CN116211465A

CN116211465A - Method and system for determining the position of a device in an organism

Info

Publication number: CN116211465A
Application number: CN202211645177.8A
Authority: CN
Inventors: 吴向军
Original assignee: Suzhou Xinling Meide Medical Technology Co ltd
Current assignee: Suzhou Xinling Meide Medical Technology Co ltd
Priority date: 2022-12-21
Filing date: 2022-12-21
Publication date: 2023-06-06

Abstract

The present description relates to the technical field of medical devices, and in particular to a method and a system for determining the position of a device in an organism, the method comprising: acquiring a first position of the equipment at a first moment; acquiring a wireless positioning position of the equipment at a second moment based on the wireless positioning device; acquiring acceleration information of the equipment from a first moment to a second moment based on an inertial measurement device; determining an inertial navigation position of the device at a second time based on the first position and the acceleration information; a second location of the device at a second time is determined based on the wireless location and the inertial navigation position.

Description

Method and system for determining the position of a device in an organism

Technical Field

The present description relates to the field of medical devices, and more particularly to a method and system for determining the location of a device within an organism.

Background

Interventional procedures for living organisms are typically conducted under X-ray guidance by placing special catheters into the body to treat the associated disease. For example, traditional electrophysiological procedures are typically navigated and positioned using DSA (digital subtraction angiography). However, DSA presents a certain radiation hazard to both the patient and the physician, thus promoting the development of three-dimensional navigation techniques for interventional procedures (e.g., electrophysiological procedures). However, the magnetic field (electric field) used in the existing electrophysiological operation three-dimensional navigation technology is positioned in a similar way of satellite-like navigation, is easily interfered, can be interrupted due to signal blockage, multipath effect and the like, and has the problems of low short-distance navigation precision and the like.

Therefore, how to improve the accuracy of the navigation/localization system for interventional procedures (e.g. electrophysiological procedures) is a problem to be solved.

Disclosure of Invention

One of the embodiments of the present specification provides a method for acquiring a localization of a device within an organism, comprising: acquiring a first position of the equipment at a first moment; acquiring a wireless positioning position of the equipment at a second moment based on the wireless positioning device; acquiring acceleration information of the equipment from a first moment to a second moment based on an inertial measurement device; determining an inertial navigation position of the device at a second time based on the first position and the acceleration information; a second location of the device at a second time is determined based on the wireless location and the inertial navigation position.

One of the embodiments of the present specification provides a system for acquiring a location of a device within an organism, comprising: the system comprises an acquisition module, a wireless positioning module, an inertial measurement module and a fusion positioning module; the acquisition module is used for: acquiring a first position of the equipment at a first moment; the wireless positioning module is used for: acquiring a wireless positioning position of the equipment at a second moment based on a wireless positioning device; the inertia measurement module is used for: acquiring acceleration information of the equipment from the first moment to the second moment based on an inertial measurement device; determining an inertial navigation position of the device at the second time based on the first position and the acceleration information; the fusion positioning module is used for: a second location of the device at the second time is determined based on the wireless location position and the inertial navigation position.

One of the embodiments of the present description provides a computer-readable storage medium storing computer instructions that, when read by a computer, perform the steps of the method of any of the embodiments of the present description.

One of the embodiments of the present specification provides an electrophysiological surgical device including a wireless location device and an inertial measurement device, the device determining a location of the device within a living being using any of the embodiments of the present specification.

Drawings

The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

FIG. 1 is a schematic illustration of an application scenario of a system for acquiring the location of a device within an organism, according to some embodiments of the present description;

FIG. 2 is an exemplary flow chart of a method for acquiring a location of a device within an organism according to some embodiments of the present disclosure;

FIG. 3 is an exemplary flow chart for determining a second variance according to some embodiments of the present description;

FIG. 4 is an exemplary flow chart of an electrophysiology surgical device shown in some embodiments of the present description determining a second variance;

FIG. 5 is a schematic diagram of various phases of an electrocardiographic signal for one electrocardiographic cycle according to some embodiments of the present description;

fig. 6 is an exemplary block diagram of a system for acquiring the location of a device within an organism, according to some embodiments of the present description.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

A flowchart is used in this specification to describe the operations performed by the system according to embodiments of the present specification. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.

Fig. 1 is a schematic illustration of an application scenario of a system for acquiring a device's in-vivo location according to some embodiments of the present description.

As shown in fig. 1, in some embodiments, the system 100 may include an electrophysiology surgical device 110, a processing device 120, a storage device 130, a terminal 140, and a network 150.

The electro-physiological surgical device 110 can include a device that can be used to perform an electro-physiological procedure (e.g., a pulse ablation procedure, a radio frequency ablation procedure, etc.). In some embodiments, the electro-physiological surgical device 110 may include a surgical performance device (e.g., ablation electrode, mapping electrode, etc.) that may access the human body to perform a surgical procedure. In some embodiments, the electro-physiological surgical device 110 can include a surgical execution device, a catheter, and a surgical control instrument. The surgical control instrument may be connected to the surgical execution device via a catheter, and the surgical control instrument may be used to process the relevant information/data ex vivo. In some embodiments, the position and posture of the device within the living body referred to in this specification may refer to the position and posture of the surgical execution device.

In some embodiments, the electro-physiological surgical device 110 is capable of three-dimensional localization/navigation during an electro-physiological surgery, which may further include a wireless localization device and an inertial measurement device. The wireless positioning device and the inertial measurement device may be mounted on a surgical implement (e.g., ablation electrode, mapping electrode, etc.). In some embodiments, the electrophysiology surgical device 110 can include a mapping electrode and/or an ablation electrode. In some embodiments, the electro-physiological surgical device 110 can be used to construct a three-dimensional model of a tissue organ (e.g., heart) within an organism. In some embodiments, the mapping electrodes may be placed within the heart and positioned at a sampling frequency to complete analysis, modeling of the heart to assist in subsequent procedures or analysis. In some embodiments, the electrophysiology surgical device 110 can also be utilized to accurately display the lesion location and achieve accurate positioning of the treatment, improving the treatment accuracy of the electrophysiology surgery. In some embodiments, the electro-physiological surgical device 110 can acquire its position and pose within the organism. In some embodiments, a surgical performance device (e.g., an ablation electrode) may be delivered into the heart chamber via a catheter via a venous or arterial vessel and the position and posture of the ablation electrode within the heart is obtained.

In some embodiments, the electrophysiology surgical device 110 can exchange data and/or information with other components in the system 100 (e.g., the processing device 120, the storage device 130, the terminal 140) over the network 150. In some embodiments, the electro-physiological surgical device 110 can be directly connected to other components in the system 100. In some embodiments, one or more components in the system 100 (e.g., the processing device 120, the storage device 130, the terminal 140) can be contained within the electrophysiology surgical device 110.

The processing device 120 may process data and/or information obtained from other devices or system components and, based on such data, information and/or processing results, perform the methods for obtaining the location (or position) of a device within an organism shown in some embodiments of the present specification to perform one or more of the functions described in some embodiments of the present specification. For example, the processing device 120 may model the heart in three dimensions based on the position and posture within the heart acquired by the electrophysiology surgical device 110. In some embodiments, the processing device 120 may obtain pre-stored data and/or information from the storage device 130, such as the variance of the regions of the heart corresponding to the electrophysiology surgical device 110, and the like.

In some embodiments, processing device 120 may include one or more sub-processing devices (e.g., single-core processing devices or multi-core processing devices). By way of example only, the processing device 120 may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), an Application Specific Instruction Processor (ASIP), a Graphics Processor (GPU), a Physical Processor (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), an editable logic circuit (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computer (RISC), a microprocessor, or the like, or any combination thereof. In some embodiments, the processing device 120 may be part of a surgical control instrument.

Storage device 130 may store data or information generated by other devices. In some embodiments, the storage device 130 can store data and/or information, e.g., coordinate information, etc., collected by the electrophysiology surgical device 110. In some embodiments, the storage device 130 may store data and/or information, such as three-dimensional modeling information of the heart, etc., processed by the processing device 120. Storage device 130 may include one or more storage components, each of which may be a separate device or may be part of another device. The storage device may be local or may be implemented by a cloud.

The terminal 140 may control the operation of the electro-physiological surgical device 110 or display the results. The physician may issue operating instructions to the electro-physiological surgical device 110 via the terminal 140 to cause the electro-physiological surgical device 110 to perform specified operations, e.g., drive catheter movement, etc. In some embodiments, the terminal 140 may cause the processing device 120 to perform parameter measurements as shown in some embodiments of the present description by instructions or the like. In some embodiments, terminal 140 may receive information obtained during and/or after processing, such as presentation of a heart model, from processing device 120. In some embodiments, terminal 140 may be one or any combination of mobile device 140-1, tablet computer 140-2, laptop computer 140-3, desktop computer, and other input and/or output enabled devices. In some embodiments, terminal 140 may be part of a surgical control instrument.

Network 150 may connect components of the system and/or connect the system with external resource components. Network 150 enables communication between the various components and with other components outside the system to facilitate the exchange of data and/or information. In some embodiments, one or more components in the system 100 (e.g., the electrophysiology surgical device 110, the processing device 120, the storage device 130, the terminal 140) can send data and/or information to other components over the network 150. In some embodiments, network 150 may be any one or more of a wired network or a wireless network.

It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of the present description. Many variations and modifications will be apparent to those of ordinary skill in the art, given the benefit of this disclosure. The features, structures, methods, and other features of the exemplary embodiments described herein may be combined in various ways to obtain additional and/or alternative exemplary embodiments. For example, the processing device 120 may be cloud computing platform based, such as public cloud, private cloud, community, hybrid cloud, and the like. However, such changes and modifications do not depart from the scope of the present specification.

It should be noted that the electro-physiological surgery device 110 is only an example of one implementation, and in some other embodiments, the system 100 may also be applied to other interventional surgery devices (e.g., valve implantation devices, cardiac stent implantation devices, etc.).

Fig. 2 is an exemplary flow chart of a method for acquiring a location of a device within an organism according to some embodiments of the present description.

One or more steps in the process 200 may be performed by the positioning system 100 (e.g., the electro-physiological surgical device 110 or the processing device 120) in fig. 1 or the positioning system 600 in fig. 6. The electro-physiological surgical device 110 can be positioned within a living being using the method illustrated by the flow 200.

Step 210, acquiring a first position of a device at a first time. In some embodiments, step 210 may be performed by the acquisition module 610.

In some embodiments, the device may include an electrophysiological surgical device or any other device that requires in vivo localization (e.g., other interventional surgical devices). In the context of performing procedures, treatments, etc., the device needs to be positioned within the living being to determine the relatively precise location of the device, and thus to perform the tasks that the device needs to perform. In some embodiments, the device may include an electrophysiology surgical device 110 or a surgical performance device thereof.

The first moment may be the starting moment or any moment at which the device is working, for more on the first moment see the relevant description below.

In some embodiments, the first location may be a starting location or any location where the device is operating. For example, when the device is performing an electrophysiological procedure within the heart, the first location may be the location of the procedure execution device (e.g., an ablation electrode of a pulse ablation device) just into the heart. As another example, the first location may be a location where the device has just entered the human body.

In some embodiments, absolute coordinates, such as spatial coordinates, of the first location may be obtained. In some embodiments, the first position may be taken as a coordinate zero point and the coordinates of the subsequent positions are relative coordinates to the first position.

Step 220, acquiring the wireless positioning position of the equipment at the second moment based on the wireless positioning device. In some embodiments, step 220 may be performed by wireless location module 620.

The second time is a time after the first time. The wireless positioning device may include, but is not limited to, a magnetic field positioning device, an electric field positioning device, an electromagnetic wave positioning device, a WiFi positioning device, a bluetooth positioning device, and the like, which acquire a spatial position by using a wireless positioning manner. In some embodiments, the first location in step 210 may also be obtained by a wireless location device.

In some embodiments, the position information of the device on three axes (X axis, Y axis and Z axis) or a part of the axes in space may be acquired by a wireless positioning device, and for convenience of description, the X axis will be mainly described hereinafter as an example.

In some embodiments, the sampling rate of the wireless location device may be controlled to periodically acquire where the device is located. For example, in performing three-dimensional navigation during electrophysiological surgery, the sampling rate of the wireless location device can be controlled to be 5-15Hz (e.g., 5Hz, 10Hz, 15Hz, etc.).

In step 230, acceleration information of the device from the first moment to the second moment is acquired based on the inertial measurement unit. In some embodiments, step 230 may be performed by inertial measurement module 630.

In some embodiments, the inertial measurement device may include an acceleration sensor. The acceleration sensor may acquire acceleration information of the device on three or part of axes in space. The inertial measurement module 630 may calculate the displacement amount further based on the acceleration information and time.

Step 240, determining an inertial navigation position of the device at a second time based on the first position and the acceleration information. In some embodiments, step 240 may be performed by inertial measurement module 630.

In some embodiments, the displacement of the device from the first moment to the second moment (e.g., displacement in three axes) may be determined based on the acceleration information. In some embodiments, the first time may be denoted as t ₀ The second moment is denoted as t ₁ The acceleration of the device in the X-axis direction from the first moment to the second moment is denoted as a, and the acceleration a between the first moment and the second moment is constant, and the acceleration and displacement formula shows that the device is in the X-axis from the first moment to the second momentThe displacement is

The inertial navigation position of the device at the second moment can be determined by a first position of the device at the first moment and a displacement of the device from the first moment to the second moment.

Step 250 determines a second position of the device at a second time based on the wireless location position and the inertial navigation position. In some embodiments, step 250 may be performed by fusion positioning module 640.

The wireless positioning device and the inertial measurement device are simultaneously utilized to respectively acquire the position of the equipment at the second moment, and the two positions possibly have errors to a certain extent, so that the second position of the equipment at the second moment can be determined based on fusion of the wireless positioning position and the inertial navigation position. The second position determined by fusing the wireless positioning position and the inertial navigation position can reduce errors caused by a single wireless positioning device or an inertial measurement device, and the objective position of the equipment at the second moment can be determined more accurately.

In some embodiments, the second location of the device at the second time may be an intermediate or weighted average of the wireless location and the inertial navigation location. In some embodiments, the weights of the wireless location position and the inertial navigation position at the time of position fusion may be set according to the variance of the wireless location position and the variance of the inertial navigation position. For example, assuming that the variance of the wireless location is smaller than the variance of the inertial navigation location, the weight of the wireless location may be set to 0.3 and the weight of the inertial navigation location may be set to 0.7, thereby calculating the second location. By giving higher weight to the position with smaller variance (such as the wireless positioning position or the inertial navigation position), the accuracy of fusing the determined second position can be improved.

In some embodiments, the first time in step 210 may be the starting time of the device operation or any time of operation. At the start time, the device may be in a stationary state or in a moving state. When the apparatus is in a stationary state, it is difficult to acquire inertial positioning information because the position is not used as a reference before the first time. In some embodiments, when the first time is the start time, the first location may be a location determined based on the wireless location device or a location determined based on the imaging device. In some embodiments, when the first time is the start time, the first position may be a preset position. In some embodiments, the preset position may be a position where the device has just entered the living body or a starting position where the device is working. In some embodiments, the preset location may be a location where specific coordinate information is known.

The imaging device may include an X-ray device, a DSA device, a CT scanning device, an ultrasound imaging device, or the like, by which a first position with higher accuracy can be acquired as the position at the first time. Determining the position based on the wireless positioning device may be referred to in the foregoing related description and will not be described in detail herein.

In some embodiments, when the first time is not the starting time, the first location may be determined based on a wireless location device and a sex measurement device fusion.

When the first moment is not the initial moment, the first moment is a moment in the working process of the equipment, and the imaging equipment is inconvenient to determine the position of the equipment in the working process, so that the positioning information of the first moment acquired by the wireless positioning device and the inertial positioning information of the first moment acquired by the inertial measurement device can be fused and determined. The inertial positioning information at the first time may be determined based on a position at a time prior to the first time and acceleration information from the prior time to the first time.

In some embodiments, the wireless positioning device and the inertial measurement device may be tested prior to operation of the apparatus to obtain the variance of each device during operation, i.e., the distribution of errors during operation. In the actual test process, the actual test values of the wireless positioning device and the inertial measurement device obey a normal distribution N (mu, sigma) ² ) Where μ is the expectation of the actual test value, σ ² Representing the variance of the actual test values.

In some embodiments, the wireless location position obtained in step 220 may include wireless location coordinates and wireless location variance. The wireless location coordinates may be obtained directly by the wireless location device at the target time (e.g., the second time). For the same wireless location, the wireless location variance in the measuring process can be considered to be relatively fixed, and the user can measure the error condition of the device in advance. For example, the user may measure the error of the wireless location device at different stages and different positions (areas) respectively, and further obtain the variance through statistics. In some embodiments, if the device is measuring with a fixed distribution of errors, the total variance of the device at different phases, different locations (areas) may be obtained. If the device has different error distributions at different stages and different positions (areas), the variance corresponding to the different stages and the different positions (areas) can be obtained through statistics.

In some embodiments, one working cycle may be completed by the wireless positioning device, and meanwhile, accurate position information of the equipment is obtained as a position expectation by using a gold standard method, statistics are performed based on errors between the position information actually obtained by the wireless positioning device and the expectation, and the wireless positioning variance is determined. Continuing with the three-dimensional localization/navigation of the aforementioned device during electrophysiological surgery, the navigation and localization information obtained by DSA may be used as a gold standard in determining the wireless localization variance.

In some embodiments, where the device is located in the heart, the wireless location variances of the device in the left atrium, left ventricle, right atrium, and right ventricle of the heart, respectively, may be acquired. Taking the left atrium as an example, the device can be placed in the left atrium under the drive of a catheter, and the wireless positioning device continuously acquires N groups of wireless positioning coordinate data. For N sets of data Y _i Dividing N groups of data into a plurality of blocks, wherein each M groups of data is one block (M is more than or equal to 2), and calculating variances of continuous M groups of data

Further, since N sets of data are divided into M sets of data per block, there is a total of +.>

Block, then N sets of data Y of the left atrium _i Variance ofCan be expressed as +.>

Repeating the steps to obtain the wireless positioning variances of the left ventricle, the right atrium and the right ventricle respectively. Because the spatial position and the structure of each room of heart are different, can cause the error difference when wireless positioner fixes a position in different rooms, through confirming wireless positioner's wireless location variance in each room for wireless positioner can acquire more accurate wireless location position when actual operation, improves the positioning accuracy of equipment in the heart.

In some embodiments, the inertial navigation position acquired in step 240 may include inertial navigation coordinates and inertial navigation variances. In some embodiments, the inertial navigation coordinates may be determined by the position coordinates at the first time and the acceleration from the first time to the second time; the inertial navigation variance can be determined from the position variance at the first time and the variance of the acceleration from the first time to the second time. Since the position coordinates and the position variance of the first moment can be determined (or be the initial position) according to the fusion mode, the inertial navigation variance is relatively accurate, and is mainly affected by the acceleration variance from the first moment to the second moment, so in some embodiments, the position variance of the first moment may not be considered, but only the variance of the acceleration from the first moment to the second moment is considered. In some embodiments, the acceleration variance may be obtained in a manner similar to that described above for wireless location variances.

Exemplary, assuming the first location at the first time is normally distributed

Wherein mu _x Indicating the position coordinates of the device at the first moment, -j->

Representing the variance of the location of the device at the first instant. Acquiring acceleration of the device from a first moment to a second moment as a garment by an inertial measurement unit From normal distribution->

Wherein mu _a Value representing acceleration->

Representing the variance of the acceleration. If the speed at the previous time is denoted as v ₀ The speed v at the second moment can be calculated by a speed calculation formula ₁ ＝v ₀ +a ₀ t, variance of the speed at the second moment is +.>

The speed at the second moment can be expressed as +.>

Thereby, the inertial navigation coordinates of the device at the second moment can be further deduced +.>

As previously mentioned, the position at the second moment mainly takes into account the acceleration a ₀ The variance of inertial navigation at the second moment is +.>

The resulting inertial navigation position profile of the device at the second instant of time can be expressed as +.>

FIG. 3 is an exemplary flow chart for determining a second variance according to some embodiments of the present description.

Referring to fig. 3, in some embodiments, the second location may include a second coordinate and a second variance, and step 250 may further include:

in step 310, a second coordinate is determined based on the wireless location coordinate and the inertial navigation coordinate.

In some embodiments, continuing to take the coordinates on the x-axis as an example, assume that the wireless location coordinates gx in the second time instance follow a normal distribution

Its wireless location variance is->

Inertial navigation coordinates ix obey normal distribution

Its inertial navigation variance is- >

The coefficients can be calculated based on the wireless location variance and the inertial navigation variance

And based on the coefficient k, the x-axis in the second coordinate is gx+k (gx-ix). By calculating the coefficient and carrying out coordinate fusion based on the coefficient, the accuracy of the determined second coordinate can be effectively improved.

In some embodiments, the second coordinate may be determined by other means, such as determining the second coordinate based on an average of the wireless location coordinate and the inertial navigation coordinate. Continuing with the above example, the x-axis in the second coordinate determined based on the average may be expressed as

Step 320, determining the second variance based on the wireless location variance and the inertial navigation variance.

Continuing with the above example, based on wireless location variance

And inertial navigation variance->

It can be determined that the x-axis second variance is +.>

Whereby it is obtained that the x-axis of the device in the second position at the second moment obeys a normal distribution +.>

The same can be said to be based on the above-described determination of the second coordinates and the portions of the second variance corresponding to the y-axis and the z-axis.

In some embodiments, the second variance may be determined by other means, such as determining the second variance based on the square of the standard deviation difference of the wireless location variance and the inertial navigation variance. Continuing with the above example, determining the second variance based on the square of the standard deviation difference of the wireless location variance and the inertial navigation variance may be expressed as

In connection with the second coordinate determined with the average value in step 310, the x-axis of the device in the second position at the second moment may be indicated as obeying the normal distribution +.>

In some embodiments, different locations where the device is located correspond to different variances (e.g., wireless location variances and/or inertial navigation variances), such as in the previous examples, the device corresponds to different wireless location variances in the left atrium, left ventricle, right atrium, and right ventricle, respectively, of the heart. Thus, in operation of the device, the corresponding variance may be obtained based on where the device is located, and in some embodiments, after performing step 310, it may be performed:

step 330, determining the area where the device is located based on the wireless location coordinates.

Step 340, determining a wireless location variance and an inertial navigation variance based on the area in which the device is located.

For example, continuing with the three-dimensional localization/navigation of the electrophysiological surgical device in the heart, for any time during operation of the device, the wireless localization coordinates of the device may be obtained, then the area in which the device is located, such as a certain ventricle (e.g., the left atrium) in the heart, may be determined from the current wireless localization coordinates of the device, and then the variance may be determined from the determined area, such as determining the wireless localization variance and the inertial navigation variance corresponding to the left atrium, so as to determine the second location.

In some embodiments, a second variance corresponding to the current region may be determined based on the acquired wireless location variance and inertial navigation variance.

FIG. 4 is an exemplary flow chart of an electrophysiology surgical device shown in some embodiments of the present description determining a second variance; fig. 5 is a schematic diagram of various phases of an electrocardiographic signal for one electrocardiographic cycle according to some embodiments of the present description.

When the device is located within the heart, such as when the electrophysiology surgical device is positioned/navigated in three dimensions within the heart, different variances may also be determined based on different phases of the heart beat, and in particular, referring to fig. 4, step 250 may further comprise:

step 410, acquiring an electrocardiosignal.

Step 420, determining an electrocardiographic stage at the second time based on the electrocardiograph signal.

Step 430, determining a wireless location variance and an inertial navigation variance based on the electrocardiographic phase at the second time.

Referring to fig. 5, the various phases involved in an electrocardiographic signal for one electrocardiographic cycle are shown. Because each period of the electrocardiograph signal has different characteristics (such as larger fluctuation in QRS wave phase), in order to make the obtained variance more accurate, in some embodiments, in the process of determining the device variance, the variances of each phase of the electrocardiograph signal may be collected and calculated separately for each phase. In some embodiments, the electrocardiographic signal may be divided into 4 phases, namely, a P-wave phase, a QRS-wave phase, a T-wave phase and other phases, and variances corresponding to the phases are obtained respectively. For example, taking the wireless location variance of the QRS wave stage as an example, in the stage of determining the variance, a wireless location device may be used to continuously collect multiple sets of wireless location coordinate data, and to screen out the wireless location coordinate data located in the QRS wave stage from the multiple sets of wireless location coordinate data, and to count the screened data to obtain the wireless location variance corresponding to the QRS wave stage.

In some embodiments, during the device positioning process, an electrocardiographic stage at the second time is acquired through an electrocardiograph device, and a second position of the device at the second time is calculated based on a wireless positioning variance and an inertial navigation variance corresponding to the electrocardiograph stage.

More specifically, in some embodiments, in the device positioning process, the electrocardiographic device may acquire the electrocardiographic stage at the second moment and determine the area where the device is located through the wireless positioning coordinates, so as to obtain the variance corresponding to the current area and the current electrocardiographic stage, so that the variance can more accurately reflect the error condition of the current position and the stage, and further, the device can determine the second position at the second moment more accurately when working. For example, for a wireless location position when the device is in operation, a specific variance can be obtained for the area in which the device is located and the electrocardiographic stage at the current moment to determine a more accurate wireless location position.

In some embodiments, to improve the accuracy of the variance determined during positioning, the electrocardiographic phases at the first time and the second time may be the same, e.g., both the first time and the second time are in QRS wave phase. It should be noted that, although the first time and the second time are in the same electrocardiographic phase, the first time and the second time may not be in the same electrocardiographic period, for example, the first time is in the first electrocardiographic period, and the second time is in the second electrocardiographic period.

In performing tasks such as surgery or three-dimensional positioning/navigation, the device may need to acquire a pose of the device for reference by an operator in addition to a specific location of the device, and thus, in some embodiments, the process 200 may further include:

step 260, obtaining angular position information of the device at a second time based on the inertial measurement unit.

Step 270, determining the pose of the device at the second moment in time based on the angular position information.

In some embodiments,

steps

260 and 270 may be performed by inertial measurement module 630.

In some embodiments, the inertial measurement device may include an angular rate sensor (e.g., a gyroscope) for acquiring angular position information of the device on three or part axes in space in order to determine the pose of the device. In some embodiments, the angular position information may reflect the angle of the device to three axes in space. In some embodiments, the angular velocity sensor may obtain an angle of rotation of the device about the three axes (e.g., 90 ° rotated about the x-axis) between the first time and the second time, and then the pose of the device at the second time may be determined based on the pose of the device at the first time and the angle of rotation about the three axes to provide a reference for the operator. For another example, the angular velocity sensor may directly acquire angular position information of the device at the second time. In some embodiments, the inertial measurement unit may further include a geomagnetic sensor to assist the inertial measurement unit in determining the pose of the device.

It should be noted that the above description of the process 200 is for illustration and description only, and is not intended to limit the scope of applicability of the present disclosure. Various modifications and changes to flow 200 will be apparent to those skilled in the art in light of the present description. However, such modifications and variations are still within the scope of the present description. For example, steps 260 and 270 may be performed before step 250, and for example, step 230 may be performed before step 220, and so on.

Referring to fig. 6, a system 600 for acquiring a location of a device within a living being may include an acquisition module 610, a wireless location module 620, an inertial measurement module 630, and a fusion location module 640.

The acquisition module 610 may be configured to acquire a first location of the device at a first time.

In some embodiments, for further description of the first position at the first moment, reference may be made to the relevant content of step 210, which is not described herein.

The wireless location module 620 may be configured to obtain a wireless location of the device at the second time based on the wireless location device.

In some embodiments, further description of the wireless location device and the wireless location may be found in relation to step 220, and will not be described in detail herein.

The inertial measurement module 630 may be configured to obtain acceleration information of the device from the first time to the second time based on an inertial measurement device; an inertial navigation position of the device at the second time is determined based on the first position and the acceleration information.

In some embodiments, further description of the inertial measurement unit and inertial navigation position may be found in relation to step 230 and step 240, and will not be described in detail herein.

The fused location module 640 may be configured to determine a second location of the device at the second time based on the wireless location and the inertial navigation position.

In some embodiments, for further description of the second location at the second time, reference may be made to the relevant content of step 250, which is not described herein.

In some embodiments, inertial measurement module 630 is further to obtain angular position information of the device at the second time based on the inertial measurement device; a pose of the device at the second time is determined based on the angular position information.

It should be appreciated that the system shown in fig. 6 and its modules may be implemented in a variety of ways. For example, in some embodiments, the system and its modules may be implemented in hardware, software, or a combination of software and hardware. Wherein the hardware portion may be implemented using dedicated logic; the software portions may then be stored in a memory and executed by a suitable instruction execution device, such as a microprocessor or dedicated design hardware. Those skilled in the art will appreciate that the methods and apparatus described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The apparatus of the present specification and its modules may be implemented not only with hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., but also with software executed by various types of processors, for example, and with a combination of the above hardware circuits and software (e.g., firmware).

It should be noted that the above description of the system for obtaining the positioning of the device in the living being and its modules is for descriptive convenience only and is not intended to limit the present description to the scope of the illustrated embodiments. It will be appreciated by those skilled in the art that, given the principles of the system, various modules may be combined arbitrarily or a subsystem may be constructed in connection with other modules without departing from such principles. For example, in some embodiments, for example, the wireless location module 620 and the inertial measurement module 630 disclosed in fig. 6 may be different modules in a system, or may be a module that performs the functions of two or more modules described above. For example, each module may share one memory module, or each module may have a respective memory module. Such variations are within the scope of the present description.

Possible beneficial effects of embodiments of the present application include, but are not limited to: (1) The position of the equipment is determined by combining the wireless positioning device and the inertial measurement device, so that the equipment has higher positioning precision and small interference risk; (2) The variances of the wireless positioning device and the inertial measurement device are predetermined, so that the error distribution of positioning can be more accurately determined during actual positioning; (3) Different variances of the device are determined according to different areas and different stages, so that the positioning accuracy can be further improved.

It should be noted that, the advantages that may be generated by different embodiments may be different, and in different embodiments, the advantages that may be generated may be any one or a combination of several of the above, or any other possible advantages that may be obtained.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.

Likewise, it should be noted that in order to simplify the presentation disclosed in this specification and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.

In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations that may be employed in some embodiments to confirm the breadth of the range, in particular embodiments, the setting of such numerical values is as precise as possible.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.

Claims

1. A method for determining the location of a device within an organism, comprising:

acquiring a first position of the equipment at a first moment;

acquiring a wireless positioning position of the equipment at a second moment based on a wireless positioning device;

acquiring acceleration information of the equipment from the first moment to the second moment based on an inertial measurement device;

determining an inertial navigation position of the device at the second time based on the first position and the acceleration information;

a second location of the device at the second time is determined based on the wireless location position and the inertial navigation position.

2. The method as recited in claim 1, further comprising:

acquiring angular position information of the equipment at the second moment based on the inertial measurement device;

a pose of the device at the second time is determined based on the angular position information.

3. The method of claim 1, wherein:

when the first moment is the starting moment, the first position is a preset position, a position determined based on a wireless positioning device or a position determined based on imaging equipment;

when the first time is not the starting time, the first position is determined based on fusion of the wireless positioning device and the inertial measurement device.

4. The method of claim 1, wherein:

the wireless positioning position comprises wireless positioning coordinates and wireless positioning variance;

the inertial navigation position comprises inertial navigation coordinates and inertial navigation variance;

the second location includes a second coordinate and a second variance;

the determining a second location of the device at the second time based on the wireless locating location and the inertial navigation location includes:

determining the second coordinates based on the wireless location coordinates and the inertial navigation coordinates;

the second variance is determined based on the wireless location variance and the inertial navigation variance.

5. The method of claim 4, wherein the method further comprises:

determining an area where the equipment is located based on the wireless positioning coordinates;

and determining the wireless positioning variance and the inertial navigation variance based on the area where the equipment is located.

6. The method of claim 4, wherein the device is located within a heart, the method further comprising:

acquiring electrocardiosignals;

determining an electrocardiographic stage at which the second moment is located based on the electrocardiograph signal;

and determining the wireless positioning variance and the inertial navigation variance based on the electrocardiographic stage at the second moment.

7. The method of claim 6, wherein: the electrocardiographic phases of the first moment and the second moment are the same.

8. A system for determining the location of a device within an organism, comprising: the system comprises an acquisition module, a wireless positioning module, an inertial measurement module and a fusion positioning module;

the acquisition module is used for: acquiring a first position of the equipment at a first moment;

the wireless positioning module is used for: acquiring a wireless positioning position of the equipment at a second moment based on a wireless positioning device;

the inertia measurement module is used for: acquiring acceleration information of the equipment from the first moment to the second moment based on an inertial measurement device; determining an inertial navigation position of the device at the second time based on the first position and the acceleration information;

the fusion positioning module is used for: a second location of the device at the second time is determined based on the wireless location position and the inertial navigation position.

9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.

10. An electrophysiological surgical device comprising a wireless location device and an inertial measurement device, the device determining the location of the device within an organism using the method of any one of claims 1 to 7.