue structure at the chest wall contacted by the V4 lead is bony; the small slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the chest wall contacted by the V4 lead is small, and the hardness of the tissue at the chest wall contacted by the V4 lead is small, so that the chest wall contacted by the V4 lead is a soft tissue structure;
the second step is that: after confirming that the contact position of the V4 lead with the chest wall is a soft tissue structure, the 3 rd mechanical arm drives the V4 lead to increase the pressure to the adjacent tissue in a specific direction parallel to the plane of the examining table under the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissue is calculated according to the slope of the displacement-pressure data curve of the V4 lead. The large slope of the displacement-pressure data curve of the V4 lead indicates that the adjacent tissue of the V4 lead is hard, and the large hardness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is a bony tissue structure; the small slope of the displacement-pressure data curve for the V4 lead indicates that the adjacent tissue of the V4 lead has low stiffness, and the small stiffness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is a soft tissue structure.
Adjusting the position of the V4 lead to ensure that the position of the V4 lead contacting the chest wall is a soft tissue structure, keeping the position after adjacent tissues in two directions are bone tissue structures, and calculating the actual coordinates (x4 ', y4, z 4') of the V4 lead;
the adjacent tissues in two directions where the V4 lead contacts the chest wall are bony structures comprising: the adjacent tissues on the head side and the foot side where the V4 lead contacts the chest wall are bony tissues (the lower edge of the fifth rib and the upper edge of the sixth rib).
The placement process of the V3 lead includes the following steps:
the master calculates the coordinates (x3, y3) of the V3 lead according to the actual coordinates of the V2 lead and the V4 lead, wherein x3 ═ is (x2 ' + x4 ')/2, and y3 ═ is (y2 ' + y 4)/2;
the master controller drives the 4 th mechanical arm to drive the V3 lead to be above the coordinates (x3, y3), so that the V3 lead contacts the chest wall in a way of being vertical to the xy plane, pressure is applied and maintained, and the actual coordinates (x3, y3, z 3') of the V3 lead are calculated according to the joint angles of the 4 th mechanical arm.
The placement process of the V6 lead includes the following steps:
the master program calculates the coordinates of the V6 lead from the actual coordinates of the V2 lead, the V3 lead, and the V4 lead: x6 ═ x4 ', z6 ═ z 2' + z3 '+ z 4')/6, i.e. 1/2 for the arithmetic mean of the z coordinates of the V6 leads V2, V3, V4;
the main controller drives the 5 th mechanical arm to drive the V6 lead to move downwards between the left chest wall and the left upper arm to the z6 position, so that the V6 lead contacts the chest wall perpendicular to the xz plane, pressure is applied and maintained, and the actual coordinates (x6, y 6', z6) of the V6 lead are calculated according to the joint angles of the 5 th mechanical arm.
The placement process of the V5 lead includes the following steps:
the main controller constructs a left chest wall three-dimensional contour according to the human body pressure distribution image and actual coordinates of a V2 lead, a V3 lead, a V4 lead and a V6 lead at the position contacting with the chest wall, calculates contour coordinates of the left chest wall on a yz plane where the V4 lead is located, and calculates central point coordinates of an arc line between the position contacting with the chest wall at the V4 lead and the position contacting with the chest wall at the V6 lead, wherein the coordinates are V5 lead coordinates (x5, y5 and z 5);
the master drives the 6 th mechanical arm to bring the V5 lead into contact with the chest wall at an angle perpendicular to the chest wall at (x5, y5, z5), applying pressure and holding.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. An electrocardiogram chest lead placement system comprising: the device comprises an examination bed, a mechanical arm, a chest lead and a main controller, wherein a pressure sensor array is arranged on the surface of the examination bed and used for collecting pressure data between a human body and the examination bed; the mechanical arm is connected with the chest lead, and a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead and used for acquiring three-dimensional pressure data between the mechanical arm and the chest lead; the main controller is respectively connected with the pressure sensor array, the mechanical arm and the three-dimensional pressure sensor; pressure data collected by the pressure sensor array and the three-dimensional pressure sensor are input into the main controller; the main controller outputs action instructions to the mechanical arm;
the main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the identification information of the pressure sensor, calculates the projection coordinate of the placement position of each chest lead on the plane of the examination bed by utilizing an image recognition technology, drives the mechanical arm to drive the chest lead to move above the corresponding projection coordinate, leads the chest lead to contact the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates the actual coordinate of the chest lead according to the joint angle of the mechanical arm, calculates the three-dimensional pressure data between the chest lead and the chest wall according to the three-dimensional pressure data between the mechanical arm and the chest lead acquired by the three-dimensional pressure sensor, and draws a displacement-pressure data curve of the chest lead by combining the actual coordinate of the chest lead and the three-dimensional pressure data between the chest lead and the chest wall, calculating the hardness and the property of the chest lead at the position contacting the chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest lead, thereby adjusting and confirming the placement position of the chest lead;
the method comprises the following steps of calculating the hardness and the properties of the chest lead at the position contacting with the chest wall and adjacent tissues according to the slope of a displacement-pressure data curve of the chest lead, and specifically comprises the following steps:
the first step is as follows: the mechanical arm drives the chest lead to contact the chest wall and drives the chest lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, and displacement-pressure data of the chest lead are obtained; if the slope of the curve of the displacement-pressure data of the chest lead acquired at the moment is greater than a preset slope threshold value, the position of the chest lead at the moment is a bony tissue structure, otherwise, the position of the chest lead at the moment is a soft tissue structure;
the second step is that: after confirming that the position of the chest lead contacting with the chest wall is a soft tissue structure, the mechanical arm drives the chest lead to increase pressure to adjacent tissues in parallel to the plane of the examination bed under the premise of keeping the longitudinal pressure unchanged, and displacement-pressure data of the chest lead are obtained; if the slope of the curve of the displacement-pressure data of the chest lead acquired at the moment is larger than a preset slope threshold value, the adjacent tissue of the chest lead at the moment is a bony tissue structure, otherwise, the adjacent tissue of the chest lead at the moment is a soft tissue structure.
2. The electrocardiogram chest lead placement system according to claim 1, wherein said electrocardiogram chest lead placement system is used for placing the V2 lead;
a three-dimensional coordinate system is established in advance, wherein an xy plane of the three-dimensional coordinate system is a horizontal plane of the examination bed, a central axis of a human body is taken as an x axis, a straight line which is perpendicular to the x axis and penetrates through the occipital bone and a central point of a pressure area of the examination bed is taken as a y axis, and a z axis is a straight line which is perpendicular to the xy plane and penetrates through an original point;
the placement process of the V2 lead includes the following steps:
the master controller drives the mechanical arm to drive the V2 lead to the calculated projection coordinate (x2, y2) of the 4 th intercostal of the left edge of the sternum in the xy plane, so that the V2 lead contacts the chest wall perpendicular to the xy plane and applies pressure to adjust the joint angle of the mechanical arm, calculating the actual coordinate of the V2 lead according to the joint angle of the mechanical arm, calculating the three-dimensional pressure data between the V2 lead and the chest wall contact point according to the three-dimensional pressure data between the mechanical arm and the V2 lead collected by the three-dimensional pressure sensor, drawing a displacement-pressure data curve of the V2 lead by combining the actual coordinate of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, calculating the hardness and the property of the contact chest wall and adjacent tissues of the V2 lead according to the slope of the displacement-pressure data curve of the V2 lead, thereby adjusting and confirming the placement position of the V2 lead;
the hardness and the properties of the V2 lead at the position contacting the chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V2 lead, and the method specifically comprises the following steps:
the first step is as follows: after the mechanical arm drives the V2 lead to contact the chest wall and apply pressure, the mechanical arm drives the V2 lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, and displacement-pressure data of the V2 lead are acquired; if the slope of the obtained displacement-pressure data curve of the V2 lead is greater than a preset slope threshold value, the position, in contact with the chest wall, of the V2 lead is in a bony tissue structure, otherwise, the position, in contact with the chest wall, of the V2 lead is in a soft tissue structure;
the second step is that: after confirming that the contact position of the V2 lead with the chest wall is a soft tissue structure, the mechanical arm drives the V2 lead to increase pressure to adjacent tissues in parallel to the plane of the examination bed under the premise of keeping the longitudinal pressure unchanged, and displacement-pressure data of the V2 lead are acquired; if the slope of the curve of the displacement-pressure data of the V2 lead acquired at the moment is greater than a preset slope threshold value, the adjacent tissue of the V2 lead is a bony tissue structure at the moment, otherwise, the adjacent tissue of the V2 lead is a soft tissue structure at the moment;
adjusting the position of the V2 lead to ensure that the position of the V2 lead contacting the chest wall is a soft tissue structure, keeping the position after adjacent tissues in three directions are all bone tissue structures, and calculating the actual coordinates (x2 ', y2 ', z2 ') of the V2 lead according to the joint angles of the mechanical arm;
the adjacent tissues in three directions where the V2 lead contacts the chest wall are all bony structures, which comprises: the adjacent tissues of the V2 lead at the chest wall, such as the head side, the right side and the foot side, are bony tissues.
3. The electrocardiogram chest lead placement system according to claim 2, wherein said electrocardiogram chest lead placement system is further used for placing the V1 lead, the placement process of the V1 lead comprises the following steps:
the master calculates the coordinates (x1, y1) of the V1 lead from the actual coordinates of the V2 lead, wherein x1 is x2 ', y1 is y 2';
the master controller drives the mechanical arm to drive the V1 lead to be above the coordinates (x1, y1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, applies pressure and maintains the pressure.
4. The electrocardiogram chest lead placement system according to claim 3, wherein said electrocardiogram chest lead placement system is further used for placing the V4 lead, the placement process of the V4 lead comprises the following steps:
the main controller calculates the position coordinates of the clavicle shoulder peak end and the clavicle sternum end by using an image recognition technology according to the human body pressure distribution image, and calculates the projection coordinate y4 of the clavicle midline on the y axis according to the position coordinates of the clavicle shoulder peak end and the clavicle sternum end;
the master controller drives the mechanical arm to drive the V4 lead to be above the calculated projection coordinates (x4, y4) of the 5 th intercostal of the clavicle midline in the xy plane, so that the V4 lead is perpendicular to the xy plane and contacts the chest wall and applies pressure to adjust the joint angle of the mechanical arm, calculating the actual coordinate of the V4 lead according to the joint angle of the mechanical arm, calculating the three-dimensional pressure data between the V4 lead and the chest wall contact point according to the three-dimensional pressure data between the mechanical arm and the V4 lead collected by the three-dimensional pressure sensor, drawing a displacement-pressure data curve of the V4 lead by combining the actual coordinate of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, calculating the hardness and the property of the contact chest wall and adjacent tissues of the V4 lead according to the slope of the displacement-pressure data curve of the V4 lead, thereby adjusting and confirming the placement position of the V4 lead;
the hardness and the properties of the V4 lead at the position contacting the chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V4 lead, and the method specifically comprises the following steps:
the first step is as follows: after the mechanical arm drives the V4 lead to contact the chest wall and apply pressure, the mechanical arm drives the V4 lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, and displacement-pressure data of the V4 lead are obtained; if the slope of the displacement-pressure data curve of the V4 lead acquired at the moment is greater than a preset slope threshold, the position, in contact with the chest wall, of the V4 lead is in a bony tissue structure, otherwise, the position, in contact with the chest wall, of the V4 lead is in a soft tissue structure;
the second step is that: after confirming that the contact position of the V4 lead with the chest wall is a soft tissue structure, the mechanical arm drives the V4 lead to increase pressure to the adjacent tissue in parallel to the plane of the examination bed under the premise of keeping the longitudinal pressure unchanged, and displacement-pressure data of the V4 lead are obtained; if the slope of the displacement-pressure data curve of the V4 lead acquired at the moment is greater than a preset slope threshold value, the adjacent tissue of the V4 lead is a bony tissue structure, otherwise, the adjacent tissue of the V4 lead is a soft tissue structure;
adjusting the position of the V4 lead to ensure that the position of the V4 lead contacting the chest wall is a soft tissue structure, keeping the position after adjacent tissues in two directions are bone tissue structures, and calculating the actual coordinates (x4 ', y4, z 4') of the V4 lead;
the adjacent tissues in two directions where the V4 lead contacts the chest wall are bony tissue structures, which comprises: the adjacent tissues of the V4 lead at the contact part of the chest wall at the head side and the foot side are bony tissues.
5. The electrocardiogram chest lead placement system according to claim 4, wherein said electrocardiogram chest lead placement system is further used for placing the V3 lead, the placement process of the V3 lead comprises the following steps:
the master calculates the coordinates (x3, y3) of the V3 lead according to the actual coordinates of the V2 lead and the V4 lead, wherein x3 ═ is (x2 ' + x4 ')/2, and y3 ═ is (y2 ' + y 4)/2;
the master controller drives the mechanical arm to drive the V3 lead to be above coordinates (x3, y3), the V3 lead is made to contact the chest wall in a mode that the V3 lead is perpendicular to the xy plane, pressure is applied and the V3 lead is kept, and actual coordinates (x3, y3, z 3') of the V3 lead are calculated according to the angles of all joints of the mechanical arm.
6. The electrocardiogram chest lead placement system according to claim 5, wherein said electrocardiogram chest lead placement system is further used for placing the V6 lead, the placement process of the V6 lead comprises the following steps:
the master calculates the coordinates of the V6 lead from the actual coordinates of the V2 lead, the V3 lead and the V4 lead: x6 ═ x4 ', z6 ═ z 2' + z3 '+ z 4')/6, i.e. 1/2 for the arithmetic mean of the z coordinates of the V6 leads V2, V3, V4;
the master controller drives the mechanical arm to drive the V6 lead to move downwards between the left chest wall and the left upper arm to a z6 position, the V6 lead is made to contact with the chest wall perpendicular to an xz plane, pressure is applied and maintained, and the actual coordinates (x6, y 6', z6) of the V6 lead are calculated according to the joint angles of the mechanical arm.
7. The electrocardiogram chest lead placement system according to claim 6, wherein said electrocardiogram chest lead placement system is further used for placing the V5 lead, the placement process of the V5 lead comprises the following steps:
the main controller constructs a left chest wall three-dimensional contour according to a human body pressure distribution image and actual coordinates of a V2 lead, a V3 lead, a V4 lead and a V6 lead at the position contacting with the chest wall, calculates contour coordinates of the left chest wall on a yz plane where the V4 lead is located, and calculates central point coordinates of an arc line between the position contacting with the chest wall at the V4 lead and the position contacting with the chest wall at the V6 lead, wherein the coordinates are V5 lead coordinates (x5, y5 and z 5);
the master drives the robotic arms to bring the V5 leads into contact with the chest wall at an angle perpendicular to the chest wall at (x5, y5, z5), apply pressure and hold.
8. The electrocardiogram chest lead placement system according to claim 7, wherein said V1 lead, V2 lead, V3 lead, V4 lead, V5 lead and V6 lead are driven by a one-to-one mechanical arm respectively.
9. The electrocardiogram chest lead placement system according to claim 1, wherein the top of said chest lead is a curved tip and the bottom is a flat surface, the top of said chest lead is used for contacting the chest wall of the subject, and the bottom is connected to said mechanical arm;
the cross section of the chest lead is semi-elliptical.
10. The electrocardiogram chest lead placing system according to claim 1, wherein said main controller constructs the human body pressure distribution image according to the pressure data collected by said array of pressure sensors and the identification information of pressure sensors, and uses image recognition technique to calculate the position coordinates of the back bony landmarks on xy plane, thus calculating the projection coordinates of each intercostal space, sternum and midline clavicle on the surface of said examining table;
and a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead.
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