CN116746937A - Electrocardiogram chest lead placement system based on vibration signal analysis - Google Patents

Abstract

The invention relates to an electrocardiogram chest lead placement system based on vibration signal analysis, which includes an examination bed, a robotic arm, a chest lead and a controller. A plurality of pressure sensors are arranged in a matrix on the surface of the examination bed to synchronously collect data; the robotic arm is connected to the chest lead Multiple vibration sensors are installed on the sides of the chest leads; the controller obtains human body pressure data through the pressure sensors and constructs a human body pressure distribution image, and then calculates the projection coordinates of each intercostal space, sternum and midclavicle line on the examination table plane; the controller also The robotic arm is driven to drive the chest lead to move above the corresponding lead position projection coordinates, contact the chest wall in a certain direction, apply pressure and hold; the controller calculates the contact area between the chest lead and the chest wall in all directions based on the vibration signal collected by the vibration sensor. Tissue properties, thereby adjusting the placement of chest leads. Compared with the existing technology, the present invention realizes the automation and standardization of electrocardiogram chest lead placement, and has the advantages of convenient operation, high efficiency and accuracy.

Description

An electrocardiogram chest lead placement system based on vibration signal analysis

Technical field

The present invention relates to the technical field of electrocardiogram chest leads, and in particular to an electrocardiogram chest lead placement system based on vibration signal analysis.

Background technique

Routine ECG examination requires the placement of chest leads. The colors are red, yellow, green, brown, black, and purple, and they are numbered V1, V2, V3, V4, V5, and V6 respectively.

The placement of each chest lead is as follows:

Lead V1: 4th intercostal space on the right edge of the sternum.

Lead V2: 4th intercostal space on the left side of the sternum.

Lead V3: The midpoint of the line connecting V2 and V4.

Lead V4: left midclavicular line and fifth intercostal space.

Lead V5: The left axillary front line is at the same level as V4.

Lead V6: at the same level as V4 in the mid-axillary line.

The positions of existing chest leads are distinguished based on color markings, and incorrect placement orders may occur in actual use; manual placement of electrode positions is based on visual subjective judgment, which may cause the electrode positions to deviate from the standard position. Wrong placement order or positional deviation of chest leads will cause changes in ECG morphology, bias in ECG diagnosis, and lead to erroneous diagnostic conclusions.

Chest leads are currently mostly fixed with rubber suction bulbs. As the suction bulbs age, air leakage will occur and the internal pressure will decrease, resulting in a decrease in the quality of the recorded electrocardiogram waveform, and in severe cases, incorrect diagnostic conclusions.

The electrocardiogram collection process requires the participation of medical personnel, which can easily cause conflicts between doctors and patients and leak the privacy of the subjects.

Vibration requires an elastic medium to propagate. Gas, liquid and solid can all be used as propagation media. Different media have different propagation speeds, vibration transmissibility and vibration attenuation rates.

Contents of the invention

The purpose of the present invention is to provide an electrocardiogram chest lead placement system based on vibration signal analysis to overcome the above-mentioned defects in the prior art, which is more convenient, accurate and efficient.

The object of the present invention can be achieved through the following technical solutions:

An electrocardiogram chest lead placement system based on vibration signal analysis, characterized in that it includes an examination bed, a robotic arm, a chest lead and a controller. Multiple pressure sensors that synchronously collect data are arranged in a matrix on the surface of the examination bed for Collect human body pressure data; the robotic arm is connected to a chest lead, and multiple vibration sensors are provided on the side of the chest lead to collect vibration signals in the contact area between the chest lead and the chest wall;

The controller communicates with the examination table, robotic arm and chest leads respectively;

The controller obtains human body pressure data through the examination bed pressure sensor and constructs a human body pressure distribution image, and then calculates the projection coordinates of each intercostal space, sternum and midclavicle line on the examination bed plane; the controller also drives the robotic arm to drive the chest guide The lead moves above the corresponding projection coordinates, contacts the chest wall in a certain direction, applies pressure and maintains it; the controller calculates the adjacent tissue properties in all directions of the contact area between the chest lead and the chest wall based on the vibration signals collected by the vibration sensor, thereby adjusting the position of the chest lead. Place the location.

Further, the cross-section of the chest lead is semi-elliptical, with the top being the tip of a curved surface and the bottom being a flat surface; the top of the chest lead is used to contact the subject's chest wall, and the bottom is connected to the robotic arm; the chest lead The top center area of the lead is a metal electrode used to collect ECG signals.

Further, the vibration sensor is arranged near the tip of the side of the chest lead and is distributed in a ring shape, and the collected vibration signal area is also in a ring shape.

Further, the chest leads include V2 leads, and the controller drives the robotic arm to drive the V2 leads above the calculated projection coordinates (x2, y2) of the fourth intercostal space on the left edge of the sternum on the examination bed plane, Contact the chest wall in a direction perpendicular to the plane of the examination table, apply pressure and maintain it; based on the vibration signal collected by the vibration sensor, calculate whether the left, upper and lower sides of the contact area between the V2 chest lead and the chest wall are bony tissues, and whether the right side is bony tissue. Whether it is soft tissue, if not, adjust the position of the V2 lead through the robotic arm, and then judge based on the vibration signal whether the left, upper and lower sides of the contact area are all bony tissue, and whether the right side is soft tissue. If so, complete V2 Lead placement.

Further, the chest leads also include a V4 lead, and the controller drives the robotic arm to drive the V4 lead to the calculated midclavicular line and the fifth intercostal space above the projection coordinates (x4, y4) of the examination bed plane, Contact the chest wall in a direction perpendicular to the plane of the examination table, apply pressure and maintain it; based on the vibration signal collected by the vibration sensor, calculate whether the upper and lower sides of the contact area between the V4 chest lead and the chest wall are bony tissues, the left and right sides Whether it is soft tissue, if not, adjust the position of the V4 lead through the robotic arm, and re-judge based on the vibration signal whether the upper and lower sides of the contact area are bony tissue, and whether the left and right sides are soft tissue. If so, complete V4 Lead placement.

Further, the controller extracts the heart vibration signal based on the vibration signal collected by the vibration sensor, and calculates the propagation speed and vibration transmissibility of the heart vibration in each direction of the contact area between the chest lead and the chest wall based on the amplitude, frequency, period and phase of the heart vibration signal. and vibration attenuation rate, compare the propagation speed, vibration transmissibility and vibration attenuation rate of heart vibration in each direction, thereby calculating the properties of adjacent tissues in all directions in the contact area between the chest leads and the chest wall.

Compared with the prior art, the present invention has the following advantages:

(1) The present invention uses a robotic arm to automatically complete the placement of chest leads. In the process of determining the placement position of the chest leads, the approximate position is first obtained through the pressure distribution image of the subject on the examination bed, and then the approximate position is obtained through the settings on the chest leads. The vibration sensor acquires vibration data from all directions of the contact point, distinguishes whether it is bone tissue, and adjusts the precise position of the chest lead placement according to the distribution of the bone tissue, thus achieving accurate and efficient chest lead placement.

(2) The present invention determines the position of the chest lead by arranging a vibration sensor on the chest lead and judging whether it is a bony tissue based on the propagation speed and vibration attenuation rate of the vibration signal. The identification method based on the vibration signal is more convenient and accurate. .

(3) The present invention realizes automation and standardization of electrocardiogram chest lead placement through human-computer interaction, thereby improving recording quality.

(4) Among the existing solutions, the invention with the publication number CN114403882A discloses an electrocardiogram chest lead placement system, which calculates the hardness and adjacent tissue where the chest leads contact the chest wall and adjacent tissue based on the slope of the displacement-pressure data curve of the chest leads. The present invention calculates the tissue properties based on the propagation speed, vibration transmissibility and vibration attenuation rate of the heart vibration in the contact area between the chest leads and the chest wall. Compared with the existing solutions, the present invention adopts a different technical route.

Description of the drawings

Figure 1 is a schematic diagram of the connection state of a chest lead provided in an embodiment of the present invention;

Figure 2 is a schematic diagram of a chest lead signal collection area provided in an embodiment of the present invention;

Figure 3 is a schematic diagram of the chest lead placement process of an electrocardiogram chest lead placement system based on vibration signal analysis provided in an embodiment of the present invention;

In the figure, 1. Chest leads, 2. Vibration sensor, 3. Robotic arm.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the invention provided in the appended drawings is not intended to limit the scope of the claimed invention, but rather to represent selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is customarily placed when used. It is only for the convenience of describing the invention and simplifying the description, and is not intended to indicate or imply. The devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations of the invention.

It should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In addition, the terms "horizontal", "vertical", etc. do not mean that the component is required to be absolutely horizontal or suspended, but may be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical". It does not mean that the structure must be completely horizontal, but can be slightly tilted.

Example 1

This embodiment provides an electrocardiogram chest lead 1 placement system based on vibration signal analysis, including an examination bed, a robotic arm 3, a chest lead 1 and a controller.

Multiple pressure sensors that collect data simultaneously at high frequency are arranged in a matrix on the surface of the examination bed. The collected pressure data and sensor identification are transmitted to the controller, which processes the pressure data collected at the same time point to construct a human body pressure distribution image.

As shown in Figure 1, the top of chest lead 1 is the tip of the curved surface and the bottom is flat. The top of chest lead 1 is used to contact the subject's chest wall, and the bottom is connected to the robotic arm 3; the cross section of chest lead 1 is semi-elliptical. shape.

The vibration sensor 2 has a three-dimensional ring structure. The vibration sensor 2 is set at the proximal tip of the chest lead 1 and is used to collect the vibration signal of the contact area between the chest lead 1 and the chest cage. As shown in Figure 2, the black area collects human body ECG signals, and the gray area collects human body vibration signals.

The general working principle of this electrocardiogram chest lead placement system is:

As shown in Figure 3, the controller obtains human body pressure data through the examination bed and constructs a human body pressure distribution image, and then calculates the projection coordinates of each intercostal space, sternum and mid-clavicle line on the examination bed plane; the controller also drives the robotic arm to drive the chest guide The lead moves above the projection coordinates of the corresponding chest lead placement position, contacts the chest wall in a direction perpendicular to the plane of the examination table, applies pressure and holds it; moves the robotic arm, and calculates the adjacent areas of the contact area in all directions based on the vibration signals collected by the vibration sensor. Tissue properties, thereby adjusting the placement position of the chest leads. After determining the position, the chest leads still contact the chest wall in a certain direction, apply pressure and maintain it.

The principle of judging bone tissue based on vibration signals is:

Vibration is a ubiquitous phenomenon in the universe, generally divided into macroscopic vibrations (such as earthquakes and tsunamis) and microscopic vibrations (thermal motion of elementary particles, Brownian motion). Heart sounds and breath sounds are essentially vibrations. The propagation of vibration is related to the physical properties of the medium. Different media have different propagation speeds, vibration transmissibility and vibration attenuation rates.

Therefore, it can be judged whether the adjacent tissues in each direction are bony tissues based on the propagation speed, vibration transmissibility and vibration attenuation rate of the vibration signal.

The specific implementation process of the electrocardiogram chest lead placement system in this embodiment is as follows:

This electrocardiogram chest lead placement system can realize the automatic placement of V1 lead, V2 lead, V3 lead, V4 lead, V5 lead and V6 lead, and each lead is driven by a one-to-one corresponding robotic arm.

When using it, the subject lies flat on the examination bed and relaxes the whole body.

Pressure sensors that collect data simultaneously at high frequencies are arranged in a matrix on the surface of the examination bed. The collected pressure data and sensor identification are transmitted to the controller, which processes the pressure data collected at the same time point to construct a human body pressure distribution image.

The controller's processing of human body pressure distribution images includes:

Taking the central axis of the human body as the x-axis, the straight line perpendicular to the x-axis and passing through the occipital bone and the center point of the pressure area of the examination bed as the y-axis, the xy plane as the horizontal plane of the examination bed, and the z-axis as the straight line passing through the origin and perpendicular to the xy plane, we establish Three-dimensional coordinate system.

Image recognition technology is used to calculate the position coordinates of the bony landmarks on the lower back on the xy plane based on the human body pressure distribution image. Calculate the projection coordinates of each intercostal space, sternum and midclavicle line on the xy plane based on the position coordinates of the bony landmarks on the lower back.

The V2 lead placement process includes the following steps:

The control program stored in the controller issues instructions to drive the first robotic arm to drive the V2 lead to the calculated fourth intercostal space on the left edge of the sternum, above the projected coordinates (x2, y2) of the xy plane, perpendicular to the horizontal plane and contacting the chest wall skin with a certain pressure. ;According to the vibration signal collected by the vibration sensor, it is confirmed that the contact area between lead V2 and the skin is bone tissue in three directions (the left side is the right edge of the sternum, the upper side is the lower edge of the fourth rib, and the lower side is the upper edge of the fifth rib) . Calculate the actual coordinates of lead V2 (x’2, y’2, z’2) based on the joint angles of the robotic arm (Note: ‘ represents the actual coordinate value, the same below).

The placement process for lead V1 includes the following steps:

The main control program calculates the coordinates (x1, y1) of lead V1 based on the actual coordinates of lead V2, where x1=x2', y1=-y2'; the main controller drives the second robotic arm to drive lead V1 to the coordinates (x1, y1), make the V1 lead contact the chest wall perpendicular to the xy plane, apply pressure and hold it.

The main control program issues instructions to drive the third robotic arm to drive the V4 lead to the calculated fifth intercostal space of the midclavicular line, above the projected coordinates (x4, y4) of the xy plane, perpendicular to the horizontal plane and contacting the chest wall skin with a certain pressure; according to the vibration sensor collection The vibration signal characteristics confirm that the contact point between lead V4 and the skin is bony tissue in both directions (the upper side is the lower edge of the fifth rib, and the lower side is the upper edge of the sixth rib). Calculate the actual coordinates of lead V4 (x’4, y4, z’4) based on the joint angles of the robotic arm.

The V3 lead placement process includes the following steps:

According to the V2 and V4 lead positions and the V3 lead position, that is, x3=(x'2+x'4)/2, y3=(y'2+y4)/2, the main control program issues instructions to drive the fourth robotic arm. Lead V3 is above the calculated position, perpendicular to the horizontal plane and touching the chest wall skin with a certain pressure. Calculate the actual coordinates of lead V3 (x3, y3, z’3) based on the joint angles of the robotic arm.

The placement process for lead V6 includes the following steps:

Calculate the position of lead V6 based on the positions of leads V2, V3, and V4, that is, x6=x'4, z6=(z'2+z'3+z'4)/6, that is, the z coordinate of lead V6 is V2, 1/2 of the arithmetic mean of the z coordinates of leads V3 and V4. The main control program issues instructions to drive the fifth robotic arm to drive the V6 lead between the left chest wall and the left upper arm, move it down to the z6 level and perpendicular to the xz plane to contact the chest wall skin with a certain pressure. Calculate the actual coordinates of lead V6 (x6, y’6, z6) based on the joint angles of the robotic arm.

The placement process for lead V5 includes the following steps:

The main controller constructs a three-dimensional outline of the left chest wall based on the human body pressure distribution image and the actual coordinates of the places where leads V2, V3, V4, and V6 contact the chest wall, and calculates the left chest wall contour on the yz plane where lead V4 is located. Outline coordinates, calculate the coordinates of the center point of the arc between the point where lead V4 touches the chest wall and the point where lead V6 touches the chest wall. This coordinate is the coordinate of lead V5 (x5, y5, z5);

The main controller drives the robotic arm to drive the V5 lead to contact the chest wall at an angle perpendicular to the chest wall at (x5, y5, z5), apply pressure and maintain it.

The preferred embodiments of the present invention are described in detail above. It should be understood that those skilled in the art can make many modifications and changes based on the concept of the present invention without creative efforts. Therefore, any technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention and on the basis of the prior art should be within the scope of protection determined by the claims.

Claims (6)

1. An electrocardiogram chest lead placement system based on vibration signal analysis is characterized by comprising an examination bed, a mechanical arm, chest leads and a controller, wherein a plurality of pressure sensors for synchronously acquiring data are arranged on the surface of the examination bed in a matrix manner and are used for acquiring pressure data of a human body; the mechanical arm is connected with the chest lead, and a plurality of vibration sensors are arranged on the side face of the chest lead and are used for collecting vibration signals of the contact area of the chest lead and the chest wall;

the controller is respectively in communication connection with the examination bed, the mechanical arm and the chest lead;

the controller acquires human pressure data through the examining table pressure sensor and constructs a human pressure distribution image, so as to calculate projection coordinates of rib gaps, sternum and collarbone central lines on the plane of the examining table; the controller also drives the mechanical arm to drive the chest lead to move above the corresponding projection coordinate, and the chest lead contacts the chest wall in a certain direction, applies pressure and keeps; the controller calculates adjacent tissue properties of the chest lead and the chest wall contact area in all directions according to the vibration signals acquired by the vibration sensor, so that the placement position of the chest lead is adjusted.

2. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1, wherein the chest lead has a semi-elliptical cross section, a curved tip at the top and a flat bottom; the top of the chest lead is used for contacting the chest wall of the tested person, and the bottom of the chest lead is connected with the mechanical arm; the top central area of the chest lead is a metal electrode for collecting electrocardiosignals.

3. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 2, wherein the vibration sensors are arranged at the side near tip of the chest lead and distributed in a ring shape, and the collected vibration signal area is also in a ring shape.

4. An electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1 wherein the chest leads comprise V2 leads, the controller driving the robotic arm to bring the V2 leads into contact with the chest wall in a direction perpendicular to the plane of the table above the calculated projected coordinates (x 2, y 2) of the left intercostal 4 th rib of the sternum, applying pressure and holding; according to the vibration signals collected by the vibration sensor, whether the left side, the upper side and the lower side of the contact area of the V2 chest lead and the chest wall are bone tissues or not and whether the right side is soft tissues or not is calculated, if not, the position of the V2 lead is adjusted through the mechanical arm, whether the left side, the upper side and the lower side of the contact area are bone tissues or not is judged again according to the vibration signals, and if yes, the placement of the V2 lead is completed.

5. The vibration signal analysis based electrocardiogram chest lead placement system according to claim 5 wherein the chest leads further comprise V4 leads, the controller driving the robotic arm to bring the V4 leads into contact with the chest wall in a direction perpendicular to the plane of the examination couch above the calculated projection coordinates (x 4, y 4) of the 5 th intercostal of the collarbone midline above the plane of the examination couch, applying pressure and maintaining; according to the vibration signals collected by the vibration sensor, whether the upper side and the lower side of the contact area between the V4 chest lead and the chest wall are bone tissues or not is calculated, whether the left side and the right side are soft tissues or not is calculated, if not, the position of the V4 lead is adjusted through the mechanical arm, whether the upper side and the lower side of the contact area are bone tissues or not is judged again according to the vibration signals, whether the left side and the right side are soft tissues or not is judged, and if yes, the placement of the V4 lead is completed.

6. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1, wherein the controller extracts a heart vibration signal according to the vibration signal collected by the vibration sensor, calculates propagation speeds, vibration transmissivities and vibration attenuation rates of heart vibrations in all directions of the chest lead and chest wall contact area according to the amplitude, frequency, period and phase of the heart vibration signal, and compares the propagation speeds, vibration transmissivities and vibration attenuation rates of heart vibrations in all directions, thereby calculating the properties of adjacent tissues in all directions of the chest lead and chest wall contact area.