CN116172540B - Method for detecting magnetic localizer in tissue focus and method for using detection device thereof - Google Patents
Method for detecting magnetic localizer in tissue focus and method for using detection device thereof Download PDFInfo
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- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
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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
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Abstract
The invention discloses a detection method of a magnetic locator in a tissue focus and a use method of a detection device thereof, and relates to the technical field of detection. The detection device comprises: the detection rod is used for entering a body cavity of a human body, and a magnetic sensor is arranged on the detection rod; the magnetic attraction body is arranged at the front end of the detection rod and is used for attracting the magnetic locator; the main control unit is connected with the magnetic sensor; the signal sending unit is connected with the main control unit and used for sending a feedback signal to the outside; the detection method specifically comprises the steps of calibration, detection, data analysis, data selection and data feedback, so that the position of the magnetic positioner is quickly ascertained. Compared with the prior art, the invention has the beneficial effects that: the magnetic sensor is used for sensing the magnetic locator in the tissue focus to quickly detect the focus position, and the magnetic attraction body and the magnetic locator are attracted, so that accurate positioning is realized, the detection accuracy is ensured, and the reliability and the accuracy of signal detection are ensured by designing a calibration mode and magnetic field detection logic.
Description
Technical Field
The invention belongs to the field of detection methods, and particularly relates to a detection method of a magnetic locator in a tissue focus and a use method of a detection device of the detection method.
Background
The laparoscopic surgery (such as laparoscopic surgery, chest surgery, etc.) cannot locate the tumor position by finger touch in the traditional open surgery, so that the lesion which does not invade serous layer is difficult to identify the excision scope of some micro tumor masses, cavity growth, thereby possibly causing the operator to repeatedly explore the lesion position in the surgery, prolonging the surgery time, causing tissue injury, generating complications such as bleeding of blood vessels of the tunica media, tissue congestion, even tissue necrosis, increasing the probability of tumor diffusion, implantation metastasis, anastomotic fistula and infection, and even causing miscut of tissue for serious patients. Finally, the minimally invasive laparoscopic surgery is forced to be converted into open-abdomen exploration surgery, so that the treatment plan and postoperative rehabilitation are radically changed.
Therefore, how to quickly locate the edge of the focal part is a difficult problem to be solved, and although corresponding detection modes and devices are available in the market at present, the accuracy and the detection efficiency of the edge are very high, which results in that the excision scope is often required to be enlarged to ensure the excision effect.
Disclosure of Invention
The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the other features, objects, and advantages of the present application.
The invention provides a detection method of a magnetic locator in a tissue focus and a use method of a detection device thereof, wherein the magnetic locator is used for sensing the position of the focus in the tissue focus through a magnetic sensor so as to quickly detect the focus, and the magnetic attraction body and the magnetic locator are attracted to each other, so that the accurate positioning is realized, and the detection accuracy is ensured by designing a calibration mode and a magnetic field detection logic so as to ensure the reliability and the accuracy of signal detection.
The invention discloses a detection method of a magnetic locator in a tissue focus, which comprises the following steps:
a detection device;
the detection device further includes:
the detection rod is used for entering a human body cavity; the detection rod is provided with a first magnetic sensor and a second magnetic sensor for sensing a magnetic locator in a tissue focus, and the measuring range of the first magnetic sensor is larger than that of the second magnetic sensor;
the magnetic attraction body is arranged at the front end of the detection rod and is used for attracting a magnetic positioner for marking a disease range in a focus;
the main control unit is connected with the first magnetic sensor and the second magnetic sensor;
the signal sending unit is connected with the main control unit and used for sending a feedback signal to the outside;
the detection method of the detection device comprises the following steps:
s1, calibrating, namely starting a detection device in an environment to be detected to enable the detection device to enter a calibration preparation state, enabling a first magnetic sensor and a second magnetic sensor to respectively read the maximum value and the minimum value of the magnetic field intensity modulus values of the first magnetic sensor and the second magnetic sensor in the disturbance state through a disturbance detection rod, and recording the maximum value and the minimum value as M 1max 、M 1min 、M 2max 、M 2min Storing the data in the main control unit;
s2, detecting, namely detecting by the main control unit through the first magnetic sensor and the second magnetic sensor in real time, and respectively reading triaxial values of the main control unit in the current state of the first magnetic sensor and the second magnetic sensorThe magnetic field intensity value is calculated, and the magnetic field intensity module value of the first magnetic sensor and the second magnetic sensor in the current state is recorded as: m is M 1 、M 2 ；
The M is 1 And M 2 The calculation method of (1) is as follows:
the triaxial magnetic field intensity values of the first magnetic sensor and the second magnetic sensor are respectively recorded as: m is m x1 、m y1 、m z1 、m x2 、m y2 、m z2 ；
S3, data analysis, when M 1 Not located at M 1max And M 1min Between, and M 2 Not located at M 2max And M 2min When the magnetic field signal is detected, the magnetic locator in the tissue focus diverges;
s4, selecting data, wherein the main control unit calculates the magnetic field intensity module value M of the first magnetic sensor respectively 1 Average module value M of magnetic field intensity of first magnetic sensor 1mean Absolute value M of difference 1diff And a second magnetic sensor field strength modulus M 2 Mean module value M of magnetic field intensity of second magnetic sensor 2mean Absolute value M of difference 2diff ；
The calculation formula is as follows:
such as M 1diff ≧M 2diff Then choose M 1diff Is the detected magnetic field intensity module value in the current state;
otherwise, choose M 2diff Is the detected magnetic field intensity module value in the current state;
s5, data feedback, and repeating the steps S2-S4 until the detected magnetic field intensity module value fluctuates up and down at a certain value, so that the detected position is the specific position of the magnetic localizer in the tissue focus.
In some embodiments, the method of disturbance in the calibration process of step S1 is specifically to calibrate the probe rod using an "8-shaped" track.
In some embodiments, the method for determining whether the user aligns the probe according to the "8-shaped" track in the calibration process of step S1 is:
the detection rod is also provided with an acceleration sensor connected with the main control unit; the main control unit respectively performs Fast Fourier Transform (FFT) on the triaxial acceleration data of the acceleration sensor and counts the frequency spectrum information of each axis;
any one of the three axes of the acceleration sensor periodically changes by taking the 8-shaped disturbance period as a period; one of the other two axes of the three axes of the acceleration sensor takes the 8-shaped disturbance period as a period to perform periodic variation, and simultaneously takes half of the 8-shaped disturbance period as a period to perform periodic variation; at this time, the main control unit judges that the user calibrates the detecting rod according to the 8-shaped track.
In some embodiments, the detection device further comprises:
and a magnetic shield cover arranged between the magnetic attraction body and the first magnetic sensor and the second magnetic sensor.
In some embodiments, the magnetic shield comprises:
one side of the cover body is provided with an opening structure of an inner groove; the magnetic attraction body is arranged in an opening structure of the inner groove of the cover body;
the shielding cylinder is arranged between the magnetic attraction body and the cover body.
In some embodiments, the magnetic attraction body and the magnetic shielding cover are of an integrated structure and are detachably arranged at the front end of the detection rod.
In some embodiments, the signal transmitting unit includes: display screen, bee calling organ, electromagnetic shaker and alarm lamp.
In some embodiments, the signal feedback method in the calibration process is:
the failure and success of the calibration are fed back by different signal transmitting units or the signals sent by the adopted signal transmitting units are inconsistent.
In some embodiments, the signal feedback method in the detection process is as follows:
and feeding back the calibration signal by adopting a different signal transmitting unit in the calibration process or enabling signals sent by the adopted signal transmitting unit to be inconsistent.
The using method of the detection device comprises the following steps:
a1: starting up in an environment to be detected, switching to enter a calibration state, perturbing the motion of the detection rod, and judging whether the detection rod moves according to a set perturbation track; continuing to disturb until the calibration is successful if the calibration fails;
a2: the successfully calibrated detection rod enters a human body cavity through an operation type channel to detect the magnetic locator in the tissue focus, and the accurate position of the magnetic locator in the tissue focus is judged according to the content of signal feedback by repeatedly adjusting the position of the detection rod in the process;
a3: after the accurate position is detected, the detection rod is pulled back, and the magnetic attraction effect is generated by utilizing the magnetic attraction body at the front end of the detection rod and the magnetic locator in the tissue focus to form accurate positioning.
Compared with the prior art, the invention has the following beneficial effects:
1. the magnetic sensor is used for sensing the specific position of the magnetic positioner in the tissue focus, so that the focus position is detected rapidly, the magnetic absorber is attracted with the magnetic positioner, the focus tissue position is lifted, the excision operation is convenient, and the magnetic sensor is inevitably interfered with greatly due to the fact that the corresponding magnetic absorber is arranged at the front end of the detection rod, so that the traditional detection method cannot meet the existing requirements. Therefore, the reliability and the accuracy of signal detection are ensured by optimizing the calibration setting mode and the magnetic field detection logic.
2. And reading the maximum value and the minimum value of the magnetic field intensity of the detection environment magnetic interference source through the first magnetic sensor and the second magnetic sensor in the calibration process, and when the detected magnetic signal intensity is not between the maximum value and the minimum value of the first magnetic sensor and is not between the maximum value and the minimum value of the second magnetic sensor, indicating that the magnetic field intensity is changed and inducing the magnetic localizer in the tissue focus.
3. In the data selection reading, although it is necessary to mount the first magnetic sensor and the second magnetic sensor as close to each other as possible to realize that the first magnetic sensor and the second magnetic sensor detect the magnetic field intensity at the same point in space, the detection centers of the first magnetic sensor and the second magnetic sensor do not coincide in space due to the dimensional problem of the magnetic sensors themselves. Therefore, the most accurate magnetic field intensity value is obtained through optimizing logic selection judgment, so that the detection accuracy is improved.
4. The 8-shaped disturbance setting is adopted, and the 8-shaped disturbance setting can comprise the situation of each azimuth angle in the detection process of the actual equipment as far as possible, so that the detected numerical value is more accurate by the detection method.
5. Through setting up different signal transmission unit, with sound, light, power signal feedback in an organic whole, the buzzer excites the operator sense of hearing, excites operator visual sense through display screen and alarm lamp, through the magnetic attraction drag and the vibrator excites the operator sense of touch to the position is changed to the accurate locking of all-round rapid, and the signal difference under the different states of being convenient for.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.
Fig. 1 is a schematic structural view of a detecting device of the present invention.
Fig. 2 is a schematic diagram of a connection structure of a master control unit according to the present invention.
FIG. 3 is a diagram illustrating a variation of X, Y, Z perturbation cycle in accordance with an embodiment of the present invention.
Description of the drawings: the magnetic sensor comprises a detection rod 1, a first magnetic sensor 2, a second magnetic sensor 3, a magnetic attraction body 4, a cover body 5, a shielding cylinder 6, an acceleration sensor 7, a main control unit 8, a signal sending unit 9, a display screen 10, a buzzer 11, a vibrator 12, an alarm lamp 13 and a switch 14.
Detailed Description
The present invention will be described and illustrated with reference to the accompanying drawings and examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. All other embodiments, which can be made by a person of ordinary skill in the art based on the embodiments provided by the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
It is apparent that the drawings in the following description are only some examples or embodiments of the present invention, and it is possible for those of ordinary skill in the art to apply the present invention to other similar situations according to these drawings without inventive effort. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by those of ordinary skill in the art that the described embodiments of the invention can be combined with other embodiments without conflict.
The invention discloses a detection method of a magnetic locator in a tissue focus, which specifically detects the magnetic locator in the tissue focus through a detection device.
Wherein, detection device includes: the magnetic attraction device comprises a detection rod 1, a magnetic attraction body 4, a main control unit 8 and a signal sending unit 9.
The detecting rod 1 is generally in a cylindrical tubular structure and is made of plastic or stainless steel materials, the outer diameter of the detecting rod is generally 8-12mm, the length of the detecting rod is 30-55cm, and an operation type channel is established through a puncture outfit or a poking card so as to enter the inside of a body cavity of a human body for detection.
The detection rod 1 is provided with a first magnetic sensor 2 and a second magnetic sensor 3 for sensing a magnetic locator in a tissue focus, and the measuring range of the first magnetic sensor 2 is larger than that of the second magnetic sensor 3; magnetic positioners are typically placed during preoperative endoscopy, such as by a tissue positioning clip (with magnets mounted thereon).
The magnetic attraction body 4 is arranged at the front end of the detection rod 1 and is used for attracting with a magnetic positioner for marking a disease range in a focus body, and the magnetic attraction body 4 can be made of a strong magnetic material or an electromagnetic material (the magnetic attraction body is provided with magnetic force by on/off); the magnetic attraction body 4 is arranged, so that the hand feeling of the magnetic locator is improved by utilizing the mutual attraction characteristic of the magnets, and the focal tissue is conveniently lifted after the magnetic attraction body 4 and the magnetic locator in the focus are attracted, so that surgical excision is facilitated.
The main control unit 8 is connected with the first magnetic sensor 2 and the second magnetic sensor 3 and is used for reading signals in real time; the signal transmitting unit 9 is connected with the main control unit 8, and transmits different feedback signals to the outside for the operator to recognize by sensing different magnetic field signals according to a set program.
The detection method of the detection device comprises the following steps:
s1, calibrating, namely starting a detection device in an environment to be detected to enable the detection device to enter a calibration preparation stateIn a state that the maximum value and the minimum value of the magnetic field intensity modulus values of the first magnetic sensor 2 and the second magnetic sensor 3 under the disturbance state are respectively read by the disturbance detection rod 1 and are marked as M 1max 、M 1min 、M 2max 、M 2min Storing the data in the main control unit;
since the magnetic attraction body 4 is arranged at the front end of the detection rod 1, the magnetic interference sources of the first magnetic sensor 2 and the second magnetic sensor 3 not only comprise the earth magnetic field and various electronic devices, but also comprise the magnetic attraction body 4, so that when no magnetic locator exists, the first magnetic sensor 2 and the second magnetic sensor 3 can also detect the magnetic field intensity of a relatively large environmental magnetic interference source; when the magnetic locator is present, the magnetic field direction of the magnetic locator may be the same as or opposite to the magnetic field direction of the magnetic attraction body 4, and thus the magnetic field intensities detected by the first magnetic sensor 2 and the second magnetic sensor 3 may become larger or smaller, so that a calibration step is set in which the maximum value and the minimum value of the magnetic field intensities of the ambient magnetic interference sources detected by the first magnetic sensor 2 and the second magnetic sensor 3 are stored, respectively.
Although the first magnetic sensor 2 and the second magnetic sensor 3 have been mounted as close to each other as possible, and the first magnetic sensor 2 and the second magnetic sensor 3 are allowed to detect the magnetic field strength at the same point in space as much as possible, the detection centers of the first magnetic sensor 2 and the second magnetic sensor 3 cannot be practically overlapped in space due to the size problem of the magnetic sensors themselves. Therefore, when no magnetic locator is present, the magnetic field strengths of the ambient magnetic interference sources detected by the first magnetic sensor 2 and the second magnetic sensor 3 are also different.
S2, detecting, namely detecting through the first magnetic sensor and the second magnetic sensor in real time by the main control unit, respectively reading the triaxial magnetic field intensity values of the first magnetic sensor and the second magnetic sensor in the current state, calculating the magnetic field intensity module values of the first magnetic sensor and the second magnetic sensor in the current state, and recording as follows: m is M 1 、M 2 ；
The M is 1 And M 2 The calculation method of (1) is as follows:
first magnetic sensor, second magnetic sensorThe triaxial magnetic field intensity values are respectively recorded as: m is m x1 、m y1 、m z1 、m x2 、m y2 、m z2 ；
S3, data analysis, when M 1 Not located at M 1max And M 1min Between, and M 2 Not located at M 2max And M 2min The time between them is specifically:
M 1 >M 1max and M is 2 >M 2max ；
Or (b)
M 1 >M 1max And M is 2 <M 2min ；
Or (b)
M 1 <M 1min And M is 2 >M 2max ；
Or (b)
M 1 <M 1min And M is 2 <M 2min ；
Then a magnetic field signal emanating from the magnetic locator within the tissue lesion is detected;
s4, selecting data, wherein the main control unit calculates the magnetic field intensity module value M of the first magnetic sensor respectively 1 Average module value M of magnetic field intensity of first magnetic sensor 1mean Absolute value M of difference 1diff And a second magnetic sensor field strength modulus M 2 Mean module value M of magnetic field intensity of second magnetic sensor 2mean Absolute value M of difference 2diff ；
The calculation formula is as follows:
such as M 1diff ≧M 2diff Then choose M 1diff Is the detected magnetic field intensity module value in the current state;
otherwise, choose M 2diff Is the detected magnetic field intensity module value in the current state;
s5, data feedback, and repeating the steps S2-S4 until the detected magnetic field intensity module value fluctuates up and down at a certain value, so that the detected part is the specific position of the magnetic localizer in the tissue focus. It should be noted that: in an ideal state, the corresponding maximum value is measured, and the maximum value is more representative from the numerical point of view, but in practice, small position changes can affect the numerical value, and meanwhile, the display precision of the numerical value is limited, so that when the numerical value fluctuates up and down around a certain value in the detection process, the specific position of the magnetic positioner is detected.
In some embodiments, the method of disturbance in the calibration process of step S1 is specifically to calibrate the probe rod using an "8-shaped" track.
In some embodiments, the method for determining whether the user aligns the probe according to the "8-shaped" track in the calibration process of step S1 is:
the detection rod is also provided with an acceleration sensor connected with the main control unit; the main control unit respectively performs Fast Fourier Transform (FFT) on the triaxial acceleration data of the acceleration sensor and counts the frequency spectrum information of each axis;
any one of the three axes of the acceleration sensor periodically changes by taking the 8-shaped disturbance period as a period; one of the other two axes of the three axes of the acceleration sensor takes the 8-shaped disturbance period as the period to perform periodic variation, and simultaneously takes half of the 8-shaped disturbance period as the disturbance period to perform periodic variation; at this time, the main control unit judges that the user calibrates the detecting rod according to the 8-shaped track.
As shown in fig. 3, the Z-axis periodically changes with the "8-shaped" disturbance period as a period.
The "8-shaped" disturbance period is specifically the time of one circle of disturbance in the air according to the "8-shaped".
Between the X-axis and the Y-axis, the Y-axis periodically changes with the 8-shaped disturbance period as a period, and also periodically changes with half of the 8-shaped disturbance period (second harmonic), which indicates that the user calibrates the detection rod according to the 8-shaped track.
The periodic variation of the Z axis taking the 8-shaped disturbance period as the period and the periodic variation of the Y axis taking the 8-shaped disturbance period and half of the 8-shaped disturbance period as the period are both caused by the 8-shaped disturbance, and the characteristic of the 8-shaped disturbance causes the variation rule of the Y axis and the Z axis to be different, and the 8-shaped track and other tracks are distinguished based on the characteristic: for example, the three axes of the "0 type" X, Y and Z are all periodic variations with a single disturbance period, the two axes of the "one type" are periodic variations with a single disturbance period, and the third axis is irregular or relatively disordered.
The single disturbance period refers to the period of one disturbance according to the corresponding disturbance action.
In some embodiments, the detection device further comprises: a magnetic shield; the magnetic shield is provided between the magnetic attractor 4 and the first and second magnetic sensors 2, 3. The influence of the magnetic attraction body 4 on the magnetic fields of the first magnetic sensor 2 and the second magnetic sensor 3 is further reduced by the magnetic shield. Wherein the magnetic attraction body 4 is strong magnetic. In general, the field strength of the strong magnet is 300mT (3000 gauss) or more, and isolation can be effectively performed by the magnetic shield, and the field strength of the strong magnet after shielding is tested and is generally 2mT or less.
In some embodiments, the magnetic shield includes: a cover 5 and a shielding cylinder 6; an opening structure with an inner groove is arranged on one side of the cover body 5; the magnetic attraction body 4 is arranged in an opening structure of the inner groove of the cover body 5; the shielding cylinder 6 is arranged between the magnetic attraction body 4 and the cover body. The shielding cylinder 6 may be made of a material such as splatter alloy, silicon steel, or the like.
In some embodiments, the magnetic attraction body 4 and the magnetic shielding cover are of an integrated structure and are detachably arranged at the front end of the detection rod 1. So as to facilitate its replacement and to protect the magnetic sensor when the device is not in use. Preferably, a threaded connection mode can be adopted.
In some embodiments, the signal transmitting unit includes: a display screen 10, a buzzer 11, a vibrator 12 and an alarm lamp 13. The magnetic sensor senses the magnetic field change, converts the magnetic signal into an electric signal and sends the electric signal to the main control unit 8, and the main control unit 8 converts the corresponding signal into visual signals of the display screen 10 and the alarm lamp 13, audible signals of the buzzer 11 and tactile signals of the vibrator 12 according to the design. Thereby providing omnibearing perception assistance for operators and facilitating rapid positioning of focus bodies.
In some embodiments, the signal feedback method during calibration is:
the failure and success of the calibration are fed back by different signal transmitting units or the signals sent by the adopted signal transmitting units are inconsistent.
In some embodiments, the signal feedback method in the detection process is:
and feeding back the calibration signal by adopting a different signal transmitting unit in the calibration process or enabling signals sent by the adopted signal transmitting unit to be inconsistent.
By the mode, operators can conveniently distinguish different feedback signals.
Because the device has different use states during the use process, in order to facilitate the operator to better distinguish the meaning of the signal, different signal units are adopted or the same signal unit is adopted to send different signals on the signal setting.
Such as: the buzzer 11 is adopted to remind that the calibration fails and the calibration succeeds, and the sound or both sound is adopted for the calibration failure and the calibration success respectively; long or short tones may also be used. And similarly, the failure and the successful calibration can be respectively reminded by adopting the alarm lamp 13 and the buzzer 11, and the successful calibration buzzer 11 sounds when the alarm lamp 13 flashes 2.
Similarly, the signal feedback in the detection process adopts the same logic as the above mode, and meanwhile, the signal feedback in the calibration process is ensured to be differentiated from the signal in the calibration process, for example, when the magnetic signal is detected, a prompt can be sent out through the vibrator 12, and the magnetic signal can also be detected by adopting the long-lighting indication of the alarm lamp 13.
The method in the implementation process has various changes and also belongs to the adaptive selection which can be made by the person in the field according to the needs, so that redundant description is not needed.
The using method of the detection device comprises the following steps:
a1: starting up in an environment to be detected, switching to enter a calibration state, perturbing the motion of the detection rod 1, and judging whether the detection rod 1 moves according to a set perturbation track; continuing to disturb until the calibration is successful if the calibration fails;
a2: the successfully calibrated detection rod 1 enters a human body cavity through an operation type channel to detect the magnetic locator in the tissue focus, and the accurate position of the magnetic locator in the tissue focus is judged according to the feedback content of signals by repeatedly adjusting the position of the detection rod 1 in the process;
a3: after the accurate position is detected, the detection rod 1 is pulled back, and the magnetic attraction body 4 at the front end of the detection rod 1 and the magnetic locator in the tissue focus are utilized to generate a magnetic attraction effect to form accurate positioning.
Examples:
the range of the first magnetic sensor 2 is as follows: 25mT; the range of the second magnetic sensor 3 is: + -3 mT; when the magnetic attraction body 4 is strong magnetic, the magnetic field strength is generally 300mT; the magnetic field strength of the magnetic positioner is typically 200mT.
Although the magnetic field intensity of the center of the magnetic positioner is large, the magnetic field intensity is instantaneously reduced (below 3mT, wherein 0.1 mt=1gs) along with the increase of the distance from the magnetic positioner (above 1 cm), so that the measuring range of +/-25 mT can meet the normal use of the device. Meanwhile, the magnetic shielding cover can effectively shield the magnetic field intensity, and the magnetic field intensity after shielding is generally below 2 mT.
After the detection device is started, the display screen 10 displays the product name, the calibration preparation state is switched to after 2 seconds, and the display screen 10 displays an 8-shaped calibration pattern.
After the switch 14 is pressed down, the detection rod 1 starts to calibrate, and meanwhile, a user holds the detection rod 1 in the air to disturb for 4-8 seconds according to an 8-shaped track; in the above-described process, the first magnetic sensor 2 and the second magnetic sensor 3 calculate the maximum value and the minimum value of the magnetic field intensity module values of the first magnetic sensor 2 and the second magnetic sensor 3, respectively.
M is obtained after the environmental calibration as in the present embodiment 1max =34.01 Gs，M 1min =33.13 Gs，M 2max =17.29 Gs，M 2min =16.83 Gs; and calculate M 1mean =33.57 Gs；M 2mean =17.06 Gs。
Meanwhile, judging whether disturbance is carried out according to an 8-shaped track through the acceleration sensor 7, and after the calibration is successful, controlling the buzzer 11 to emit a drop sound by the main control unit 8 to prompt a user that the calibration of the detection rod 1 is finished; if the calibration fails, the main control unit 8 controls the alarm lamp 13 to flash at the frequency of 2Hz for two times, so as to prompt the user that the calibration of the detection rod 1 fails and perform recalibration.
The detection rod 1 enters the body cavity of the human body through the puncture outfit to detect the magnetic positioner.
M of the first magnetic sensor 2 is detected specifically as in the present embodiment 1 M of=38.62 Gs and second magnetic sensor 3 2 =19.35Gs；
From the above values, M can be obtained 1diff =5.05 Gs and M 2diff =2.29Gs。
The magnetic sensor detects the magnetic field intensity based on the hall effect, and the larger the magnetic induction linear density passing through the hall element face is, the larger the detected magnetic field intensity is, and the magnetic induction linear density passing through the hall element face of the first magnetic sensor and the second magnetic sensor is different due to the misalignment of the first magnetic sensor and the second magnetic sensor in the space installation position. Thus, in practice the first and second magnetic sensors will give 2 different values of the magnetic field strength modulus; in the display, the first magnetic sensor and the second magnetic sensor are used as 1 nominally coincident magnetic sensor and are used as 1 feedback value to be fed back to the operator for judgment, and meanwhile, the measuring range of the first magnetic sensor is combined to be larger than that of the second magnetic sensor, so that the magnetic field intensity of the magnetic positioner at the current position can be reflected by a larger difference value.
So when M 1diff ≧M 2diff Then choose M 1diff Is the detected magnetic field intensity module value in the current state;
otherwise, choose M 2diff Is the detected magnetic field strength modulus in the current state.
When the magnetic field intensity signal is detected for the first time, the main control unit 8 controls the vibrator 12 to vibrate for 0.2 seconds to prompt a user that the magnetic locator is present; when the magnetic field intensity signal is larger and larger, the main control unit 8 controls the buzzer 11 to speed up the frequency; meanwhile, the flicker frequency of the alarm lamp 13 is changed along with the frequency change of the buzzer 11, the display screen 10 can reflect the numerical change in real time in the process, when the numerical change begins to fluctuate within a certain value range, the specific direction of the magnetic locator is detected, the detection rod is pulled back, and the magnetic attraction effect is generated by utilizing the magnetic attraction body at the front end of the detection rod and the magnetic locator in the tissue focus to form accurate location.
In other states, the vibrator 12, the buzzer 11, and the warning lamp 13 are all off.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. The device for detecting the magnetic localizer in the tissue focus is characterized by comprising:
a detection device;
the detection device further includes:
the detection rod is used for entering a human body cavity; the detection rod is provided with a first magnetic sensor and a second magnetic sensor for sensing a magnetic locator in a tissue focus, and the measuring range of the first magnetic sensor is larger than that of the second magnetic sensor;
the magnetic attraction body is arranged at the front end of the detection rod and is used for attracting a magnetic positioner for marking a disease range in a focus;
the main control unit is connected with the first magnetic sensor and the second magnetic sensor;
the signal sending unit is connected with the main control unit and used for sending a feedback signal to the outside;
the detection method of the detection device comprises the following steps:
s1, calibrating, namely starting a detection device in an environment to be detected to enable the detection device to enter a calibration preparation state, enabling a first magnetic sensor and a second magnetic sensor to respectively read the maximum value and the minimum value of the magnetic field intensity modulus values of the first magnetic sensor and the second magnetic sensor in the disturbance state through a disturbance detection rod, and recording the maximum value and the minimum value as M 1max 、M 1min 、M 2max 、M 2min Storing the data in the main control unit;
s2, detecting, namely detecting through the first magnetic sensor and the second magnetic sensor in real time by the main control unit, respectively reading the triaxial magnetic field intensity values of the first magnetic sensor and the second magnetic sensor in the current state, calculating the magnetic field intensity module values of the first magnetic sensor and the second magnetic sensor in the current state, and recording as follows: m is M 1 、M 2 ；
The M is 1 And M 2 The calculation method of (1) is as follows:
the triaxial magnetic field intensity values of the first magnetic sensor and the second magnetic sensor are respectively recorded as: m is m x1 、m y1 、m z1 、m x2 、m y2 、m z2 ；
S3, data analysis, when M 1 Not located at M 1max And M 1min Between, and M 2 Not located at M 2max And M 2min When the magnetic field signal is detected, the magnetic locator in the tissue focus diverges;
s4, selecting data, wherein the main control unit calculates the magnetic field intensity module value M of the first magnetic sensor respectively 1 Average module value M of magnetic field intensity of first magnetic sensor 1mean Absolute value M of difference 1diff And a second magnetic sensor field strength modulus M 2 Mean module value M of magnetic field intensity of second magnetic sensor 2mean Absolute value M of difference 2diff ；
The calculation formula is as follows:
such as M 1diff ≧M 2diff Then choose M 1diff Is the detected magnetic field intensity module value in the current state;
otherwise, choose M 2diff Is the detected magnetic field intensity module value in the current state;
s5, data feedback, repeating the step S2-the step S4 until the detected magnetic field intensity module value fluctuates up and down at a certain value, and indicating that the detected part is a specific position of the magnetic locator in the tissue focus;
the disturbance method in the calibration process of the step S1 is specifically to calibrate the detection rod by adopting an 8-shaped track;
the method for judging whether the user calibrates the detection rod according to the 8-shaped track in the calibration process of the step S1 comprises the following steps:
the detection rod is also provided with an acceleration sensor connected with the main control unit; the main control unit respectively performs Fast Fourier Transform (FFT) on the triaxial acceleration data of the acceleration sensor and counts the frequency spectrum information of each axis;
any one of the three axes of the acceleration sensor periodically changes by taking the 8-shaped disturbance period as a period; one of the other two axes of the three axes of the acceleration sensor takes the 8-shaped disturbance period as a period to perform periodic variation, and simultaneously takes half of the 8-shaped disturbance period as a period to perform periodic variation; at this time, the main control unit judges that the user calibrates the detecting rod according to the 8-shaped track.
2. The device of claim 1, wherein the device further comprises:
and a magnetic shield cover arranged between the magnetic attraction body and the first magnetic sensor and the second magnetic sensor.
3. The tissue intra-lesion magnetic locator detection device according to claim 2, wherein the magnetic shield comprises:
one side of the cover body is provided with an opening structure of an inner groove; the magnetic attraction body is arranged in an opening structure of the inner groove of the cover body;
the shielding cylinder is arranged between the magnetic attraction body and the cover body.
4. The device for detecting a magnetic localizer in a tissue lesion according to claim 3, wherein the magnetic attraction body and the magnetic shield are integrally formed and detachably provided at a front end of the detecting rod.
5. The device of claim 1, wherein the signal transmitting unit is one or more of a display screen, a buzzer, a vibrator, and a warning light.
6. The device of claim 1, wherein the signal feedback method during the calibration process is:
the failure and success of the calibration are fed back by different signal transmitting units or the signals sent by the adopted signal transmitting units are inconsistent.
7. The device of claim 6, wherein the signal feedback method in the detection process is:
and feeding back the calibration signal by adopting a different signal transmitting unit in the calibration process or enabling signals sent by the adopted signal transmitting unit to be inconsistent.
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