CN116492588B

CN116492588B - Position detection method and device for ventricular catheter pump

Info

Publication number: CN116492588B
Application number: CN202310752357.4A
Authority: CN
Inventors: 王新宇; 戴明; 解启莲; 殷安云; 李修宝; 程洁; 杨浩
Original assignee: Anhui Tongling Bionic Technology Co Ltd
Current assignee: Anhui Tongling Bionic Technology Co Ltd
Priority date: 2023-06-26
Filing date: 2023-06-26
Publication date: 2023-09-22
Anticipated expiration: 2043-06-26
Also published as: CN116920267A; CN116492588A

Abstract

The embodiment of the invention provides a position detection method and device of a ventricular catheter pump, which relate to the technical field of medical equipment, wherein the ventricular catheter pump is integrated with a positioning component, and the positioning component is used for acquiring position information of the ventricular catheter pump, and the method comprises the following steps: determining a current sequence comprising the current of the ventricular catheter pump at each instant in the target time period, and determining a pressure sequence comprising the heart pressure of the target subject at each instant in the target time period; calculating a first region of the ventricular catheter pump in the heart of the target subject based on the current sequence and the pressure sequence; acquiring the position information acquired by the positioning component at each moment in the target time period, and determining that the ventricular catheter pump is positioned in a second area of the heart of the target object based on the acquired position information; based on the first region, the second region, a target position of the ventricular catheter pump is calculated. By applying the scheme provided by the embodiment, the position of the ventricular catheter pump can be accurately detected.

Description

Position detection method and device for ventricular catheter pump

Technical Field

The invention relates to the technical field of medical equipment, in particular to a position detection method and device of a ventricular catheter pump.

Background

The ventricular catheter pump is an intravascular micro axial flow pump for supporting the patient's blood circulatory system. Taking the left ventricular catheter pump as an example, when the left ventricular catheter pump is at a correct position, for example, the blood inlet of the left ventricular catheter pump needs to be positioned in the left ventricle, the blood outlet needs to be positioned in the aorta, and the left ventricular catheter pump can smoothly assist the heart to pump blood.

If the ventricular catheter pump is in an incorrect position, such as if the inlet and outlet of the ventricular catheter pump are both located in the aorta or in the left ventricle, it is difficult for the ventricular catheter pump to perform the pumping assist function. Thus, there is a need for a position detection scheme for ventricular catheter pumps.

Disclosure of Invention

The embodiment of the invention aims to provide a position detection method and device for a ventricular catheter pump, so as to accurately detect the position of the ventricular catheter pump. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a method for detecting a position of a ventricular catheter pump, where the ventricular catheter pump integrates a positioning assembly, and the positioning assembly is configured to collect position information of the ventricular catheter pump, and the method includes:

determining a current sequence containing the current of the ventricular catheter pump at each moment in a target time period, and determining a pressure sequence containing the heart pressure of a target object at each moment in the target time period, wherein the target time period is; extending a preset time period before the current moment, wherein the target object is an object implanted with the ventricular catheter pump;

Calculating a first region of the heart of the target subject in which the ventricular catheter pump is located based on the current sequence and the pressure sequence;

acquiring the position information acquired by the positioning component at each moment in the target time period, and determining that the ventricular catheter pump is positioned in a second area of the heart of the target object based on the acquired position information;

a target position of the ventricular catheter pump is calculated based on the first region and the second region.

In one embodiment of the present invention, the above pressure sequence is acquired by a pressure sensor located on a preset component of the ventricular catheter pump, and the calculating, based on the current sequence and the pressure sequence, a first region of the ventricular catheter pump located in the heart of the target subject includes:

determining, based on the pressure sequence, that a preset component of the ventricular catheter pump is located in a third region in the heart of the target subject;

calculating a correlation between the current sequence and the pressure sequence;

based on the correlation and the third region, a first region in the target subject's heart in which the ventricular catheter pump is located is determined.

In one embodiment of the present invention, calculating the first area of the ventricular catheter pump in the heart of the target object based on the current sequence and the pressure sequence includes:

Calculating a rate of change of the current at each time included in the current sequence based on the current at the time and the current at the time adjacent to the time;

adjusting the current comprised by the current sequence based on the calculated rate of change of the current;

calculating a rate of change of the pressure at each time included in the pressure sequence based on the pressure at the time and the pressures at adjacent times to the time;

adjusting the pressure comprised by the pressure sequence based on the calculated rate of change of pressure;

based on the adjusted current sequence and the adjusted pressure sequence, a first region of the ventricular catheter pump in the heart of the target subject is calculated.

In one embodiment of the present invention, adjusting the current included in the current sequence based on the calculated rate of change of the current includes:

judging whether the calculated change rate of the current is larger than a preset current change rate threshold value;

if so, for each calculated change rate of the current, performing feature extraction on a current change rate sequence containing the change rate of the current to obtain a first feature value of the current change rate sequence, adjusting the change rate of the current based on the first feature value, and adjusting the current contained in the current sequence based on the adjusted change rate of the current, wherein the current change rate sequence further comprises: the current change rate of a first preset number of adjacent moments corresponding to the current in the current sequence;

If not, adjusting the current contained in the current sequence based on the calculated change rate of the current.

In one embodiment of the present invention, adjusting the pressure included in the pressure sequence based on the calculated rate of change of the pressure includes:

judging whether the calculated change rate of the pressure is larger than a preset pressure change rate threshold value;

if so, performing feature extraction on a pressure change rate sequence containing the change rate of the pressure according to the calculated change rate of each pressure, obtaining a second feature value of the pressure change rate sequence, adjusting the change rate of the pressure based on the second feature value, and adjusting the pressure contained in the pressure sequence based on the adjusted change rate of the pressure, wherein the pressure change rate sequence also contains the change rates of the pressures at a second preset number of adjacent moments corresponding to the pressure in the pressure sequence;

if not, adjusting the pressure contained in the pressure sequence based on the calculated rate of change of the pressure.

In a second aspect, an embodiment of the present invention provides a position detection device for a ventricular catheter pump, where the ventricular catheter pump integrates a positioning assembly, and the positioning assembly is configured to collect position information of the ventricular catheter pump, and the device includes:

The information determining module is used for determining a current sequence containing the current of the ventricular catheter pump at each moment in a target time period and determining a pressure sequence containing the heart pressure of the target object at each moment in the target time period, wherein the target time period is; extending a preset time period before the current moment, wherein the target object is an object implanted with the ventricular catheter pump;

a first region calculation module for calculating a first region in the target subject's heart where the ventricular catheter pump is located based on the current sequence and the pressure sequence;

a second region calculation module, configured to acquire position information acquired by the positioning component at each time within the target time period, and determine that the ventricular catheter pump is located in a second region of the heart of the target object based on the acquired position information;

and the position calculation module is used for calculating the target position of the ventricular catheter pump based on the first region and the second region.

In one embodiment of the present invention, the above pressure sequence is acquired by a pressure sensor located on a preset component of the ventricular catheter pump, and the first area calculation module is specifically configured to determine, based on the pressure sequence, that the preset component of the ventricular catheter pump is located in a third area in the heart of the target object; calculating a correlation between the current sequence and the pressure sequence; based on the correlation and the third region, a first region in the target subject's heart in which the ventricular catheter pump is located is determined.

In one embodiment of the present invention, the first area calculating module includes:

a first change rate calculation sub-module for calculating, for each current at each time included in the current sequence, a change rate of the current at that time based on the current at that time and the current at a time adjacent to that time;

a current adjustment sub-module for adjusting the current contained in the current sequence based on the calculated rate of change of the current;

a second change rate calculation sub-module for calculating, for each time of the pressure included in the pressure sequence, a change rate of the pressure at that time based on the pressure at that time and the pressures at adjacent times of the time;

a pressure adjustment sub-module for adjusting the pressure contained in the pressure sequence based on the calculated rate of change of pressure;

and the region calculating sub-module is used for calculating a first region of the heart of the target object, in which the ventricular catheter pump is positioned, based on the adjusted current sequence and the adjusted pressure sequence.

In one embodiment of the present invention, the current adjustment submodule is specifically configured to determine whether the calculated current change rate is greater than a preset current change rate threshold; if so, for each calculated change rate of the current, performing feature extraction on a current change rate sequence containing the change rate of the current to obtain a first feature value of the current change rate sequence, adjusting the change rate of the current based on the first feature value, and adjusting the current contained in the current sequence based on the adjusted change rate of the current, wherein the current change rate sequence further comprises: the current change rate of a first preset number of adjacent moments corresponding to the current in the current sequence; if not, adjusting the current contained in the current sequence based on the calculated change rate of the current.

In one embodiment of the present invention, the pressure adjustment sub-module is specifically configured to determine whether the calculated rate of change of the pressure is greater than a preset pressure rate threshold; if so, performing feature extraction on a pressure change rate sequence containing the change rate of the pressure according to the calculated change rate of each pressure, obtaining a second feature value of the pressure change rate sequence, adjusting the change rate of the pressure based on the second feature value, and adjusting the pressure contained in the pressure sequence based on the adjusted change rate of the pressure, wherein the pressure change rate sequence also contains the change rates of the pressures at a second preset number of adjacent moments corresponding to the pressure in the pressure sequence; if not, adjusting the pressure contained in the pressure sequence based on the calculated rate of change of the pressure.

In a third aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

and a processor, configured to implement the method steps described in the first aspect when executing the program stored in the memory.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the method steps of the first aspect described above.

From the above, it can be seen that, by applying the solution provided by the embodiment of the present application, the target position of the ventricular catheter pump is calculated based on the first area and the second area, the second area is determined based on the position information collected by the positioning component integrated with the ventricular catheter pump, and the position information collected by the positioning component is relatively accurate, so that the accuracy of the position of the ventricular catheter pump contained in the second area is relatively high, on the basis of this, the first area is calculated by combining the operation characteristic of the ventricular catheter pump and the physiological characteristic of the heart of the target object, and the operation scene of the ventricular catheter pump is specifically considered in the first area. Therefore, by combining the first region and the second region, the accuracy of detecting the position of the ventricular catheter pump can be improved.

Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and other embodiments may be obtained according to these drawings to those skilled in the art.

FIG. 1 is a schematic diagram of a ventricular catheter pump according to an embodiment of the present application;

FIG. 2 is a flow chart of a first method for detecting the position of a ventricular catheter pump according to an embodiment of the present application;

FIG. 3 is a flow chart of a second method for detecting the position of a ventricular catheter pump according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a position detecting device of a first ventricular catheter pump according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a second position detecting device for a ventricular catheter pump according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

Before describing embodiments of the present application, a ventricular catheter pump provided by the present application will be described with reference to fig. 1.

Fig. 1 shows a schematic structure of a ventricular catheter pump, which comprises a pig tail tube 106, a blood inflow port 105, a blood flow channel 104, a blood outflow port 103, a motor housing 102 and a catheter 101 which are sequentially connected and fixed, wherein a motor is installed in the motor housing 102, a rotating shaft of the motor penetrates through the motor housing, and an axial flow impeller in the blood flow channel 104 is fixedly connected.

The motor drives the axial flow impeller to rotate, and under the driving action, blood in the heart flows in from the blood inflow port 105, flows out from the blood outflow port 103 through the blood flow channel 104, and on the basis of the driving action, in order to reduce the left ventricular load of a heart failure patient, the heart is assisted to pump blood, the blood inflow port needs to be positioned in the left ventricle, and the blood outflow port needs to be positioned in the aorta.

In the present invention, the ventricular catheter pump integrates a positioning assembly in addition to the above-described structure. The positioning component can be an ultrasonic probe, a magnetic sensor, an electrode and the like, and can be matched with an external receiver to realize the function of collecting position information.

The positioning assembly may be integrated with one or more structures included in the ventricular catheter pump, such as with a pigtail, a blood inflow port, a blood flow path, a blood outflow port, a motor housing, a catheter, a guidewire, etc.

The subject of execution of embodiments of the present invention may be a controller of the ventricular catheter pump for detecting parameters related to the ventricular catheter pump/patient and controlling operation of the ventricular catheter pump system.

When the ventricular catheter pump is implanted into the heart of a patient, the ventricular catheter pump is firstly implanted into the heart through a guide wire of the ventricular catheter pump, and after the ventricular catheter pump is positioned in the heart, the ventricular catheter pump starts to operate to assist the heart to pump blood. Based on this process, the application scenarios of the positioning scheme/device provided by the present invention may be the following two scenarios:

1. the ventricular catheter pump is implanted into the application scene of the heart by using a guide wire.

In this process, the positioning assembly can be integrated on the guide wire, so that the positioning method provided by the invention can be utilized to track the ventricular catheter pump in real time, thereby improving implantation efficiency and accuracy.

2. Application scenario of the ventricular catheter pump to assist the overall process of cardiac pumping after implantation in the heart.

In this process, the positioning assembly may be integrated into a blood inlet, a blood outlet, a catheter, etc. in the ventricular catheter pump.

Referring to fig. 2, fig. 2 is a flowchart of a first method for detecting a position of a ventricular catheter pump according to an embodiment of the present invention, where the method includes the following steps S201 to S204.

Step S201: a current sequence containing the current of the ventricular catheter pump at each time instant in the target time period is determined, and a pressure sequence containing the heart pressure of the target subject at each time instant in the target time period is determined.

The target time period is as follows; extending a time period of a preset time period before the current time, wherein the preset time period is a preset time period, and the preset time period can be 5min, 10min, 20min and the like. Describing the target time period by way of an example, if the current time is 10:00 am and the preset duration is 10min, the target time period is: 9:50-10:00.

The target object is a subject to which a ventricular catheter pump is implanted.

The current sequence represents the change condition of the current of the ventricular catheter pump in the target time period, and the currents contained in the current sequence can be arranged according to the sequence of the corresponding moments of each contained current; the pressure sequence represents the variation condition of the pressure of the ventricular catheter pump in the target time period, and the pressures contained in the pressure sequence can be arranged according to the sequence of the corresponding moments of each contained pressure.

The current and heart pressure of the ventricular catheter pump may be acquired in real time as the ventricular catheter pump is operated and the acquired information stored in memory. The stored information may be read from the memory when the ventricular catheter pump is positioned, and specifically, the stored information may be stored in the order of the information acquisition time when the stored information is stored, based on which the current sequence and the pressure sequence corresponding to the target time period may be read from the stored information.

Step S202: based on the current sequence and the pressure sequence, a first region of the ventricular catheter pump located in the heart of the target subject is calculated.

When the first area is calculated, the current sequence can be subjected to feature extraction, the pressure sequence can be subjected to feature extraction to obtain current features and pressure features, the current features and the pressure features are input into a pre-trained position estimation model to obtain area position information output by the position estimation model, and an area formed by the area position information is determined as the first area.

The position estimation model is region position information for estimating the ventricular catheter pump, which is obtained by training an initial neural network model in advance based on a sample current characteristic and a sample pressure characteristic as training samples and taking an actual region of the sample ventricular catheter pump in the heart of a patient as a training reference. The sample current signature is a current signature of a sample current sequence comprising the current of a sample ventricular catheter pump and the sample pressure signature is a pressure signature of a sample pressure sequence comprising the cardiac pressure of a patient's heart.

The first area is calculated based on the current sequence and the pressure sequence, the current sequence represents the motor characteristic of the ventricular catheter pump, the pressure sequence represents the physiological characteristic of the heart of the patient, and the area where the ventricular catheter pump is located is comprehensively calculated by combining the motor characteristic of the ventricular catheter pump and the physiological characteristic of the heart of the patient, so that the calculated first area is fused with the application scene of the ventricular catheter pump, the running performance of the ventricular catheter pump scene is specifically considered, and the position detection accuracy of the ventricular catheter pump is improved.

Step S203: position information acquired by the positioning component at each time within the target time period is acquired, and a second region in the heart of the target subject is determined in which the ventricular catheter pump is located based on the acquired position information.

The ventricular catheter pump is integrated with the positioning assembly, and the positioning assembly is used for acquiring the position information of the ventricular catheter pump.

When the second region is determined, an average value of the position information acquired by the positioning component can be calculated, the average value is determined to be the central position of the region where the ventricular catheter pump is located, and the central position extends for a preset length in each direction to obtain the second region where the ventricular catheter pump is located in the heart of the target object.

Since the second area is determined by using the position information acquired by the positioning component, the positioning component itself is used for acquiring the position information, and the accuracy of the determined second area is higher.

Step S204: based on the first region, the second region, a target position of the ventricular catheter pump is calculated.

When calculating the target position of the ventricular catheter pump, the overlapping region between the first region and the second region may be determined as the region where the ventricular catheter pump is located, the region including the first region and the second region may be determined as the region where the ventricular catheter pump is located, and each of the determined position parameter values of the region may include the center position, each of the apex positions, the relative position with the heart, and the like, as the target position of the ventricular catheter pump.

From the above, by applying the solution provided by this embodiment, the target position of the ventricular catheter pump is calculated based on the first area and the second area, the second area is determined based on the position information collected by the positioning component integrated with the ventricular catheter pump, and the position information collected by the positioning component is relatively accurate, so that the accuracy of the position of the ventricular catheter pump contained in the second area is relatively high, on the basis, the first area is calculated by combining the operation characteristic of the ventricular catheter pump and the physiological characteristic of the heart of the target object, and the operation scene of the ventricular catheter pump is specifically considered in the first area. Therefore, by combining the first region and the second region, the accuracy of detecting the position of the ventricular catheter pump can be improved.

In addition, in the embodiment, only the current information of the ventricular catheter pump, the pressure information of the heart of the target object and the position information acquired by the positioning component are used, and the information acquired by equipment with great damage to human body radiation such as X-rays is not needed. Therefore, the scheme provided by the embodiment can improve the safety of the position detection of the ventricular catheter pump.

In step S202 of the foregoing embodiment corresponding to fig. 2, the method may be implemented according to steps S302 to S306 of the embodiment corresponding to fig. 3 described below, except that the first area may be determined in the mentioned manner. Based on this, in one embodiment of the present invention, referring to fig. 3, fig. 3 is a flowchart of a second method for detecting a position of a ventricular catheter pump according to an embodiment of the present invention, where the method includes the following steps S301 to S308.

Step S301: a current sequence containing the current of the ventricular catheter pump at each time instant in the target time period is determined, and a pressure sequence containing the heart pressure of the target subject at each time instant in the target time period is determined.

The target time period is as follows; the current time is extended for a preset period of time. The target object is an object in which a ventricular catheter pump is implanted.

Step S301 is the same as step S201, and will not be described in detail here.

Step S302: for each current at each time included in the current sequence, a rate of change of the current at that time is calculated based on the current at that time and the currents at adjacent times to that time.

The adjacent time may be a time before the time, a time after the time, or a time before and a time after the time, and this is not a limitation.

The rate of change of the current characterizes the relative change of the current at each moment. When calculating the change rate of the current, the current difference between the current and the current at the adjacent moment can be calculated, and the ratio of the current difference to the preset unit time is used as the change rate of the current. The preset unit time may be 1s.

Step S303: the current comprised by the current sequence is adjusted based on the calculated rate of change of the current.

Deep information of the current change of the ventricular catheter pump can be reflected by the change rate of the current. The deep information of the current change may include current deviation caused by the ventricular catheter pump contacting with the body tissue of the target object, current deviation caused by the body motion of the target object, detection error of the current detection component itself, and the like. By using the above-described rate of change of the current, the current sequence can be accurately adjusted.

In adjusting the current included in the current sequence, in one embodiment, the current at the corresponding time included in the current sequence may be adjusted for each rate of change of the current.

For example, for each time in the target period, a product between a change rate corresponding to the time and a preset adjustment coefficient may be calculated, and the current at the time may be updated based on the calculated product, such as calculating a sum/difference between the product and the original current.

In another embodiment, the matrix formed by the calculated change rates may be subjected to feature decomposition to obtain change rate feature values, and the change rate feature values are used as current change amplitudes, first target change rates smaller than the current change amplitudes in the calculated change rates are determined, and the current at the corresponding time is adjusted for each first target change rate.

Step S304: for each time included in the pressure sequence, a rate of change in the pressure at that time is calculated based on the pressures at that time and the pressures at the adjacent times to that time.

The rate of change of the pressure characterizes the relative change of the pressure at each moment. When calculating the rate of change of the pressure, the current difference between the pressure and the pressure at the adjacent time can be calculated, and the ratio between the current difference and the preset unit time is used as the rate of change of the pressure. The preset unit time may be 1s.

Step S305: the pressures contained in the pressure sequence are adjusted based on the calculated rate of change of the pressure.

Deep information of pressure changes of the ventricular catheter pump can be reflected due to the rate of pressure changes. The deep information of the pressure change may include pressure deviation caused by the ventricular catheter pump contacting with the body tissue of the target object, pressure deviation caused by the body motion of the target object, detection error of the pressure detection assembly itself, and the like. By using the rate of change of the pressure, the pressure sequence can be accurately adjusted.

In adjusting the current included in the pressure sequence, in one embodiment, the pressure at the corresponding time included in the pressure sequence may be adjusted for each rate of change of pressure.

For example, for each time in the target period, a product between a change rate corresponding to the time and a preset adjustment coefficient may be calculated, and the pressure at the time may be updated based on the calculated product, such as calculating a sum/difference between the product and the original pressure.

In another embodiment, the matrix formed by the calculated change rates may be subjected to feature decomposition to obtain change rate feature values, and the change rate feature values are used as pressure change amplitudes, second target change rates smaller than the pressure change amplitudes in the calculated change rates are determined, and the pressure at the corresponding time is adjusted for each second target change rate.

Step S306: based on the adjusted current sequence and the adjusted pressure sequence, a first region of the ventricular catheter pump in the heart of the target subject is calculated.

When calculating the first region, the feature extraction can be performed on the adjusted current sequence, the feature extraction can be performed on the adjusted pressure sequence, the extracted feature is input into the position estimation model to obtain region position information output by the position estimation model, and the region formed by the region position information is determined as the first region.

Step S307: position information acquired by the positioning component at each time within the target time period is acquired, and a second region in the heart of the target subject is determined in which the ventricular catheter pump is located based on the acquired position information.

Step S308: based on the first region, the second region, a target position of the ventricular catheter pump is calculated.

Steps S307 to S308 are the same as steps S203 to S204, and will not be described in detail here.

As can be seen from the above, by applying the solution provided in this embodiment, since the first area is determined based on the adjusted current sequence and the pressure sequence, the adjusted current sequence is adjusted by using the change rate characterizing the change condition of the current sequence, and the adjusted pressure sequence is adjusted by using the change rate characterizing the change condition of the pressure sequence. Therefore, when the first area is determined, the surface layer information of the current sequence and the pressure sequence is considered, the circuit sequence and the pressure sequence are deeply mined, the deep layer information of the information change of the current sequence and the pressure sequence in the target time period is determined, and the first area is determined by combining the surface layer information and the deep layer information, so that the accuracy of determining the first area is improved.

In step S303 of the embodiment corresponding to fig. 3, the current sequence may be adjusted in the manner mentioned above, and may be implemented according to the following steps A1-A3.

Step A1: and judging whether the calculated change rate of the current is larger than a preset current change rate threshold value. If yes, executing the step A2; if not, executing the step A3.

Step A2: and performing feature extraction on a current change rate sequence containing the change rate of the current according to the calculated change rate of each current to obtain a first feature value of the current change rate sequence, adjusting the change rate of the current based on the first feature value, and adjusting the current contained in the current sequence based on the adjusted change rate of the current.

Since this step A2 is performed in the case where the change rate is greater than the preset current change rate threshold, that is, in the case where the current change rate is too large. Therefore, in this embodiment, the limitation is made to the case where the current change rate is too large, so that when the current sequence is adjusted based on the change rate of the adjusted current, the case where the adjusted current sequence has extreme data can be avoided, and the stability of the adjustment data is improved.

The current change rate sequence further includes: the current sequence is based on the rate of change of the current at a first predetermined number of adjacent times of the current sequence at the time corresponding to the current. The first preset number may be 10, 20, etc. The rates of change included in the sequence of rates of change of the current may be arranged in order of time instants at which the rates of change correspond to the current.

For example: the current corresponding time is 10:00, the change rate of the current corresponding to the current is a1, each current contained in the current sequence has a corresponding time, the change rate of the current at 10 adjacent times with the time of 10:00 in the current sequence needs to be determined, the change rate (such as a2, a3, a4, a5 and a 6) of the current at 5 adjacent times before 10:00 and the change rate (such as a7, a8, a9, a10 and a 11) of the current at 5 adjacent times after 10:00 can be determined, and the obtained current change rate sequence is as follows: (a 1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a 11).

The first characteristic value can reflect a characteristic including a nearby change rate of the current to which the characteristic is directed. Any characteristic extraction mode in the prior art can be adopted to extract the characteristics of the current change rate sequence.

In adjusting the rate of change of the current, in one embodiment, a product between the first characteristic value and a preset rate of change adjustment coefficient may be calculated, and the calculated product may be determined as the adjusted rate of change.

In another embodiment, the rate of change of the current may be adjusted according to the following expression:

；

wherein, the liquid crystal display device comprises a liquid crystal display device,to adjust the rate of change of the front current +.>For the regulation of the rate of change of the current, +.>Is the mean value of the current change rate sequence, +.>For the first characteristic value, ++>For a first preset coefficient, < >>Is a second preset coefficient. Wherein->The value of (2) may be 0.5-1, ">The value of (2) may be 1 to 1.5.

Step A3: the current comprised by the current sequence is adjusted based on the calculated rate of change of the current.

Since this step A3 is performed in the case where the rate of change is less than or equal to the preset current rate of change threshold, that is, in the case where the current rate of change is relatively stable. Therefore, in this embodiment, the current sequence is directly adjusted by using the calculated change rate of the current, and the current sequence can be adjusted by using the change condition of the current sequence represented by the change rate of the current, thereby improving the accuracy of adjustment.

In adjusting the current included in the current sequence, the current included in the current sequence may be adjusted in the manner adopted in the step S303, and will not be described in detail here.

It can be seen that in this embodiment, on the one hand, for the case that the rate of change of the current is too large, the rate of change of the current is limited, and the sequence feature including the sequence of the rate of change of the current is utilized to adjust, and the accuracy of the adjustment of the rate of change of the current can be ensured based on the sequence feature associated with the rate of change of the current, so that when the current sequence is adjusted based on the adjusted rate of change of the current, the situation that extreme data occurs in the adjusted current sequence can be avoided, thereby improving the stability of adjustment data; on the other hand, under the condition that the change of the current change rate is stable, the calculated change rate of the current is directly utilized to adjust the current sequence, and the change condition of the current sequence represented by the change rate of the current can be utilized to adjust the current sequence, so that the accuracy of adjustment is improved.

In step S305 of the embodiment corresponding to fig. 3, the following steps B1-B3 may be performed, except that the pressure included in the pressure sequence may be adjusted in the mentioned manner.

Step B1: and judging whether the calculated change rate of the pressure is larger than a preset pressure change rate threshold value. If yes, executing the step B2; if not, executing the step B3.

Step B2: and performing feature extraction on the pressure change rate sequence containing the calculated change rate of each pressure to obtain a second feature value of the pressure change rate sequence, adjusting the change rate of the pressure based on the second feature value, and adjusting the pressure contained in the pressure sequence based on the adjusted change rate of the pressure.

Since this step B2 is performed in the case where the rate of change of the pressure is greater than the preset pressure change rate threshold, that is, in the case where the rate of change of the pressure is excessively large. Therefore, in the present embodiment, the pressure change rate is limited, and the pressure change rate is adjusted by using the associated sequence feature of the pressure change rate, so that the accuracy of the pressure change rate adjustment can be ensured, and thus, the stability of the data adjustment can be improved by adjusting the pressure included in the pressure sequence based on the adjusted pressure change rate.

The pressure change rate sequence further includes: the rate of change of the pressure at a second predetermined number of adjacent times in the sequence of pressures corresponding to the time instant. The second preset number may be 10, 20, etc. The rates of change included in the sequence of rates of change of pressure may be ordered in order of time of day that each rate of change corresponds to pressure.

For example: the corresponding time of the currently targeted pressure is 10:30, the corresponding change rate of the pressure is b1, each pressure contained in the pressure sequence has a corresponding time, the change rate of the pressures at 10 adjacent times of the time 10:30 in the pressure sequence needs to be determined, the change rate of the pressures at 5 adjacent times before 10:30 (such as b2, b3, b4, b5 and b 6) and the change rate of the pressures at 5 adjacent times after 10:30 (such as b7, b8, b9, b10 and b 11) can be determined, and the obtained pressure change rate sequence is as follows: (b 1, b2, b3, b4, b5, b6, b7, b8, b9, b10, b 11).

The second characteristic value can reflect a characteristic including a nearby change rate of the currently targeted pressure. Any characteristic extraction mode in the prior art can be adopted to extract the characteristics of the pressure change rate sequence.

In adjusting the rate of change of the pressure, in one embodiment, a product between the second characteristic value and a preset rate of change adjustment coefficient may be calculated, and the calculated product may be determined as the adjusted rate of change.

In another embodiment, the rate of change of pressure may be adjusted according to the following expression:

；

wherein, the liquid crystal display device comprises a liquid crystal display device, To adjust the rate of change of the front pressure +.>For the regulation of the rate of change of the pressure +.>Is the mean value of the pressure change rate sequence, +.>For the second characteristic value, ++>For a third preset coefficient, < >>And a fourth preset coefficient. Wherein->The value of (2) may be 0.5-1, ">The value of (2) may be 1 to 1.5.

Step B3: the pressures contained in the pressure sequence are adjusted based on the calculated rate of change of the pressure.

Since this step B3 is performed in the case where the rate of change is less than or equal to the preset pressure rate of change threshold, that is, in the case where the pressure rate of change is relatively stable. Therefore, in the present embodiment, the calculated rate of change of the pressure is directly used to adjust the pressure sequence, and the pressure sequence can be adjusted by using the change condition of the pressure sequence characterized by the rate of change of the pressure, thereby improving the accuracy of adjustment.

In adjusting the pressure included in the pressure sequence, the pressure included in the pressure sequence may be adjusted in the manner adopted in the step S305, and will not be described in detail here.

It can be seen that in this embodiment, on the one hand, for the case where the rate of change of the pressure is too large, the rate of change of the pressure is limited, and the sequence feature including the sequence of the rate of change of the pressure is utilized to adjust, based on the sequence feature associated with the rate of change of the pressure, the accuracy of the adjustment of the rate of change of the pressure can be ensured, so that when the pressure sequence is adjusted based on the rate of change of the adjusted pressure, the situation that extreme data occurs in the adjusted pressure sequence can be avoided, thereby improving the stability of the adjustment data; on the other hand, under the condition that the change of the pressure change rate is stable, the calculated change rate of the pressure is directly utilized to adjust the pressure sequence, and the change condition of the pressure sequence represented by the change rate of the pressure can be utilized to adjust the pressure sequence, so that the accuracy of adjustment is improved.

In step S202 of the foregoing embodiment corresponding to fig. 2, the foregoing first region calculation method may be adopted, and may be implemented according to the following steps C1-C3. In this embodiment, the pressure sequence is acquired by a pressure sensor located on a predetermined set of the ventricular catheter pump, which may be a blood inflow port, a blood outflow port, a catheter, or the like.

Step C1: based on the pressure sequence, a third region of the ventricular catheter pump located in the heart of the target subject is determined.

In one embodiment, the pressure characteristic of the pressure may be extracted, the similarity between the pressure characteristic and the pressure characteristic of the preset area may be calculated, and the preset area corresponding to the maximum similarity may be determined as the third area where the preset component of the ventricular catheter pump is located. The predetermined region may include a left ventricle region of the heart, an aorta region, a right ventricle region, a pulmonary artery region, and the like.

In another embodiment, the pressure sequence may be subjected to statistical analysis to obtain a statistical analysis result, for example, calculating a maximum value, a minimum value, an average value, a dispersion, etc. of the pressure sequence, comparing the statistical analysis result with a target range of a preset area, and determining a preset area corresponding to the target range including the statistical analysis result as a third area where a preset component of the ventricular catheter pump is located.

Step C2: and calculating the correlation between the current sequence and the pressure sequence.

The correlation degree represents the correlation degree between the current sequence and the pressure sequence, and when the correlation degree is larger, the correlation degree represents the strong correlation relationship between the current sequence and the pressure sequence; the smaller the correlation, the less correlated the current sequence and the pressure sequence.

In one embodiment, the above-described correlation r may be calculated according to the following expression:

；

wherein, the liquid crystal display device comprises a liquid crystal display device,indicating the current value of sequence number i in the current sequence, ">Is the mean value of the current sequence, +.>Representing the pressure value of sequence number i in the pressure sequence,/->N is the average value of the pressure sequence and represents the number of currents/pressures contained in the current/pressure sequence.

Step C3: based on the correlation and the third region, a first region in the heart of the target subject in which the ventricular catheter pump is located is determined.

In determining the first region, in one embodiment, a region in which the ventricular catheter pump is located is determined based on the correlation, and the first region is estimated using the determined region and the third region.

Specifically, when the area where the ventricular catheter pump is located is judged by using the correlation, whether the correlation is larger than a preset correlation threshold value or not can be judged, if so, the area where the blood inlet of the ventricular catheter pump is located in the left ventricle and the area where the blood outlet is located in the aorta are determined; if not, determining that the blood inlet and the blood outlet of the ventricular catheter pump are positioned in the same area. In this case, the regional position information of the ventricular catheter pump may be determined based on a three-dimensional model of the left ventricle and the aorta of the heart of the target object acquired in advance.

If the preset component is a blood bleeding port, when the area of the blood inlet of the ventricular catheter pump in the left ventricle and the area of the blood bleeding port in the aorta are determined based on the correlation, the first area of the ventricular catheter pump can be estimated based on the area determined by the correlation and the third area of the blood bleeding port; when the blood inlet and the blood outlet of the ventricular catheter pump are determined to be positioned in the same region based on the correlation, and the blood outlet is positioned in the third region in the left ventricle, then the region in the left ventricle where the ventricular catheter pump is positioned can be estimated based on the region determined by the correlation and the third region, for example, the overlapping region of the two regions can be determined as the first region, or the region containing the two regions can be determined as the first region.

It can be seen that, in this embodiment, the first area is moral determined by using the correlation degree and the third area, on one hand, the correlation degree characterizes the correlation relationship between the current sequence of the ventricular catheter pump and the pressure sequence of the heart in the target time period, and on the other hand, the third area is determined based on the pressure information acquired by the pressure sensor integrated on the preset component of the ventricular catheter pump, so that, in combination with the two aspects, the determined first area considers the correlation relationship between the current and the pressure, and simultaneously fuses the pressure information acquired by the pressure sensor which is followed by the preset component, thereby improving the accuracy of the first area.

Corresponding to the position detection method of the ventricular catheter pump, the embodiment of the invention also provides a position detection device of the ventricular catheter pump.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a first ventricular catheter pump position detection device according to an embodiment of the present invention, where the ventricular catheter pump integrates a positioning assembly, and the positioning assembly is used to collect position information of the ventricular catheter pump, and the device includes 401-404.

An information determining module 401, configured to determine a current sequence including a current of the ventricular catheter pump at each time in a target time period, and determine a pressure sequence including a heart pressure of the target object at each time in the target time period, where the target time period is; extending a preset time period before the current moment, wherein the target object is an object implanted with the ventricular catheter pump;

a first region calculation module 402 for calculating a first region in the heart of the target subject in which the ventricular catheter pump is located based on the current sequence and the pressure sequence;

a second region calculating module 403, configured to acquire position information acquired by the positioning component at each time in the target time period, and determine that the ventricular catheter pump is located in a second region in the heart of the target object based on the acquired position information;

A position calculation module 404 for calculating a target position of the ventricular catheter pump based on the first region and the second region.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a position detecting device for a second ventricular catheter pump according to an embodiment of the present invention, and the first region calculating module 402 of the foregoing fig. 4 corresponding to the embodiment may include the following 502-506.

An information determining module 501, configured to determine a current sequence including a current of the ventricular catheter pump at each time in a target time period, and determine a pressure sequence including a heart pressure of the target subject at each time in the target time period, where the target time period is; the current time is extended for a preset time period, and the target object is an object implanted with the ventricular catheter pump.

The information determining module 501 is the same as the information determining module 401 in the embodiment corresponding to fig. 4 described above.

A first rate calculation submodule 502 configured to calculate, for each current at each time included in the current sequence, a rate of change of the current at the time based on the current at the time and the current at the time adjacent to the time;

a current adjustment sub-module 503, configured to adjust a current included in the current sequence based on the calculated rate of change of the current;

a second rate calculation submodule 504 configured to calculate, for each time point pressure included in the pressure sequence, a rate of change of the time point pressure based on the time point pressure and the pressures at the time points adjacent to the time point;

a pressure adjustment sub-module 505 for adjusting the pressure comprised by the pressure sequence based on the calculated rate of change of the pressure;

a region calculation sub-module 506 for calculating a first region of the heart of the target subject in which the ventricular catheter pump is located based on the adjusted current sequence and the adjusted pressure sequence.

A second region calculating module 507, configured to acquire position information acquired by the positioning component at each time within the target time period, and determine that the ventricular catheter pump is located in a second region in the heart of the target object based on the acquired position information;

A position calculation module 508 is configured to calculate a target position of the ventricular catheter pump based on the first region and the second region.

The second region calculation module 507 is the same as the second region calculation module 504 in the embodiment corresponding to fig. 4; the location calculation module 508 is the same as the location calculation module 508 in the embodiment corresponding to fig. 4.

Corresponding to the position detection method of the ventricular catheter pump, the embodiment of the invention also provides electronic equipment.

Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, which includes a processor 601, a communication interface 602, a memory 603, and a communication bus 604, wherein the processor 601, the communication interface 602, and the memory 603 communicate with each other through the communication bus 604,

A memory 603 for storing a computer program;

the processor 601 is configured to implement the method for detecting the position of the ventricular catheter pump according to the embodiment of the present invention when executing the program stored in the memory 603.

The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, a computer readable storage medium is provided, and a computer program is stored in the computer readable storage medium, and the computer program is executed by a processor to implement the method for detecting the position of the ventricular catheter pump provided by the embodiment of the present invention.

In yet another embodiment of the present invention, a computer program product containing instructions is also provided, which when run on a computer, cause the computer to perform the method for detecting the position of a ventricular catheter pump provided by the embodiment of the present invention.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, electronic devices, computer readable storage medium embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant references are made to the partial description of method embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method of detecting the position of a ventricular catheter pump, wherein the ventricular catheter pump is integrated with a positioning assembly for acquiring position information of the ventricular catheter pump, the method comprising:

Calculating a target position of the ventricular catheter pump based on the first region and the second region;

the pressure sequence is acquired by a pressure sensor positioned on a preset component of the ventricular catheter pump, and the calculating of the first area of the ventricular catheter pump in the heart of the target object based on the current sequence and the pressure sequence comprises the following steps:

2. A position detection device for a ventricular catheter pump, wherein the ventricular catheter pump is integrated with a positioning assembly for acquiring position information of the ventricular catheter pump, the device comprising:

a position calculation module for calculating a target position of the ventricular catheter pump based on the first region and the second region;

the first area calculation module is specifically configured to determine, based on the pressure sequence, that the preset component of the ventricular catheter pump is located in a third area in the heart of the target object; calculating a correlation between the current sequence and the pressure sequence; based on the correlation and the third region, a first region in the target subject's heart in which the ventricular catheter pump is located is determined.