CN114403882B - Electrocardiogram chest lead placement system - Google Patents
Electrocardiogram chest lead placement system Download PDFInfo
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- CN114403882B CN114403882B CN202210070860.7A CN202210070860A CN114403882B CN 114403882 B CN114403882 B CN 114403882B CN 202210070860 A CN202210070860 A CN 202210070860A CN 114403882 B CN114403882 B CN 114403882B
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- 210000000038 chest Anatomy 0.000 claims abstract description 172
- 210000000779 thoracic wall Anatomy 0.000 claims abstract description 150
- 238000007689 inspection Methods 0.000 claims abstract description 11
- 210000001519 tissue Anatomy 0.000 claims description 96
- 210000000988 bone and bone Anatomy 0.000 claims description 29
- 210000004872 soft tissue Anatomy 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 21
- 210000003109 clavicle Anatomy 0.000 claims description 16
- 210000001562 sternum Anatomy 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 9
- 230000003601 intercostal effect Effects 0.000 claims description 9
- 210000002659 acromion Anatomy 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 210000000103 occipital bone Anatomy 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 description 7
- 238000003745 diagnosis Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004070 electrodeposition Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 210000000115 thoracic cavity Anatomy 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
- 239000003086 colorant Substances 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
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004660 morphological change Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
Abstract
The invention relates to an electrocardiogram chest lead placement system, which comprises: the system comprises an inspection bed, a mechanical arm, a chest lead and a main controller, wherein a pressure sensor array is arranged on the surface of the inspection bed, and pressure data between a human body and the inspection bed are acquired; 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; the main controller constructs a human body pressure distribution image according to pressure data acquired by the pressure sensor array, calculates projection coordinates of each chest lead placement position on the plane of the examination bed, drives the mechanical arm to drive the chest leads to move above the corresponding coordinates, enables the chest leads to contact with the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates the hardness and the property of the chest leads at the chest wall and adjacent tissues according to the displacement-pressure data curve slope of the chest leads, and accordingly adjusts and confirms the chest lead placement position. Compared with the prior art, the invention has the advantages of accurately and reliably determining the placement position of the chest lead, realizing automatic placement, being stable and reliable in chest lead placement, and the like.
Description
Technical Field
The invention relates to the fields of medical health and artificial intelligence, in particular to an electrocardiogram chest lead placement system.
Background
The chest leads need to be placed in the conventional electrocardiographic examination, and the identification colors are respectively red, yellow, green, brown, black and purple, and are respectively numbered as V1, V2, V3, V4, V5 and V6.
The chest leads are placed as follows:
v1 lead: the right sternum is between the 4 th intercostal.
V2 leads: the left sternum edge is between the 4 th intercostal.
V3 leads: the midpoint of the V2 and V4 connection.
V4 leads: the left collarbone midline is at the intercostal 5 th.
V5 leads: the left anterior axillary line is at the same level as V4.
V6 leads: at the level of the axillary midline with V4.
The positions of chest leads are distinguished according to color marks, and the situation of wrong placement sequence can occur in actual use; the manual placement of the electrode position can lead to deviation of the electrode position from the standard position based on visual subjective judgment. Chest lead placement sequence errors or position deviations can cause electrocardiogram morphological changes, and deviation occurs to electrocardiogram diagnosis, so that incorrect diagnosis conclusion is caused.
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 the recorded electrocardiogram waveform is reduced, and the serious cases lead to wrong diagnosis conclusion.
Medical staff is needed to participate in the electrocardiographic acquisition process, so that doctor-patient contradiction is easy to cause, and the privacy of a detected person is revealed; the electrocardiographic acquisition process requires medical staff to be in close contact with the examined person, and cross infection is easy to cause.
Hardness, a physical term of art, the ability of a material to locally resist penetration of hard objects into its surface is called hardness. The local resistance of the solid to the invasion of external objects is an index for comparing the softness and hardness of various materials. There are different hardness standards since different test methods are specified. The hardness is divided into: (1) scratch hardness. (2) Hardness of press-in. (3) Rebound hardness. The indentation hardness is that a predetermined indenter is pressed into a measured material with a certain load, and the hardness of the measured material is compared with the hardness of the measured material according to the degree of local plastic deformation of the material surface, and the harder the material, the smaller the plastic deformation.
Disclosure of Invention
The invention aims to overcome the defects that the chest leads in the prior art are easy to deviate in position, personnel are needed to participate, and the contradiction between doctors and patients is easy to cause.
According to the method for testing the indentation hardness, the tissue hardness is calculated by utilizing the slope of the chest lead displacement-pressure data curve, so that the osseous tissue and the soft tissue are distinguished.
The aim of the invention can be achieved by the following technical scheme:
an electrocardiogram chest lead placement system comprising: the system comprises an inspection bed, a mechanical arm, a chest lead and a main controller, wherein the surface of the inspection bed is provided with a pressure sensor array for acquiring pressure data between a human body and the inspection 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 master controller is respectively connected with the pressure sensor array, the mechanical arm and the three-dimensional pressure sensor; the pressure data collected by the pressure sensor array and the three-dimensional pressure sensor are input into the master controller; the master controller outputs an action instruction to the mechanical arm;
the main controller constructs a human body pressure distribution image according to pressure data acquired by the pressure sensor array and pressure sensor identification information, calculates projection coordinates of each chest lead placement position on an inspection bed plane by utilizing an image recognition technology, drives the mechanical arm to drive the chest leads to move to the positions above the corresponding projection coordinates, enables the chest leads to be connected with the chest wall and apply pressure, adjusts joint angles of the mechanical arm, calculates actual coordinates of the chest leads according to joint angles of the mechanical arm, calculates three-dimensional pressure data between the chest leads and the chest wall according to three-dimensional pressure data between the mechanical arm acquired by the three-dimensional pressure sensor, draws a displacement-pressure data curve of the chest leads in combination with the actual coordinates of the chest leads and the three-dimensional pressure data between the chest leads and the chest wall, calculates hardness and properties of the chest lead connection chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest leads, and accordingly adjusts and confirms the chest lead placement position.
The hardness and properties of the chest wall and adjacent tissues of the chest lead joint are calculated according to the slope of the displacement-pressure data curve of the chest lead, and are specifically as follows:
the first step: after the mechanical arm drives the chest lead to be connected 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 pressure to the chest wall, and the tissue hardness of the chest lead at the chest wall is calculated according to the slope of the displacement-pressure data curve of the chest lead. The large slope of the displacement-pressure data curve of the chest lead indicates that the tissue hardness of the chest lead at the chest wall is large, and the large tissue hardness of the chest lead at the chest wall indicates that the chest lead at the chest wall is a bone tissue structure; a small slope of the displacement-pressure data curve of the chest lead indicates that the tissue hardness of the chest lead at the chest wall is small, and a small tissue hardness of the chest lead at the chest wall indicates that the chest lead at the chest wall is a soft tissue structure;
and a second step of: after confirming that the chest lead is connected with the chest wall to form a soft tissue structure, the mechanical arm drives the chest lead to increase pressure to adjacent tissues in a specific direction in parallel with the plane of the examination bed on the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissues is calculated according to the slope of a displacement-pressure data curve of the chest lead. A large slope of the displacement-pressure data curve of the chest lead indicates that the chest lead is of great adjacent tissue stiffness, which indicates that the chest lead is of bony tissue structure; a small slope of the displacement-pressure data curve for the chest lead indicates that the chest lead adjacent tissue is less stiff and a small stiffness of the chest lead adjacent tissue indicates that the chest lead adjacent tissue is a soft tissue structure.
Further, the electrocardiogram chest lead placement system is used for placing a V2 lead.
A three-dimensional coordinate system is established in advance, the xy plane of the three-dimensional coordinate system is the horizontal plane of the examination bed, the central axis of a human body is taken as an x axis, a straight line which is perpendicular to the x axis and passes through occipital bone and the central point of the pressure area of the examination bed is taken as a y axis, and the z axis is taken as a straight line which is perpendicular to the xy plane and passes through an origin;
the V2 lead placement process comprises the following steps:
the master controller drives the mechanical arm to drive the V2 lead to be above the calculated projection coordinates (x 2, y 2) of the 4 th intercostal of the left edge of the sternum on the xy plane, the V2 lead is enabled to be perpendicular to the xy plane and contact with the chest wall, pressure is applied, the joint angle of the mechanical arm is adjusted, the actual coordinates of the V2 lead are calculated according to the joint angle of the mechanical arm, the three-dimensional pressure data between the V2 lead and the chest wall contact point are calculated according to the three-dimensional pressure data between the mechanical arm and the V2 lead collected by the three-dimensional pressure sensor, a displacement-pressure data curve of the V2 lead is drawn in combination with the actual coordinates of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, and the hardness and the properties of adjacent tissues of the V2 lead are calculated according to the slope of the displacement-pressure data curve of the V2 lead, and accordingly the V2 lead placement position is adjusted and confirmed.
The hardness and properties of the V2 lead-connected chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V2 lead, and are specifically as follows:
the first step: after the mechanical arm drives the V2 lead to be connected with the chest wall and applies pressure, the mechanical arm drives the V2 lead to be perpendicular to the plane of the examination bed to increase pressure to the chest wall, and the tissue hardness of the V2 lead at the chest wall 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 hardness of the tissue at the position of the V2 lead connecting with the chest wall is large, and the large hardness of the tissue at the position of the V2 lead connecting with the chest wall indicates that the position of the V2 lead connecting with the chest wall is an osseous tissue structure; the small slope of the displacement-pressure data curve of the V2 lead indicates that the hardness of the tissue at the position of the V2 lead connecting with the chest wall is small, and the small hardness of the tissue at the position of the V2 lead connecting with the chest wall indicates that the position of the V2 lead connecting with the chest wall is a soft tissue structure;
and a second step of: after confirming that the V2 lead is in a soft tissue structure at the chest wall, the mechanical arm drives the V2 lead to increase pressure to adjacent tissues in a specific direction in parallel with the plane of the examination bed on the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissues 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 adjacent tissue of the V2 lead is large, and the large hardness of the adjacent tissue of the V2 lead indicates that the adjacent tissue of the V2 lead is an osseous tissue structure; a small slope of the displacement-pressure data curve for the V2 lead indicates that the V2 lead adjacent tissue is small in stiffness, and a small stiffness of the V2 lead adjacent tissue indicates that the V2 lead adjacent tissue is a soft tissue structure.
Adjusting the position of the V2 lead to enable the position of the V2 lead connected with the chest wall to be in a soft tissue structure, and carrying out position maintenance after adjacent tissues in three directions are in a bone tissue structure, and calculating the actual coordinates (x 2', y2', z2 ') of the V2 lead according to the joint angle of the mechanical arm;
adjacent tissues in three directions at the V2 conduction joint chest wall are bone tissue structures, and the V2 conduction joint chest wall comprises: the adjacent tissues on the head side, the right side and the foot side of the V2 conduction joint at the chest wall are bone tissues (the lower edge of the fourth rib, the left edge of the sternum and the upper edge of the fifth rib);
further, the electrocardiographic chest lead placement system is also used for placing a V1 lead, and the placement process of the V1 lead comprises the following steps of:
the master calculates the coordinates (x 1, y 1) of the V1 lead from the actual coordinates of the V2 lead, where x1=x2 ', y1= -y2';
the master controller drives the mechanical arm to drive the V1 lead to be above the coordinates (x 1, y 1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, and pressure is applied and maintained.
Further, the electrocardiographic chest lead placement system is also used for placing a V4 lead, and the placement process of the V4 lead comprises the following steps of:
the main controller calculates the position coordinates of the clavicle acromion end and the clavicle sternum end by utilizing 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 acromion 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 (x 4, y 4) of the 5 th intercostal of the collarbone central line on the xy plane, the V4 lead is enabled to be perpendicular to the xy plane and contact with the chest wall, pressure is applied, the joint angle of the mechanical arm is adjusted, the actual coordinates of the V4 lead are calculated according to the joint angle of the mechanical arm, the three-dimensional pressure data between the V4 lead and the chest wall contact point are calculated according to the three-dimensional pressure data between the mechanical arm and the V4 lead collected by the three-dimensional pressure sensor, a displacement-pressure data curve of the V4 lead is drawn according to the actual coordinates of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, and the hardness and the properties of adjacent tissues of the V4 lead 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 properties of the V4 guide-way joint chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V4 guide-way, and are specifically as follows:
the first step: after the mechanical arm drives the V4 lead to contact the chest wall and applies pressure, the mechanical arm drives the V4 lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, and the tissue hardness of the V4 lead at 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 position of the V4 lead connecting with the chest wall is large, and the large hardness of the tissue at the position of the V4 lead connecting with the chest wall indicates that the position of the V4 lead connecting with the chest wall is an osseous tissue structure; the small slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the position of the V4 lead connecting with the chest wall is small, and the small hardness of the tissue at the position of the V4 lead connecting with the chest wall indicates that the position of the V4 lead connecting with the chest wall is a soft tissue structure;
and a second step of: after the V4 lead is confirmed to be in a soft tissue structure at the chest wall, the mechanical arm drives the V4 lead to increase pressure to adjacent tissues in a specific direction in parallel with the plane of the examination bed on the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissues is calculated according to the slope of a 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 adjacent tissue of the V4 lead is large, and the large hardness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is an osseous tissue structure; a small slope of the displacement-pressure data curve for the V4 lead indicates that the V4 lead adjacent tissue is less stiff and that the V4 lead adjacent tissue is soft tissue.
Adjusting the position of the V4 lead to enable the position of the V4 lead connected with the chest wall to be in a soft tissue structure, keeping the position after adjacent tissues in two directions are in bone tissue structures, and calculating the actual coordinates (x 4', y4, z 4') of the V4 lead;
adjacent tissues in two directions at the V4 conduction joint chest wall are bone tissue structures, and the V4 conduction joint chest wall comprises: the rostral and plantar adjacent tissues at the chest wall of the V4 guide-wire coupling are bony tissues (fifth rib lower edge and sixth rib upper edge).
Further, the electrocardiographic chest lead placement system is also used for placing a V3 lead, and the placement process of the V3 lead comprises the following steps of:
the master calculates coordinates (x 3, y 3) of the V3 lead from the actual coordinates of the V2 and V4 leads, where x3= (x2 ' +x4 ')/2, y3= (y2 ' +y4)/2;
the master controller drives the mechanical arm to drive the V3 lead to be above the coordinates (x 3, y 3), so that the V3 lead contacts the chest wall perpendicular to the xy plane, pressure is applied and kept, and the actual coordinates (x 3, y3, z 3') of the V3 lead are calculated according to the angles of joints of the mechanical arm.
Further, the electrocardiographic chest lead placement system is also used for placing a V6 lead, and the placement process of the V6 lead comprises the following steps of:
calculating coordinates of the V6 lead from actual coordinates of the V2, V3 and V4 leads: x6=x4 ', z6= (z2' +z3 '+z4')/6, i.e. the V6 lead z-coordinate is 1/2 of the arithmetic mean of the V2, V3, V4 lead z-coordinates;
the master controller drives the mechanical arm to drive the V6 lead to move downwards to the z6 position between the left chest wall and the left upper arm, so that the V6 lead contacts the chest wall perpendicular to the xz plane, pressure is applied and kept, and the actual coordinates (x 6, y6', z 6) of the V6 lead are calculated according to the joint angles of the mechanical arm at the moment.
Further, the electrocardiographic chest lead placement system is also used for placing a V5 lead, and the placement process of the V5 lead comprises the following steps of:
the main controller constructs a left thoracic three-dimensional contour according to the human body pressure distribution image and the actual coordinates of the V2 lead, the V3 lead, the V4 lead and the V6 lead at the chest wall, calculates the contour coordinates of the left thoracic on the yz plane where the V4 lead is positioned, and calculates the center point coordinates of the arc line between the V4 lead chest wall and the V6 lead chest wall as V5 lead coordinates (x 5, y5, z 5);
the master controller drives the mechanical arm to drive the V5 lead to contact the chest wall at an angle perpendicular to the chest wall at (x 5, y5, z 5), 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 respectively driven by mechanical arms in one-to-one correspondence.
Further, the top of the chest lead is a curved tip, the bottom of the chest lead is a plane, and the top of the chest lead is used for contacting the chest wall of a tested person and the bottom of the chest lead is connected with the mechanical arm.
Further, the cross section of the chest lead is semi-elliptic.
Further, the master controller constructs a human body pressure distribution image according to the pressure data and the pressure sensor identification information acquired by the pressure sensor array, and calculates the position coordinates of the lumbar and back bone marks on the xy plane by utilizing an image recognition technology, so as to calculate the projection coordinates of the rib gaps, the sternum and the collarbone midlines 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 pressure data between a human body and an examination bed through a pressure sensor array on the surface of the examination bed, a main controller constructs a human body pressure distribution image according to the pressure data and calculates the placement position of a chest lead, and in order to avoid errors caused by calculating the placement position of the chest lead by only adopting the human body pressure distribution image, the invention calculates tissue hardness according to the slope of a displacement-pressure data curve of the chest lead by finely adjusting a mechanical arm and synchronously collecting three-dimensional pressure data between the mechanical arm and the chest lead and realizes the position confirmation of the chest lead.
(2) According to the invention, the actual coordinates of the chest leads are calculated one by one, after the actual coordinates of the V2 leads and the V4 leads are confirmed, the calculated actual coordinates of the chest leads are adopted to calculate the coordinates of the V1 leads, the V3 leads, the V6 leads and the V5 leads, the calculated accurate coordinates are fully utilized, and the accuracy of the placement position of each chest lead is further ensured.
(3) According to the invention, the chest leads are automatically placed by the mechanical arm, and the whole-course data are automatically processed by the master controller without personnel participation, so that the risks of position deviation and placement errors are reduced, and the privacy of the detected person can be prevented from being revealed.
(4) According to the invention, each chest lead is fixed by the mechanical arm, and the contact pressure is kept in real time through the three-dimensional pressure sensor, so that the chest lead is stable and reliable, and the situation that air leakage and unstable connection occur if a rubber suction ball is adopted can be avoided.
Drawings
FIG. 1 is a schematic diagram of an electrocardiogram chest lead placement system according to an embodiment of the present invention
FIG. 2 is a schematic diagram showing connection states of chest leads according to an embodiment of the present invention
FIG. 3 is a flowchart for confirming chest lead placement in accordance with an embodiment of the present invention
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following 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 those shown in the drawings, or those conventionally put in use in the product of the present invention, merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements to be referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its 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 placement system, including: 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 collecting pressure data at high frequency, the collected pressure data and sensor identification information are transmitted to a main control program, and the pressure data collected 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; inputting pressure data acquired by the three-dimensional pressure sensor into a main controller; the master controller outputs an action instruction to the mechanical arm.
As shown in fig. 2, the top of the chest lead is a curved tip, the bottom is a plane, and the top of the chest lead is used for contacting the chest of the tested person and the bottom is connected with the mechanical arm. Preferably, the chest lead is semi-elliptical in cross-section.
The general working principle of the electrocardiogram chest lead placement system is as follows:
the main controller constructs a human body pressure distribution image according to the pressure data collected by the pressure sensor array and the pressure sensor identification information, calculates projection coordinates of each chest lead placement position 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 connected with the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates actual coordinates of the chest leads according to the joint angle of the mechanical arm, calculates 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 collected by the three-dimensional pressure sensor, draws a displacement-pressure data curve of the chest leads according to 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 chest lead connection chest wall according to the slope of the displacement-pressure data curve of the chest leads, so as to adjust and confirm the chest lead placement position.
The specific implementation process of the electrocardiogram chest lead placement system of the embodiment is as follows:
the electrocardiogram chest lead placement system can realize automatic placement of V1 leads, V2 leads, V3 leads, V4 leads, V5 leads and V6 leads, 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 relaxes the whole body.
The main controller constructs a human body pressure distribution image according to the pressure data acquired by the pressure sensor array and the pressure sensor identification information.
The main controller uses the central axis of the human body as an x-axis, a straight line perpendicular to the x-axis and passing through the center point of the occipital bone and the pressure area of the examination bed as a y-axis according to the human body pressure distribution image, the xy-plane is the horizontal plane of the examination bed, and the z-axis is a straight line passing through the origin and perpendicular to the xy-plane, so as to establish a three-dimensional coordinate system.
The main controller calculates projection coordinates 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 leads to move to the positions above the corresponding coordinates, enables the chest leads to be connected with the chest wall and apply pressure, adjusts the joint angle of the mechanical arm, calculates actual coordinates of the chest leads according to the joint angle of the mechanical arm, calculates three-dimensional pressure data between the chest leads and the chest wall according to 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 according to the actual coordinates of the chest leads and the three-dimensional pressure data between the chest leads and the chest wall, calculates the hardness and the property of adjacent tissues at the chest lead connection chest wall according to the slope of the displacement-pressure data curve of the chest leads, and accordingly adjusts and confirms the chest lead placement position.
The V2 lead placement process includes the steps of:
the method comprises the steps that a master controller drives a 1 st mechanical arm to drive a V2 lead to be above calculated projection coordinates (x 2, y 2) of a 4 th intercostal of the left edge of a sternum in an xy plane, the V2 lead is enabled to be perpendicular to the xy plane and contact with the chest wall, pressure is applied, the joint angle of the 1 st mechanical arm is adjusted, the actual coordinates of the V2 lead are calculated according to the joint angle of the 1 st mechanical arm, three-dimensional pressure data between the V2 lead and the chest wall contact point are calculated according to three-dimensional pressure data between the 1 st mechanical arm and the V2 lead collected by a three-dimensional pressure sensor, a displacement-pressure data curve of the V2 lead is drawn according to the actual coordinates of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, hardness and properties of adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V2 lead, the V2 lead is enabled to be in a soft tissue structure at the chest wall, the three-dimensional adjacent tissues are maintained after the three-dimensional tissue structure is formed, and the actual coordinates (x 2', y 2') of the V2 lead are calculated according to the joint angle of the 1 st mechanical arm;
the V1 lead placement process includes the steps of:
the master calculates the coordinates (x 1, y 1) of the V1 lead from the actual coordinates of the V2 lead, where x1=x2 ', y1= -y2';
the master controller drives the 2 nd mechanical arm to drive the V1 lead to be above the coordinates (x 1, y 1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, and pressure is applied and maintained.
The V4 lead placement process includes the steps of:
the main controller calculates the position coordinates of the clavicle acromion end and the clavicle sternum end by utilizing 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 acromion end and the clavicle sternum end;
the method comprises the steps that a master controller drives a 3 rd mechanical arm to drive a V4 lead to be above projection coordinates (x 4, y 4) of a 5 th intercostal of a calculated clavicle central line in an xy plane, the V4 lead is enabled to be perpendicular to the xy plane and contact with the chest wall, pressure is applied, the joint angle of the 3 rd mechanical arm is adjusted, the actual coordinates of the V4 lead are calculated according to the joint angle of the 3 rd mechanical arm, three-dimensional pressure data between the V4 lead and the chest wall contact point are calculated according to three-dimensional pressure data between the 3 rd mechanical arm and the V4 lead collected by a three-dimensional pressure sensor, a displacement-pressure data curve of the V4 lead is drawn according to the actual coordinates of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, hardness and properties of the V4 lead at the chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V4 lead, and the V4 lead placement position is adjusted and confirmed.
Calculating hardness and properties of the V4 guide-way joint chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the V4 guide-way, wherein the hardness and properties are as follows:
the first step: after the 3 rd mechanical arm drives the V4 lead to contact the chest wall and applies pressure, the 3 rd mechanical arm drives the V4 lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, and the tissue hardness of the V4 lead at 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 position of the V4 lead connecting with the chest wall is large, and the large hardness of the tissue at the position of the V4 lead connecting with the chest wall indicates that the position of the V4 lead connecting with the chest wall is an osseous tissue structure; the small slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the tissue at the position of the V4 lead connecting with the chest wall is small, and the small hardness of the tissue at the position of the V4 lead connecting with the chest wall indicates that the position of the V4 lead connecting with the chest wall is a soft tissue structure;
and a second step of: after the soft tissue structure at the chest wall of the V4 guide-way joint is confirmed, the 3 rd mechanical arm drives the V4 guide-way joint to increase pressure to adjacent tissues in a specific direction in parallel to the plane of the examination bed on the premise of keeping the longitudinal pressure unchanged, and the hardness of the adjacent tissues is calculated according to the slope of a displacement-pressure data curve of the V4 guide-way joint. The large slope of the displacement-pressure data curve of the V4 lead indicates that the hardness of the adjacent tissue of the V4 lead is large, and the large hardness of the adjacent tissue of the V4 lead indicates that the adjacent tissue of the V4 lead is an osseous tissue structure; a small slope of the displacement-pressure data curve for the V4 lead indicates that the V4 lead adjacent tissue is less stiff and that the V4 lead adjacent tissue is soft tissue.
Adjusting the position of the V4 lead to enable the position of the V4 lead connected with the chest wall to be in a soft tissue structure, keeping the position after adjacent tissues in two directions are in bone tissue structures, and calculating the actual coordinates (x 4', y4, z 4') of the V4 lead;
adjacent tissues in two directions at the V4 conduction joint chest wall are bone tissue structures, and the method comprises the following steps: the rostral and plantar adjacent tissues at the chest wall of the V4 guide-wire coupling are bony tissues (fifth rib lower edge and sixth rib upper edge).
The V3 lead placement process includes the steps of:
the master calculates the coordinates (x 3, y 3) of the V3 lead from the actual coordinates of the V2 and V4 leads, where x3= (x2 ' +x4 ')/2, y3= (y2 ' +y4)/2;
the master controller drives the 4 th mechanical arm to drive the V3 lead to be above the coordinates (x 3, y 3), so that the V3 lead contacts the chest wall perpendicular to the xy plane, pressure is applied and kept, and the actual coordinates (x 3, y3, z 3') of the V3 lead are calculated according to the angles of joints of the 4 th mechanical arm.
The V6 lead placement process includes the steps of:
the main control program calculates the coordinates of the V6 lead according to the actual coordinates of the V2 lead, the V3 lead and the V4 lead: x6=x4 ', z6= (z2' +z3 '+z4')/6, i.e. the V6 lead z-coordinate is 1/2 of the arithmetic mean of the V2, V3, V4 lead z-coordinates;
the master controller drives the 5 th mechanical arm to drive the V6 lead to move downwards to a z6 position between the left chest wall and the left upper arm, so that the V6 lead is perpendicular to the xz plane to contact the chest wall, pressure is applied and kept, and the actual coordinates (x 6, y6', z 6) of the V6 lead are calculated according to the angles of all joints of the 5 th mechanical arm.
The V5 lead placement process includes the steps of:
the main controller constructs a left chest wall three-dimensional outline according to the human body pressure distribution image and the actual coordinates of the V2 lead, the V3 lead, the V4 lead and the V6 lead at the chest wall touch position, calculates the outline coordinates of the left chest wall on the yz plane where the V4 lead is positioned, and calculates the center point coordinates of an arc line between the V4 lead chest wall touch position and the V6 lead chest wall touch position, wherein the coordinates are the V5 lead coordinates (x 5, y5, z 5);
the master controller drives the 6 th mechanical arm to drive the V5 lead to contact the chest wall at an angle perpendicular to the chest wall at (x 5, y5, z 5), applying pressure and holding.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (10)
1. An electrocardiogram chest lead placement system, comprising: the system comprises an inspection bed, a mechanical arm, a chest lead and a main controller, wherein the surface of the inspection bed is provided with a pressure sensor array for acquiring pressure data between a human body and the inspection 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 master controller is respectively connected with the pressure sensor array, the mechanical arm and the three-dimensional pressure sensor; the pressure data collected by the pressure sensor array and the three-dimensional pressure sensor are input into the master controller; the master controller outputs an action instruction to the mechanical arm;
the main controller constructs a human body pressure distribution image according to pressure data acquired by the pressure sensor array and pressure sensor identification information, calculates projection coordinates of each chest lead placement position on an inspection bed plane by utilizing an image recognition technology, drives the mechanical arm to drive the chest leads to move above the corresponding projection coordinates, enables the chest leads to be connected with a chest wall and apply pressure, adjusts joint angles of the mechanical arm, calculates actual coordinates of the chest leads according to joint angles of the mechanical arm, calculates three-dimensional pressure data between the chest leads and the chest wall according to three-dimensional pressure data between the mechanical arm acquired by the three-dimensional pressure sensor, draws a displacement-pressure data curve of the chest leads in combination with the actual coordinates of the chest leads and the three-dimensional pressure data between the chest leads and the chest wall, calculates hardness and properties of the chest lead connection chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest leads, and accordingly adjusts and confirms the chest lead placement position;
calculating the hardness and properties of the chest lead at the chest wall and adjacent tissues according to the slope of the displacement-pressure data curve of the chest lead, wherein the hardness and properties are as follows:
the first step: the mechanical arm drives the chest lead to contact with the chest wall and drives the chest lead to increase pressure to the chest wall perpendicular to the plane of the examination bed, so as to acquire displacement-pressure data of the chest lead; if the curve slope of the displacement-pressure data of the chest lead obtained at the moment is larger than a preset slope threshold, the position of the chest lead is a bone tissue structure, otherwise, the position of the chest lead is a soft tissue structure;
and a second step of: after confirming that the chest lead is connected with a chest wall to form a soft tissue structure, the mechanical arm drives the chest lead to increase pressure to adjacent tissues in parallel with the plane of the examination bed on 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 obtained at the moment is larger than a preset slope threshold, the adjacent tissue of the chest lead is an osseous tissue structure at the moment, otherwise, the adjacent tissue of the chest lead is a soft tissue structure at the moment.
2. An electrocardiogram chest lead placement system according to claim 1 wherein the electrocardiogram chest lead placement system is for placement of V2 leads;
a three-dimensional coordinate system is established in advance, the xy plane of the three-dimensional coordinate system is the horizontal plane of the examination bed, the central axis of a human body is taken as an x axis, a straight line which is perpendicular to the x axis and passes through occipital bone and the central point of the pressure area of the examination bed is taken as a y axis, and the z axis is taken as a straight line which is perpendicular to the xy plane and passes through an origin;
the V2 lead placement process comprises the following steps:
the master controller drives the mechanical arm to drive the V2 lead to be above the calculated projection coordinates (x 2, y 2) of the 4 th intercostal of the left edge of the sternum on the xy plane, so that the V2 lead is perpendicular to the xy plane to contact the chest wall and apply pressure, the joint angle of the mechanical arm is adjusted, the actual coordinates of the V2 lead are calculated according to the joint angle of the mechanical arm, the three-dimensional pressure data between the V2 lead and the chest wall contact point are calculated according to the three-dimensional pressure data between the mechanical arm and the V2 lead acquired by the three-dimensional pressure sensor, a displacement-pressure data curve of the V2 lead is drawn by combining the actual coordinates of the V2 lead and the three-dimensional pressure data between the V2 lead and the chest wall contact point, and the hardness and the properties of adjacent tissues of the V2 lead 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 properties of the V2 lead-connected chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V2 lead, and are specifically as follows:
the first step: after the mechanical arm drives the V2 lead to contact the chest wall and applies 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 obtained; if the slope of the curve of the displacement-pressure data of the V2 lead obtained at the moment is larger than a preset slope threshold, the V2 lead is in a bone tissue structure at the position of the touch chest wall at the moment, otherwise, the V2 lead is in a soft tissue structure at the position of the touch chest wall at the moment;
and a second step of: after confirming that the V2 lead is in a soft tissue structure at the chest wall, the mechanical arm drives the V2 lead to increase pressure to adjacent tissues in parallel with the plane of the examination bed on the premise of keeping the longitudinal pressure unchanged, and displacement-pressure data of the V2 lead are obtained; if the slope of the curve of the displacement-pressure data of the V2 lead obtained at the moment is larger than a preset slope threshold, the V2 lead adjacent tissue is a bone tissue structure at the moment, otherwise, the V2 lead adjacent tissue is a soft tissue structure at the moment;
adjusting the position of the V2 lead to enable the position of the V2 lead connected with the chest wall to be in a soft tissue structure, and carrying out position maintenance after adjacent tissues in three directions are in a bone tissue structure, and calculating the actual coordinates (x 2', y2', z2 ') of the V2 lead according to the joint angle of the mechanical arm;
adjacent tissues in three directions at the V2 conduction joint chest wall are bone tissue structures, and the V2 conduction joint chest wall comprises: the adjacent tissues on the head side, the right side and the foot side of the V2 conduction joint at the chest wall are bone tissues.
3. An electrocardiogram chest lead placement system according to claim 2 wherein the electrocardiogram chest lead placement system is further used for placement of a V1 lead, the placement process of the V1 lead comprising the steps of:
the master calculates the coordinates (x 1, y 1) of the V1 lead from the actual coordinates of the V2 lead, where x1=x2 ', y1= -y2';
the master controller drives the mechanical arm to drive the V1 lead to be above the coordinates (x 1, y 1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, and pressure is applied and maintained.
4. An electrocardiogram chest lead placement system according to claim 3 wherein said electrocardiogram chest lead placement system is further used for placement of V4 leads, the placement process of the V4 leads comprising the steps of:
the main controller calculates the position coordinates of the clavicle acromion end and the clavicle sternum end by utilizing 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 acromion 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 (x 4, y 4) of the 5 th intercostal of the collarbone midline on the xy plane, so that the V4 lead is perpendicular to the xy plane to contact the chest wall and apply pressure, the joint angle of the mechanical arm is adjusted, the actual coordinates of the V4 lead are calculated according to the joint angle of the mechanical arm, the three-dimensional pressure data between the V4 lead and the chest wall contact point are calculated according to the three-dimensional pressure data between the mechanical arm and the V4 lead acquired by the three-dimensional pressure sensor, a displacement-pressure data curve of the V4 lead is drawn by combining the actual coordinates of the V4 lead and the three-dimensional pressure data between the V4 lead and the chest wall contact point, and the hardness and the properties of adjacent tissues of the V4 lead 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 properties of the V4 guide-way joint chest wall and adjacent tissues are calculated according to the slope of the displacement-pressure data curve of the V4 guide-way, and are specifically as follows:
the first step: after the mechanical arm drives the V4 lead to contact the chest wall and applies 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 obtained at the moment is larger than a preset slope threshold, the V4 lead is in a bone tissue structure at the chest wall, otherwise, the V4 lead is in a soft tissue structure at the chest wall;
and a second step of: after confirming that the V4 lead is in a soft tissue structure at the chest wall, the mechanical arm drives the V4 lead to increase pressure to adjacent tissues in parallel with the plane of the examination bed on 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 obtained at the moment is larger than a preset slope threshold, the adjacent tissue of the V4 lead is in an osseous tissue structure at the moment, otherwise, the adjacent tissue of the V4 lead is in a soft tissue structure at the moment;
adjusting the position of the V4 lead to enable the position of the V4 lead connected with the chest wall to be in a soft tissue structure, keeping the position after adjacent tissues in two directions are in bone tissue structures, and calculating the actual coordinates (x 4', y4, z 4') of the V4 lead;
adjacent tissues in two directions at the V4 conduction joint chest wall are bone tissue structures, and the V4 conduction joint chest wall comprises: the adjacent tissue on the rostral and foot sides of the V4 conduction joint at the chest wall is bone tissue.
5. An electrocardiogram chest lead placement system according to claim 4 wherein the electrocardiogram chest lead placement system is further used for placement of a V3 lead, the placement process of the V3 lead comprising the steps of:
the master calculates coordinates (x 3, y 3) of the V3 lead from the actual coordinates of the V2 and V4 leads, where x3= (x2 ' +x4 ')/2, y3= (y2 ' +y4)/2;
the master controller drives the mechanical arm to drive the V3 lead to be above the coordinates (x 3, y 3), so that the V3 lead contacts the chest wall perpendicular to the xy plane, pressure is applied and kept, and the actual coordinates (x 3, y3, z 3') of the V3 lead are calculated according to the angles of joints of the mechanical arm.
6. An electrocardiogram chest lead placement system according to claim 5 wherein the electrocardiogram chest lead placement system is further used for placement of a V6 lead, the placement process of the V6 lead comprising the steps of:
the master controller calculates coordinates of the V6 lead according to actual coordinates of the V2 lead, the V3 lead and the V4 lead: x6=x4 ', z6= (z2' +z3 '+z4')/6, i.e. the V6 lead z-coordinate is 1/2 of the arithmetic mean of the V2, V3, V4 lead z-coordinates;
the master controller drives the mechanical arm to drive the V6 lead to move downwards to a z6 position between the left chest wall and the left upper arm, so that the V6 lead contacts the chest wall perpendicular to the xz plane, pressure is applied and kept, and the actual coordinates (x 6, y6', z 6) of the V6 lead are calculated according to the angles of all joints of the mechanical arm.
7. The electrocardiogram chest lead placement system according to claim 6, wherein the electrocardiogram chest lead placement system is further used for placement of a V5 lead, the placement process of the V5 lead comprising the steps of:
the master controller constructs a left chest wall three-dimensional outline according to the human body pressure distribution image and actual coordinates of the V2 leads, the V3 leads, the V4 leads and the V6 leads at the chest wall, calculates outline coordinates of the left chest wall on the yz plane where the V4 leads are positioned, and calculates the center point coordinates of an arc line between the V4 leads at the chest wall and the V6 leads at the chest wall, wherein the coordinates are V5 lead coordinates (x 5, y5, z 5);
the master controller drives the mechanical arm to drive the V5 lead to contact the chest wall at an angle perpendicular to the chest wall at (x 5, y5, z 5), applying pressure and holding.
8. The electrocardiogram chest lead placement system according to claim 7 wherein the V1 lead, V2 lead, V3 lead, V4 lead, V5 lead and V6 lead are each driven by a one-to-one robotic arm.
9. The electrocardiogram chest lead placement system according to claim 1 wherein the top of the chest lead is a curved tip and the bottom is a plane, the top of the chest lead is used for contacting the chest wall of the subject, and the bottom is connected with the mechanical arm;
the cross section of the chest lead is semi-elliptic.
10. The electrocardiogram chest lead placement system according to claim 1 wherein the master controller constructs a human body pressure distribution image according to the pressure data and the pressure sensor identification information acquired by the pressure sensor array, and calculates the position coordinates of the lumbar and dorsal bone markers on the xy plane by using an image recognition technology, thereby calculating the projection coordinates of the rib gaps, the sternum and the collarbone midlines on the surface of the examination bed;
and a three-dimensional pressure sensor is arranged between the mechanical arm and the chest lead.
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