CN212522006U - Medical catheter and three-dimensional magnetic positioning system - Google Patents
Medical catheter and three-dimensional magnetic positioning system Download PDFInfo
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- CN212522006U CN212522006U CN202021255869.8U CN202021255869U CN212522006U CN 212522006 U CN212522006 U CN 212522006U CN 202021255869 U CN202021255869 U CN 202021255869U CN 212522006 U CN212522006 U CN 212522006U
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Abstract
The utility model relates to a medical catheter and three-dimensional magnetic positioning system, three-dimensional magnetic positioning system includes positioner and medical catheter, medical catheter includes pipe body, first magnetic sensor and second magnetic sensor, the pipe body includes head end pipeline section, adjustable bend section and the non-adjustable bend section that the axial connected gradually, first, second magnetic sensor is all fixed to be set up in the inside of adjustable bend section. The positioning device comprises a positioning processing unit and a display unit; the first magnetic sensor and the second magnetic sensor are respectively in communication connection with the positioning processing unit; the positioning processing unit acquires the pose information of the first magnetic sensor and the pose information of the second magnetic sensor, and acquires the pose information of the head end pipe section according to the acquired pose information of the first magnetic sensor and the pose information of the second magnetic sensor; and the display unit receives and displays the pose information of the head end pipe section. The utility model has the advantages that, the position of head end pipe section can be accurately positioned, the positioning precision of the medical catheter is improved, and the safety of the intervention operation is improved.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to medical catheter and three-dimensional magnetic positioning system.
Background
Cardiovascular disease is a disease that seriously threatens human health, and has high morbidity, disability rate and mortality rate. At present, minimally invasive interventional surgery has become a relatively effective method for clinical diagnosis and treatment of cardiovascular diseases, and generally, channels between a diseased part in a patient and an external operation end are established by means of guide sheaths of various structures, shapes and sizes so as to guide ablation catheters, medicines and the like to the diseased part of the patient, thereby achieving the purposes of diagnosis and local treatment of the diseased part in the human body. The guiding sheath is generally composed of a long tube body having an inner cavity serving as a passage and having a distal end for facilitating entry into a lumen (e.g., blood vessel) of a human body and a proximal end connected to a handle body for operation by a medical professional.
In the design and manufacture process of the guiding sheath, the distal end is pre-molded into different bending shapes according to different expected purposes, so that the distal end is adapted to the anatomical morphology of a specific lesion part, and the distal end of the guiding sheath is convenient to align to the lesion part in a human body. In recent years, various shapes and angles of the distal end pre-shaped guide sheath are developed and put into clinical use, which requires that the hospital must be prepared with all specification models of guide sheaths, and increases the cost of the hospital. When individual differences occur in the human body physiological anatomical structures, even the distal pre-shaping guide sheath designed according to the specific human body physiological anatomical structures cannot be adapted to the individualized physiological anatomical structures, the pre-shaping guide sheath with other shapes is usually required to be replaced in the operation process, and the operation burden of patients is increased. Therefore, in recent years, a bending adjustable technology for the distal end of the guiding sheath has been developed, and the distal end of the guiding sheath is repeatedly changed between different angles through in vitro adjustment so as to adapt to different physiological and anatomical shapes.
The traditional electrophysiological intervention operation is carried out in a two-dimensional mode, a professional doctor can only establish a channel in a human body under the guidance of an X-ray machine by combining an X-ray imaging and operation method, the operation time is long, the accuracy is low, and the risk is high. And even a doctor who has good experience of electrophysiological intervention operation needs to use X-rays many times to display the heart shape and judge the position of the guiding sheath, which causes a lot of radiation to the patient and the doctor. Therefore, at present, a channel for guiding the electrophysiology catheter is established in a human body, and the electrophysiology catheter is still in a two-dimensional mode combined with X-ray imaging, so that doctors and patients are easily exposed to a high radiation environment, the positioning precision is low, doctors cannot conveniently and accurately grasp the position of the electrophysiology catheter relative to the patients, and the precision and the safety of the interventional operation are reduced. On the other hand, in other medical catheters, although the position of the catheter is positioned and displayed by arranging the magnetic positioning sensor, and the patient and the doctor are prevented from being exposed to excessive X-ray radiation, the magnetic positioning sensor is only arranged on one side of the catheter or the magnetic positioning position is not arranged reasonably, so that the position of the catheter cannot be accurately displayed.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a medical catheter and three-dimensional magnetic positioning system aims at solving the one or more problems that exist among the background art, through magnetic sensor accurate positioning and show the position and the direction of the head end pipeline section of medical catheter, improves the control accuracy of medical catheter, improves the accuracy nature of interveneeing the operation, makes the doctor and patient both sides avoid the ray radiation as far as possible simultaneously, improves the security of interveneeing the operation.
To achieve the above object, according to a first aspect of the present invention, there is provided a medical catheter including a catheter body, a first magnetic sensor, and a second magnetic sensor; the catheter body comprises a head end pipe section, an adjustable bending section and a non-adjustable bending section which are sequentially connected in the axial direction; the first magnetic sensor and the second magnetic sensor are both fixedly arranged inside the adjustable bending section.
Optionally, the first magnetic sensor and the second magnetic sensor are symmetrically disposed inside the adjustable bending section.
Optionally, the first and second magnetic sensors are arranged in parallel or non-parallel.
Optionally, the first magnetic sensor and the second magnetic sensor are disposed at an included angle, and the included angle is 5 ° to 175 °.
Optionally, the included angle is 90 °.
Optionally, the medical catheter further comprises a traction ring and a traction wire, the traction ring is arranged inside the distal end of the adjustable bending section, the traction wire is movably arranged in the catheter body in a penetrating manner, one end of the traction wire is connected with the traction ring, and the traction wire and the traction ring are matched to control the bending control direction of the adjustable bending section;
wherein the first and second magnetic sensors are disposed between the traction ring and a dividing line of the head end pipe segment and the adjustable bend segment, or at least a portion of the first and second magnetic sensors are disposed on the traction ring.
Optionally, the first and second magnetic sensors each have opposing connected ends and free ends, and the degree of freedom of the first magnetic sensor and/or the free end of the second magnetic sensor is located at the dividing line, or, at a radial cross-section of the catheter body along the dividing line, the free end of the first magnetic sensor and/or the free end of the second magnetic sensor is aligned with the dividing line.
Optionally, the catheter body comprises an inner tube and an outer tube, and the traction ring is sleeved on the inner tube; the medical catheter also comprises a mounting component which is positioned inside the adjustable bending section and is fixedly arranged on the inner-layer tube;
the mounting component is provided with a first positioning groove and a second positioning groove; one part of the first magnetic sensor is arranged on the first positioning groove, the other part of the first magnetic sensor is arranged on the inner pipe, one part of the second magnetic sensor is arranged on the second positioning groove, and the other part of the second magnetic sensor is arranged on the inner pipe; or, the first magnetic sensor is entirely disposed in the first positioning groove, and the second magnetic sensor is entirely disposed in the second positioning groove.
Alternatively, the mounting member is made of a developing material, or an outer surface of the mounting member is coated with a developing material.
Optionally, the mounting member comprises a structural member disposed at a distal end of the traction ring.
Optionally, the structural member includes a first positioning block and a second positioning block, the first positioning block and the second positioning block are both triangular blocks and symmetrically disposed on the inner tube, the first positioning groove is disposed on the first positioning block, and the second positioning groove is disposed on the second positioning block; or the structural part is a hollow cylindrical body and is sleeved on the inner-layer pipe, and the first positioning groove and the second positioning groove are arranged on the peripheral surface of the hollow cylindrical body.
Optionally, the traction ring is used as the mounting member.
Optionally, the first magnetic sensor and the second magnetic sensor are located on opposite sides of the adjustable bending section, or the first magnetic sensor and the second magnetic sensor are located on the same side of the adjustable bending section and are distributed along the axial direction.
Optionally, the first magnetic sensor and the second magnetic sensor are both five-degree-of-freedom sensors.
Optionally, the medical catheter is a guiding sheath or an electrophysiology catheter.
When the medical catheter is a guiding sheath, the medical catheter can be used for conveniently and quickly establishing a channel in a body and accurately guiding the medical catheter to a lesion part.
To achieve the above object, according to a second aspect of the present invention, there is provided a three-dimensional magnetic positioning system comprising the medical catheter and a positioning device of any one of the above aspects.
The positioning device comprises a positioning processing unit and a display unit; the first magnetic sensor and the second magnetic sensor are respectively in communication connection with the positioning processing unit;
the positioning processing unit is configured to acquire pose information of the first magnetic sensor and pose information of the second magnetic sensor, and acquire pose information of the head end pipe section according to the acquired pose information of the first magnetic sensor and the acquired pose information of the second magnetic sensor;
the display unit is in communication connection with the positioning processing unit and is configured to receive and display the pose information of the head pipe section.
Optionally, the first magnetic sensor and the second magnetic sensor are symmetrically arranged inside the adjustable bending section and located on two opposite sides;
the positioning processing unit is configured to acquire intermediate position information of the head end pipe section according to the acquired pose information of the first magnetic sensor and the pose information of the second magnetic sensor, and obtain an image model through the intermediate position information simulation of the head end pipe section;
the image model is used for representing the pose of the head end pipe section, and the image model is displayed through the display unit.
Optionally, the first magnetic sensor and the second magnetic sensor are both five-degree-of-freedom sensors;
the positioning processing unit is configured to synthesize pose information of one six-freedom-degree sensor according to pose information of the two five-freedom-degree sensors, and acquire intermediate position information of the head-end pipe section by using the pose information of the six-freedom-degree sensor.
Optionally, the positioning processing unit is further configured to graphically process pose information of the head end pipe segment; the display unit is configured to receive and display the graphically processed pose information.
The utility model provides a medical catheter and three-dimensional magnetic positioning system has following advantage:
in an interventional operation, the position and the direction of the head end pipe section of the medical catheter in a body can be accurately positioned through the matching of the medical catheter and the positioning device, and an operator can accurately control the bending control direction of the head end pipe section under the guidance of an image. Particularly, the two magnetic sensors are arranged between the traction ring and the boundary line between the head end pipe section and the adjustable bending section or on the traction ring, so that the two magnetic sensors are arranged adjacent to the head end pipe section, the position of the head end pipe section can be conveniently and accurately judged, and when bending is controlled, the two magnetic sensors cannot be influenced by bending control, the risk of breakage of the magnetic sensors is reduced, and the reliability of magnetic positioning is ensured.
The medical catheter preferably comprises two magnetic sensors arranged on the mounting component, so that the mounting precision of the magnetic sensors can be guaranteed, the process difficulty of mounting the magnetic sensors can be reduced, and the manufacturing cost can be reduced. In addition, above-mentioned installation component is preferred can develop, more preferably the traction ring is as installation component, avoid additionally introducing a structure, and can be with location, develop and tractive function integration in an organic whole, when guaranteeing two magnetic sensor of accurate location, play the effect of confirming to two magnetic sensor's position before the art again, and avoided increaseing the length of head end pipe section hard segment, reduce the risk of head end pipe section hard segment fish tail cardiac muscle or blood vessel when carrying out the tunning control, further improve the security of interveneeing the operation.
The two magnetic positioning sensors of the medical catheter are preferably arranged on the traction ring, and the position of the traction ring is closest to the head end pipe section, so that the position of the head end pipe section can be more accurately judged according to the intermediate position information of the head end pipe section, which is acquired by the pose information of the two magnetic positioning sensors on the traction ring, and the control precision of the medical catheter is further improved.
Drawings
Those skilled in the art will appreciate that the drawings are provided for a better understanding of the invention and do not constitute any limitation on the scope of the invention. Wherein:
fig. 1 is a view of an application scenario of a three-dimensional magnetic positioning system according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural view of a guiding sheath according to a preferred embodiment of the present invention, showing the adjustable bending section in an unbent state, a bent state to one side, and a bent state to the other side;
fig. 3 is a schematic structural view of a guiding sheath according to a preferred embodiment of the present invention, wherein the adjustable bending section is in an unbent state;
fig. 4 is a sectional view taken along the line a-a of the guiding sheath shown in fig. 3;
fig. 5 is a partially enlarged view of the guiding sheath shown in fig. 4 at the position I, wherein the partially enlarged view of the placement of two magnetic sensors inside the adjustable bending section is additionally shown by means of leads B1 and B2 for the sake of explanation so as to more clearly show the structure of these positions;
fig. 6 is a rotation coordinate diagram of a six-degree-of-freedom sensor according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a guiding sheath according to an embodiment of the present invention;
fig. 8 is a sectional view taken along line B-B of the guiding sheath shown in fig. 7;
fig. 9 is a three-dimensional schematic view of a position of a magnetic sensor on a guiding sheath according to a first embodiment of the present invention, that is, a partial enlarged view of the guiding sheath at position II shown in fig. 8;
FIG. 10 is a top view of the magnetic sensor of FIG. 9 in a deployed position over a guiding sheath;
fig. 11 is a cross-sectional view taken along line C-C of the guiding sheath shown in fig. 10;
fig. 12 is a three-dimensional schematic diagram of the placement position of the magnetic sensor on the guiding sheath according to the second embodiment of the present invention;
fig. 13 is a top view of the magnetic sensor of fig. 12 in a position for placement over a guiding sheath;
fig. 14 is a cross-sectional view taken along the D-D line of the guide sheath shown in fig. 13;
fig. 15 is a three-dimensional schematic view of the placement position of the magnetic sensor on the guiding sheath according to the third embodiment of the present invention;
fig. 16 is a top view of the magnetic sensor of fig. 15 in a position for placement over a guiding sheath;
fig. 17 is a cross-sectional view taken along line E-E of the guide sheath of fig. 16;
fig. 18 is a schematic structural view of a guiding sheath according to a fourth embodiment of the present invention;
fig. 19 is a sectional view taken along line F-F of the guiding sheath shown in fig. 18;
fig. 20 is a partially enlarged view of the guiding sheath shown in fig. 19 at position III, wherein the partially enlarged view of the placement of two magnetic sensors on the positioning block is additionally shown by means of leads C1 and C2 for the sake of explanation so as to more clearly show the structure of these positions;
fig. 21 is a three-dimensional schematic view of the placement position of the magnetic sensor on the guiding sheath according to the fifth embodiment of the present invention;
fig. 22 is a top view of the magnetic sensor of fig. 21 in a position for placement over a guiding sheath;
fig. 23 is a sectional view taken along the line H-H of the guide sheath shown in fig. 22.
The reference numerals are explained below:
a guide sheath-10; a head end pipe section-11; an adjustable bending section-12; a handle body-13; collateral-14; non-adjustable bend section-15; magnetic positioning structure-16; a first magnetic sensor-161; a second magnetic sensor-162; a connection tail-17; a traction ring-18; a drawing wire-191; inner-layer tube-192; electrophysiology catheter-20; -a positioning device-30; a positioning processing unit-31; a display unit-32; device connector-33; structural members-41, 42, 43, 44; a first positioning block-411; a second locating block-412; a first dividing line-S1; second dividing line-S2.
Detailed Description
The core idea of the utility model is to provide a three-dimensional magnetic positioning system, which comprises a positioning device and a medical catheter. The positioning device comprises a positioning processing unit and a display unit.
The medical catheter includes a catheter body, a first magnetic sensor, and a second magnetic sensor. The catheter body comprises a head end pipe section, an adjustable bending section and a non-adjustable bending section which are sequentially connected in the axial direction. The first magnetic sensor and the second magnetic sensor are both fixedly arranged inside the adjustable bending section.
The first magnetic sensor and the second magnetic sensor are respectively connected with the positioning processing unit in a communication mode. The positioning processing unit is configured to acquire the pose information of the first magnetic sensor and the pose information of the second magnetic sensor. The positioning processing unit is further configured to acquire pose information of the head end pipe segment from the acquired pose information of the first magnetic sensor and the pose information of the second magnetic sensor. The display unit is in communication connection with the positioning processing unit and is configured to receive and display the pose information of the head pipe section. Furthermore, the positioning processing unit can perform graphical processing on the pose information of the head pipe section, and the display unit receives and displays the graphically processed pose information. The utility model discloses it is right the location processing unit is right the mode that the position appearance information of head end pipeline section carries out the graphical processing does not add the injecing, and the mode of for example carrying out the graphical processing can include the position appearance information that adopts the vector line to represent head end pipeline section, or adopts the position appearance information that represents head end pipeline section with the similar or the same figure of shape of head end pipeline section. It should be appreciated that the pose information includes spatial position information and orientation information. Further, the medical catheter may be a guiding sheath or an electrophysiology catheter, which may be a radio frequency ablation catheter or a mapping catheter.
By the configuration, when an interventional operation is performed, the position and the direction of the head end pipe section of the medical catheter in the cavity can be tracked in real time through the two magnetic sensors, and the position and the direction of the head end pipe section are displayed in real time through the display unit, so that the control precision of the medical catheter is improved. Especially, consider that magnetic sensor is more fragile, in order to avoid its cracked problem of appearing in the use, two magnetic sensor set up between the boundary line of traction ring and head end pipeline section and adjustable bend section or on the traction ring, also promptly, the utility model discloses arrange the adjacent head end pipeline section of two magnetic sensor, be convenient for more accurately judge the position of head end pipeline section, improve pipe positioning accuracy, nevertheless can not increase the hardness of head end pipeline section. And when the adjustable bending section is bent in a controlled manner, the two magnetic sensors cannot be influenced by bending control, so that the risk of breakage of the magnetic sensors is reduced, and the reliability of magnetic positioning is ensured.
To make the objects, advantages and features of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in simplified form and are not to scale, but rather are provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently. As used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally used in its sense including "and/or" unless the content clearly dictates otherwise, the term "proximal" is generally the end that is closer to the operator and the term "distal" is generally the end that is closer to the patient (i.e., closer to the lesion).
In the following description, the structure and the usage of the three-dimensional magnetic positioning system of the present invention will be further described by using a medical catheter as a guiding sheath, but the medical catheter of the present invention may also be a radiofrequency ablation catheter or a mapping catheter.
As shown in fig. 1, the present embodiment relates to a three-dimensional magnetic positioning system comprising a guiding sheath 10, an electrophysiology catheter 20 and a positioning device 30. The positioning device 30 includes a positioning processing unit 31 and a display unit 32. The electrophysiology catheter 20 can be a mapping catheter or a radio frequency ablation catheter. The guiding sheath 10 comprises a catheter body and a steering handle connected, the catheter body comprising a proximal portion and a distal portion.
As shown in fig. 2, the distal portion includes a head end pipe segment 11 and an adjustable bend segment 12 connected thereto. The head end pipe segment 11 is located at the far end of the adjustable bending segment 12, and is made of a soft polymer material, so as to avoid scratching blood vessels or cardiac muscles in blood vessels or heart. Typically, the side wall of the head end pipe section 11 is provided with at least one vent hole to facilitate the pumping operation and reduce voids and bubbles. The proximal portion includes a non-adjustable bend section 15, and the proximal end of the adjustable bend section 12 is connected to the non-adjustable bend section 15. The steering handle comprises a handle body 13 and a side branch 14. The side branch 14 provides an input/output interface for surgical procedures such as aspiration, fluid infusion, blood sampling, pressure monitoring, etc., which are well known in the art and not described in detail. The proximal end of the non-adjustable bend section 15 is connected to the handle body 13. Further, to better understand the location of the interface between the adjustable bend segment 12 and the non-adjustable bend segment 15, the location of the interface between the adjustable bend segment 12 and the non-adjustable bend segment 15 is identified in FIGS. 2-4 or other figures and is indicated by the first interface line S1. The far position at the first boundary line S1 is the adjustable bend 12, and the near position at the first boundary line S1 is the non-adjustable bend 15. The location of the demarcation between the head end pipe section 11 and the adjustable bend section 12 is also indicated and indicated by the second demarcation line S2. It should be understood that the hardness of the material of the head end pipe section 11, the adjustable bending section 12 and the non-adjustable bending section 15 are different, the material of the head end pipe section 11 is softer, and the hardness of the material of the adjustable bending section 12 is lower than that of the material of the non-adjustable bending section 15 and higher than that of the material of the head end pipe section 11, so that the adjustable bending section 12 is easy to bend under pulling, and the non-adjustable bending section 15 (or the straight pipe section) is not easy to bend.
As shown in fig. 3 to 5, the guiding sheath 10 further includes a magnetic positioning structure 16 for positioning the position and orientation (i.e., pose) of the head-end pipe segment 11. The magnetic positioning structure 16 is arranged inside the adjustable bending section 12 and is arranged away from the first dividing line S1. Preferably, the magnetic positioning structure 16 is disposed between the traction ring 18 and the second dividing line S2 or disposed on the traction ring 18, which is advantageous in that the magnetic positioning structure 16 is disposed adjacent to the head-end pipe segment 11, so as to position the head-end pipe segment 11 more accurately, and when the bending control is performed on the adjustable bending section 12, the magnetic positioning structure 16 (including two magnetic sensors) is not affected by the bending control, thereby reducing the risk of breakage of the magnetic sensors and ensuring the reliability of magnetic positioning.
The magnetic positioning structure 16 specifically includes a first magnetic sensor 161 and a second magnetic sensor 162, each fixedly disposed within the adjustable bend section 13 and preferably disposed adjacent to the head end pipe segment 11. In this embodiment, each magnetic sensor has a connection end a and a free end B opposite to each other, wherein one end of each magnetic sensor connection wire is the connection end a, and the other end is the free end B. Preferably, the free end B of at least one of the two magnetic sensors is located at said second dividing line S2 or, at a radial section of the catheter body along said second dividing line S2, is aligned with said second dividing line S2. For example, in some embodiments, two magnetic sensors are distributed in the circumferential direction of the adjustable bend 12 and located on opposite sides of the interior of the adjustable bend 12, and in this case, the free ends B of both magnetic sensors are preferably located at the second dividing line S2 or aligned with the second dividing line S2. In other embodiments, the two magnetic sensors are distributed in the axial direction of the adjustable bend 12 and are located on the same side of the interior of the adjustable bend 12, i.e. the two magnetic sensors are located on a straight line on a circumferential surface parallel to the central axis of the catheter body, in which case the free end B of one of the magnetic sensors is preferably located at the second dividing line S2 or aligned with the second dividing line S2.
In addition, the two magnetic sensors are arranged on the catheter body at an included angle of 0 ° to 180 ° (including 0 ° and 180 °), preferably, 5 ° to 175 °, and more preferably, 90 °. It should be understood that the angle between the two magnetic sensors refers to the angle between the two rays, that is, the angle between the two rays in the AB direction on the two magnetic sensors is the angle between the two magnetic sensors. Preferably, the first magnetic sensor 161 and the second magnetic sensor 162 are symmetrically disposed inside the adjustable bending section 12. The two magnetic sensors symmetrically arranged contribute to the improvement of the positioning accuracy, and also simplify the calculation workload of the positioning processing unit 31, improving the processing efficiency. Further, the first magnetic sensor 161 and the second magnetic sensor 162 may be disposed in parallel or not. In addition, the first magnetic sensor 161 and the second magnetic sensor 162 are both communicatively connected to the positioning processing unit 31, for example, communicatively connected to the positioning processing unit 31 via the connection tail 17. Optionally, the connection tail 17 is connected to a device connector 33 of the positioning processing unit 31. The display unit 32 is communicatively connected to the positioning processing unit 31.
In practical use, the positioning processing unit 31 is configured to acquire the pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162, acquire the pose information of the head end pipe segment 11 according to the acquired pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162, and further receive and display the pose information of the head end pipe segment 11 by the display unit 32. Further, the first magnetic sensor 161 and the second magnetic sensor 162 are symmetrically disposed inside the adjustable bending section 12 and located at two opposite sides, and preferably, the positioning processing unit 31 is configured to obtain the middle position information of the head end pipe segment 11 (i.e. the position of the central axis of the catheter body) according to the obtained pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162, and obtain an image model through simulation of the middle position information of the head end pipe segment 11, where the image model may be a straight line (e.g. 5mm to 6mm in length), or the image model is a three-dimensional model similar to the shape and/or size of the head end pipe segment 11, and display the image model through the display unit 32. With this configuration, the head pipe section 11 can be simply represented by the image model, and the image model is displayed by the display unit 32. Therefore, when performing bend control, the operator can more accurately determine the position and direction of the head-end pipe segment 11 based on the display of the image.
The first magnetic sensor 161 and the second magnetic sensor 162 are preferably five-degree-of-freedom sensors, and two five-degree-of-freedom sensors are used to synthesize one six-degree-of-freedom sensor, which is equivalent to tracking the position and direction of the head-end pipe section 11 by one six-degree-of-freedom sensor, so that the positioning effect is good. Further, the positioning processing unit 31 acquires the intermediate position information of the head end pipe segment 11 by using the pose information of the six-degree-of-freedom sensor. Further, the positioning processing unit 31 may directly use the uncorrected pose information of the six-degree-of-freedom sensor as the intermediate position information of the head end pipe segment 11, and the positioning processing unit 31 may also use the corrected pose information of the six-degree-of-freedom sensor as the intermediate position information of the head end pipe segment 11. The utility model discloses in, how to utilize two five degree of freedom sensors to synthesize a six degree of freedom sensor is prior art, consequently, the utility model discloses do not describe in detail this synthetic mode. The utility model discloses a position and the direction of head end pipeline section 11 are trailed to two five degree of freedom sensors, compare in a six degree of freedom sensor of direct use, the cost is lower, occupation space is also little, had both reduced the size of guide sheath pipe (or other medical catheter), have also reduced the manufacturing cost of guide sheath pipe (or other medical catheter), two magnetic sensor set up in the relative both sides of pipe body simultaneously, can more accurately judge the position of guide sheath pipe 10 (or other medical catheter). It should be understood that the resultant six degree-of-freedom sensor may be free to rotate and move in space, while the position, rotation and movement of the six degree-of-freedom sensor corresponds to the position, rotation and movement of the head end pipe segment 11. So set up, the position and the direction of head end pipe section 11 are judged to the accurate of accessible six degrees of freedom sensors, make things convenient for the operator to control the crooked direction of adjustable curved section 12 according to the position and the accurate control of direction of six degrees of freedom sensors to improve the control accuracy of guide sheath pipe 10 (or other medical catheter), conveniently establish the passageway in vivo fast, make electrophysiology catheter 20 can be more accurate location to pathological change position when melting or mark survey.
In more detail, the direction information of the head-end pipe segment 11 mainly obtains the angle information of the head-end pipe segment 11, that is, the angle information of the six-degree-of-freedom sensor. In general, it can be represented by a rotation matrix, a rotation vector, a quaternion or an euler angle, and these quantities can also be mutually converted, wherein the euler angle is more widely used. In some embodiments, mayTo represent the directional information of the head end pipe section 11 in a rotation matrix. Taking a rectangular coordinate system xyz as an example, a quaternion q ═ θ xyz is knownT(ii) a Wherein θ is the shaft angle; (xyz) is a vector; x is the coordinate value of the x axis; y is a coordinate value of the y axis; z is a coordinate value of the z-axis. When the unit vector ω is rotated by θ degrees (xyz), the rotation matrix R is obtained from the quaternion:
the above-mentioned rotation matrix R can also be expressed in terms of euler angles, i.e. a series of rotations around the axes of a coordinate system, describing in space the way from a fixed, known-direction reference frame, another new reference frame is obtained through a series of basic rotations. As shown in fig. 6, the coordinate axes of the original reference system XYZ are defined as x, y, z, and the coordinate axes of the new reference system XYZ after rotation are defined as X, Y, Z; n is called an intersection line and is a line where XY and XY coordinate planes intersect.
When the attitude of the head end pipe section 11 is expressed by euler angles, the following matrix is first described:
formula (1-1) is equivalent to
Wherein: r is11＝cosθ+x2(1-cosθ)；r12＝-zsinθ+xy(1-cosθ)； r13＝ysinθ+xz(1-cosθ)；r21＝zsinθ+xy(1-cosθ)；r22＝cosθ+y2(1-cosθ)； r23＝-xsinθ+yz(1-cosθ)；r31＝-ysinθ+xz(1-cosθ)；r32＝xsinθ+yz(1-cosθ)； r33＝cosθ+z2(1-cos θ). α is the angle between the x-axis and the N-axis, representing rotation about the z-axis; β is the angle between the Z-axis and the Z-axis, representing rotation about the N-axis;γ is the angle between the N and X axes and represents rotation about the Z axis.
Then, the corresponding euler angles can be obtained by rotating the matrix R:
wherein: thetax、θyAnd thetazThe rotation angles around the x-axis, y-axis and z-axis, respectively. The attitude of the six-degree-of-freedom sensor, i.e. the attitude of the head pipe section 11, can be determined by the euler angle.
It should be understood by those skilled in the art that when the relative positions of the two magnetic sensors are kept fixed and have a certain included angle, the spatial position of each magnetic sensor can be determined, for example, a magnetic field generator is disposed outside the magnetic sensors, the magnetic sensors are subjected to a magnetic field to generate an induced current, the induced current is fed back to the positioning processing unit 31 through the connecting tail 17, the positioning processing unit 31 processes the induced current to obtain the positions of the magnetic sensors in the magnetic field, and finally determines the specific positions of the magnetic sensors in space, and when the two magnetic sensors are disposed relatively fixed and have a fixed included angle, when the guiding sheath 10 rotates, the spatial positions of the head end pipe segment 11 can be obtained according to the spatial coordinates of the two magnetic sensors, thereby achieving the purpose of tracking the head end pipe segment 11 in.
In this embodiment, the catheter body preferably includes an inner tube 192 (see fig. 9 to 23) and an outer tube (not shown) covering the inner tube 192, i.e. the catheter body has a double-layer structure. Further, two magnetic sensors are disposed between the inner tube 192 and the outer tube. For example, two magnetic sensors are fixedly disposed on the inner tube 192 or fixedly disposed on the outer tube. In this embodiment, it is preferable that the two magnetic sensors are fixedly provided on the inner pipe 192, which not only facilitates installation, but also reduces the influence on the magnetic sensors when the outer pipe is molded, ensures that the magnetic sensors do not shift, and ensures the positioning accuracy of the magnetic sensors.
Referring to fig. 5, the guiding sheath 10 further comprises a pull ring 18 and a pull wire 191. The pulling ring 18 is disposed inside the adjustable bending section 12 and is sleeved on the inner pipe 192, and the pulling ring 18 is disposed adjacent to the head end pipe section 11, that is, the pulling ring 18 is disposed adjacent to the second dividing line S2. Preferably, the magnetic locating feature 16 is disposed on the pull ring 18 such that the magnetic locating feature 16 is disposed adjacent the head end pipe segment 11. Because the position of the traction ring 18 is closer to the head end pipe section 11, two magnetic positioning sensors are arranged on the traction ring 18, the position of the head end pipe section 11 can be accurately positioned, the control precision of the guiding sheath pipe 10 is improved, an additional structural part is not needed for installing the magnetic positioning structure 16, and the increase of the hardness and the length of the adjustable bending section 12 is avoided. In other embodiments, the magnetic alignment structure 16 may not be disposed with the pull ring 18, but rather the magnetic alignment structure 16 may be mounted by an additional structural member that is fixedly disposed on the inner tube 192 and is located at the distal end of the pull ring 18, preferably in close proximity to the pull ring 18. In addition, the traction wire 191 is arranged in the catheter body in a penetrating way, one end of the traction wire is connected with the traction ring 18, and the other end of the traction wire is connected with the handle body 13. The pulling wire 191 can move in the catheter body, and the bending angle of the adjustable bending section 12 can be changed through the movement of the pulling wire 191, namely, the bending control direction of the adjustable bending section 12 is controlled through the cooperation of the pulling ring 18 and the pulling wire 191.
As described above, the two magnetic sensors may be disposed in parallel or may be disposed in non-parallel. For example, in some embodiments, as shown in fig. 5, the first magnetic sensor 161 and the second magnetic sensor 162 are symmetrically and fixedly disposed on the inner tube 192 and are located at two opposite sides of the inner tube 192 along the circumferential direction, and the two magnetic sensors are not only disposed in parallel, but also parallel to the central axis of the guiding sheath 10, at this time, the included angle between the two magnetic sensors is 0 °, and accordingly, the middle position information of the head end pipe section 11 can be obtained, and further, the image model can be obtained and displayed on the display unit 32. In other embodiments, when two magnetic sensors are located on opposite sides of the inner tube 192, they may not be arranged in parallel. In these modes, the middle position information of the head end pipe section 11 can be acquired by two magnetic sensors arranged at different sides and preferably symmetrically, so that an image model for representing the middle position of the head end pipe section 11 is displayed on the display unit 32, thereby facilitating an operator to judge the position of the guiding sheath 10 more accurately and improving the control accuracy of the guiding sheath 10.
Further, in order to ensure the installation accuracy of the magnetic sensor, and at the same time, reduce the difficulty of the process for installing the magnetic sensor, and reduce the manufacturing cost, the guiding sheath 10 further includes an installation component, which is fixedly disposed on the inner tube 192, specifically on the inner tube 192 of the adjustable bending section 12, and is used for installing two magnetic sensors. Wherein at least a part of the first magnetic sensor 161 and at least a part of the second magnetic sensor 162 are provided on the mounting part. That is, a part of each magnetic sensor may be provided on the mounting member and another part may be provided on the inner pipe 192, or the whole of each magnetic sensor may be provided on the mounting member. In this embodiment, the mounting component is provided with a first positioning groove and a second positioning groove, the first positioning groove is used for placing the first magnetic sensor, and the second positioning groove is used for placing the second magnetic sensor. For example, in some embodiments, a portion of the first magnetic sensor 161 is disposed in the first positioning groove, another portion is disposed on the inner tube 192, a portion of the second magnetic sensor 162 is disposed in the second positioning groove, and another portion is disposed on the inner tube 192, so that the length and stiffness of the mounting component can be reduced, and the influence on the bending performance of the adjustable bending section 12 can be reduced. In other embodiments, the first magnetic sensor 161 is disposed entirely in the first positioning groove, and the second magnetic sensor 162 is disposed entirely in the second positioning groove. Through positioning groove's setting, be convenient for install magnetic sensor in narrow and small space, the contained angle between two magnetic sensors and carry out accurate location to magnetic sensor through positioning groove's fluting direction setting of also being convenient for simultaneously.
In this embodiment, the mounting member may include a structural member fixedly disposed on the inner tube 192 at the distal end of the traction ring 18, and the first and second positioning grooves may be formed on the structural member. That is, two magnetic sensors are installed by additionally introducing one structural member to ensure the positioning accuracy of the magnetic sensors. Preferably, in another embodiment, the pulling ring 18 is used as the mounting member, so that the first positioning groove and the second positioning groove are provided on the pulling ring 18. Through the design, an additional structural part is avoided, the hardness of the adjustable bending section 12 is also avoided from being increased, the structure is simpler, and the safety is better.
Further preferably, the mounting member is configured to be capable of developing, that is, to integrate the developing member and the mounting member together. With this arrangement, before an operation or at the beginning of positioning by the magnetic sensor, an operator can check the position of the magnetic sensor by developing the mounting member under X-ray, and the positioning accuracy of the head end pipe section 11 can be ensured by utilizing the advantages of both. And an additional developing part (such as a developing ring or a ring electrode) does not need to be arranged on the head end pipe section 11, so that the length of the hard section of the head end pipe section 11 is shortened, the risk that the hard section of the head end pipe section 11 scratches cardiac muscle or blood vessels when bending control is carried out is reduced, and the safety of the interventional operation is further improved. Further, the mounting member may be a ring electrode having developability.
Particularly, when the traction ring 18 is used as the mounting component, the functions of positioning, developing and pulling can be integrated, the first magnetic sensor 161 and the second magnetic sensor 162 can be accurately positioned, the positions of the first magnetic sensor 161 and the second magnetic sensor 162 can be confirmed before the operation, the length of the hard segment of the head end pipe section 11 is prevented from being increased, and the hardness of the adjustable bent section 12 is prevented from being increased. It should be understood that, in the operation process, the operator can track the position of the head end pipe section 11 through the developing performance of the mounting component, and also can track the position of the head end pipe section 11 through the two magnetic sensors, and in any way, especially, when the operation process does not have the three-dimensional imaging condition, the operator can track the head end pipe section 11 through the developing performance of the mounting component, or when the operation process does not have the X-ray imaging condition, the operator can track the head end pipe section 11 through the two magnetic sensors. Due to the design, the guiding sheath tube 10 is more flexible and convenient to use, and can better meet various use requirements.
The utility model discloses the mode that can develop to preparation installing component does not add the restriction, both can be through development material preparation installing component, also can be at the surface coating development material of installing component. For example, it is preferable that the surface of the traction ring 18 is coated with a developing material to provide developability so as to prevent the traction ring 18 from being easily deformed by tension when the traction ring 18 is entirely made of the developing material. For example, it is preferable for the structural member to be prepared from a developing material so as to have developability.
The manner in which the magnetic sensor is mounted on the catheter body will be described in greater detail below in connection with several preferred embodiments, but it should be understood that the following mounting is not intended to limit the invention.
Example one
Fig. 7 is a schematic structural diagram of a guiding sheath according to a first embodiment of the present invention, and fig. 8 is a sectional view taken along a line B-B of the guiding sheath shown in fig. 7. Fig. 9 is a three-dimensional schematic diagram of a placement position of a magnetic sensor according to a first embodiment of the present invention, fig. 10 is a top view of the structure shown in fig. 9, and fig. 11 is a cross-sectional view taken along a C-C line shown in fig. 10. It should be understood that the structure shown in fig. 9 to 11 is the structure of the guiding sheath 10 at the position II in fig. 8.
As shown in fig. 7 to 11, the mounting component includes a structural member 41, which is composed of two positioning blocks, namely a first positioning block 411 and a second positioning block 412. The construct 41 is disposed at the distal end of the traction ring 18 (see fig. 5) and is preferably disposed proximate to the traction ring 18. Wherein both locating blocks are disposed on the inner tube 192 and on opposite sides of the inner tube 192. Preferably, the two locating blocks are symmetrically disposed on the inner tube 192. And two locating pieces are the triangle blocks, that is, as shown in fig. 11, on axial cross section, two locating pieces all have a right-angle side (not numbered), the right-angle side and the laminating of the surface of inlayer pipe 192, and two locating pieces still have the hypotenuse (not numbered) that becomes the contained angle with the right-angle side to set up positioning groove on the hypotenuse, positioning groove's bottom surface is parallel with the hypotenuse that corresponds. The first magnetic sensor 161 is entirely disposed in the first positioning groove of the first positioning block 411, and the second magnetic sensor 162 is entirely disposed in the second positioning groove of the second positioning block 412. Because the positioning grooves on the two positioning blocks form an angle alpha, the included angle between the two magnetic sensors is also alpha, and alpha is preferably 5-175 degrees, and more preferably 90 degrees. In addition, in clinical application, a plurality of guiding sheaths 10 with different included angles α can be configured to meet different positioning requirements. In addition, the two magnetic sensors are preferably arranged symmetrically, and may be arranged in parallel or not.
In this embodiment, the mounting members are arranged as two triangular blocks and on opposite sides of the inner tube 192, which is beneficial to reducing the stiffness of the adjustable bending section 12 and reducing the influence on the bending performance of the adjustable bending section 12. Further, the material of the structural member 41 may be a developing material or a non-developing material. If the structural member 41 is a non-developer material, a developer member, such as a developer ring or ring electrode, is disposed on a side of the structural member 41 remote from the traction ring 18. The developing member is disposed at the distal end of the adjustable bending section 12, mainly at the second dividing line S2, or between the second dividing line S2 and the structural member. If the structural member 41 is made of developing materials, a developing part arranged on one side of the structural member 41 can be omitted, so that the length of the hardness of the head end pipe section 11 is effectively shortened, the risk that the hard section of the head end pipe section 11 scratches blood vessels or cardiac muscles during bending is reduced, and the safety of interventional operations is improved. Moreover, through the development of the structural member 41, not only can the material cost be saved, but also the position of the magnetic sensor can be checked through the development of the structural member 41 under the X-ray before the operation, and the positioning accuracy of the head end pipe section 11 is ensured by utilizing the advantages of the two.
Example two
Fig. 12 is a three-dimensional schematic diagram of a placement position of a magnetic sensor according to a second embodiment of the present invention, fig. 13 is a plan view of the structure shown in fig. 12, and fig. 14 is a sectional view taken along a D-D line shown in fig. 13.
As shown in fig. 12 to 14, the mounting component includes a structural member 42, and unlike the first embodiment, the structural member 42 is a hollow cylinder and is sleeved on the inner tube 192, and a first positioning groove and a second positioning groove are provided on an outer circumferential surface of the cylinder, and the two positioning grooves are provided on opposite sides of the inner tube 192. In which a portion of the first magnetic sensor 161 is disposed in the first positioning groove, and the other portion is directly disposed on the inner tube 192. A part of the second magnetic sensor 162 is disposed in the second positioning groove, and another part is disposed directly on the inner tube 192. Therefore, the two magnetic sensors are disposed on the inner tube 192 in an inclined manner, and the included angle between the two magnetic sensors is α, which is preferably 5 ° to 175 °. Similarly, if the angle α needs to be changed, only the grooving direction of the positioning groove and the position of another part of the magnetic sensor on the inner tube 192 need to be adjusted.
In this embodiment, the material of the structural member 42 is a non-developing material, and in this case, a developing member (not shown) is additionally disposed on a side of the structural member 42 away from the traction ring 18, and the developing member may be a developing ring or a ring electrode. Alternatively, the material of the structural member 42 may also be a developer material. When the structural part 42 can be developed, the developing part arranged on one side of the structural part 42 can be cancelled, so that the length of the hardness of the head end pipe section 11 is effectively shortened, the risk that the hard section of the head end pipe section 11 scratches blood vessels or cardiac muscles during bending is reduced, and the safety of interventional operations is improved. Moreover, through the development of the structural member 42, not only can the material cost be saved, but also the position of the magnetic sensor can be checked through the development of the structural member 42 under the X-ray before the operation, and the positioning accuracy of the head end pipe section 11 is ensured by utilizing the advantages of the two.
Compared with the design scheme in the first embodiment, the design scheme in the second embodiment can further shorten the length of the structural member in the axial direction, and reduce the length and the rigidity of the adjustable bending section 12.
EXAMPLE III
Fig. 15 is a three-dimensional schematic diagram of a placement position of a magnetic sensor according to a third embodiment of the present invention, fig. 16 is a plan view of the structure shown in fig. 15, and fig. 17 is a cross-sectional view taken along a line E-E shown in fig. 16, in which the traction ring 18 is not shown in any of fig. 15 to 17.
As shown in fig. 15 to 17, the mounting part includes a structural member 43, and unlike the first embodiment, the structural member 43 is a hollow cone and is sleeved on the inner tube 192, and a first positioning groove and a second positioning groove are provided on an outer circumferential surface of the cone, and the two positioning grooves are provided on opposite sides of the inner tube 192. The bottom surface of each positioning groove is parallel to the inclined surface of the cone. Here, the first magnetic sensor 161 is entirely disposed in the first positioning groove, and the second magnetic sensor 162 is entirely disposed in the second positioning groove. Because the two positioning grooves form an angle alpha, the included angle between the two magnetic sensors is also alpha, and alpha is preferably 5-175 degrees. Similarly, in the present embodiment, the material of the structural member 43 may be a non-developing material, and a developing member (not shown) may be disposed on a side of the structural member 43 away from the traction ring 18, and the developing member may be a developing ring or a ring electrode. Alternatively, the material of the structure 43 may also be a developer material. When the structural member 43 can be developed, a developing component disposed on one side of the structural member 43 can be eliminated, and the advantages are the same as those of the embodiment and are not described again.
Example four
Fig. 18 is a structural view of a guide sheath according to a fourth embodiment of the present invention, fig. 19 is an axial sectional view of the guide sheath shown in fig. 18 cut along a line F-F, and fig. 20 is an enlarged partial sectional view of fig. 19. Here, for the sake of explanation, a partially enlarged view of the placement of the two magnetic sensors on the positioning block is additionally shown in fig. 20 by using leads C1 and C2 in order to more clearly show the structure of these positions.
As shown in fig. 18 to 20, the mounting member includes a structural member 41 having the same structure as in the first embodiment. Unlike the first embodiment, the first magnetic sensor 161 and the second magnetic sensor 162 are located on the same side of the inner tube 192 and distributed along the axial direction of the catheter body, and in this case, the two positioning blocks (411 and 412) may be symmetrically arranged or asymmetrically arranged. Further, the two magnetic sensors may be symmetrically or asymmetrically arranged, and the two magnetic sensors may be parallel or non-parallel, preferably, the two magnetic sensors are on a straight line on a circumferential surface parallel to the central axis of the catheter body. Further, the two magnetic sensors may be disposed adjacently as shown in fig. 20, or may be disposed non-adjacently.
Compared with the design scheme in the above embodiment, the design scheme in the fourth embodiment can acquire the position information of one side of the head end pipe section 11 through the pose information of the two magnetic sensors.
EXAMPLE five
Fig. 21 is a three-dimensional schematic diagram of a placement position of a magnetic sensor according to a fifth embodiment of the present invention, fig. 22 is a plan view of the structure shown in fig. 21, and fig. 23 is a sectional view taken along an H-H line shown in fig. 22.
As shown in fig. 21 to 23, the mounting member includes a pulling ring 18, and the magnetic sensor is mounted through the pulling ring 18. The traction ring 18 is a hollow cylinder having a diameter larger than the outer diameter of the inner tube 192 of the catheter body, and therefore, two positioning grooves are provided on the traction ring 18, and a part of each of the two magnetic sensors is disposed in the corresponding positioning groove, and the other part is disposed on the inner tube 192. Preferably, the pull ring 18 is coated with a developer material for development.
Compared with the first, second and third embodiments, the hard segment of the head end pipe section 11 can be further shortened by developing the traction ring 18, and the hardness of the adjustable bending section 12 can not be increased, which is superior to the developing structural member arranged at the far end of the traction ring 18 and the developing part arranged at one side of the structural member.
EXAMPLE six
The embodiment provides a positioning method of a medical catheter, wherein the medical catheter can be a guiding sheath or an electrophysiological catheter, and the positioning method comprises the following steps:
acquiring the pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162;
the position and orientation information of the head end pipe section 11 is acquired and displayed based on the acquired position and orientation information of the first magnetic sensor 161 and the second magnetic sensor 162.
Further, the first magnetic sensor 161 and the second magnetic sensor 162 are symmetrically disposed inside the adjustable bend section 12 and located at two opposite sides, and the method for acquiring the pose information of the head end pipe segment 11 includes:
acquiring intermediate position information of the head end pipe section 11 according to the acquired pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162;
simulating to obtain an image model through the intermediate information of the head end pipe section, wherein the image model is used for representing the pose of the head end pipe section;
and displaying the image model.
Further, the first magnetic sensor 161 and the second magnetic sensor 162 are symmetrically disposed inside the adjustable bend section 12 and located on the same side, and the method for acquiring the pose information of the head end pipe segment 11 includes:
acquiring one-side position information of the head pipe segment 11 according to the acquired pose information of the first magnetic sensor 161 and the pose information of the second magnetic sensor 162;
simulating to obtain an image model through the position information of one side of the head end pipe section, wherein the image model is used for representing the pose of the head end pipe section;
and displaying the image model.
Further, when the first magnetic sensor 161 and the second magnetic sensor 162 are both five-degree-of-freedom sensors, the step of acquiring the intermediate position information of the head end pipe section includes:
and synthesizing the pose information of a six-degree-of-freedom sensor according to the pose information of the two five-degree-of-freedom sensors, and acquiring the middle position information or the position information of one side of the head end pipe section by using the pose information of the six-degree-of-freedom sensor.
It should be understood that the present invention is not limited to the type of the positioning processing unit 31, and may be hardware for executing Logic operation, such as a single chip, a microprocessor, a Programmable Logic Controller (PLC) or a Field Programmable Gate Array (FPGA), or a software program, a function module, a function, an Object library (objects) or a Dynamic Link library (Dynamic-Link Libraries) for implementing the above functions on a hardware basis. Alternatively, a combination of the above two. The person skilled in the art will know how to implement the functions of the positioning processing unit in detail on the basis of the disclosure of the present application.
The above description is only for the preferred embodiment of the present invention, and not for any limitation of the scope of the present invention, and any modification and modification made by those skilled in the art according to the above disclosure all belong to the protection scope of the present invention.
Claims (19)
1. A medical catheter comprising a catheter body, a first magnetic sensor and a second magnetic sensor; the catheter body comprises a head end pipe section, an adjustable bending section and a non-adjustable bending section which are sequentially connected in the axial direction; the first magnetic sensor and the second magnetic sensor are both fixedly arranged inside the adjustable bending section.
2. The medical catheter of claim 1, wherein the first and second magnetic sensors are symmetrically disposed inside the adjustable bend segment.
3. A medical catheter according to claim 1 or 2, wherein the first and second magnetic sensors are arranged in parallel or non-parallel.
4. A medical catheter according to claim 1 or 2, wherein the first and second magnetic sensors are disposed at an included angle of 5 ° to 175 °.
5. The medical catheter of claim 4, wherein the included angle is 90 °.
6. The medical catheter of claim 1, further comprising a pull ring and a pull wire, wherein the pull ring is disposed inside the distal end of the adjustable bending section, the pull wire is movably disposed through the catheter body, one end of the pull wire is connected to the pull ring, and the pull wire and the pull ring cooperate to control the bending direction of the adjustable bending section;
wherein the first and second magnetic sensors are disposed between the traction ring and a dividing line of the head end pipe segment and the adjustable bend segment, or at least a portion of the first and second magnetic sensors are disposed on the traction ring.
7. A medical catheter according to claim 6, wherein the first and second magnetic sensors each have opposing connection and free ends, and the free end of the first magnetic sensor and/or the free end of the second magnetic sensor is located at the dividing line, or, at a radial cross-section of the catheter body along the dividing line, the free end of the first magnetic sensor and/or the free end of the second magnetic sensor is aligned with the dividing line.
8. The medical catheter of claim 6, wherein the catheter body comprises an inner tube and an outer tube, the pull ring being disposed on the inner tube; the medical catheter also comprises a mounting component which is positioned inside the adjustable bending section and is fixedly arranged on the inner-layer tube;
the mounting component is provided with a first positioning groove and a second positioning groove; one part of the first magnetic sensor is arranged on the first positioning groove, the other part of the first magnetic sensor is arranged on the inner pipe, one part of the second magnetic sensor is arranged on the second positioning groove, and the other part of the second magnetic sensor is arranged on the inner pipe; alternatively, the first and second electrodes may be,
the first magnetic sensor is entirely disposed in the first positioning groove, and the second magnetic sensor is entirely disposed in the second positioning groove.
9. The medical catheter of claim 8, wherein the mounting member is made of or coated on an outer surface with a visualization material.
10. The medical catheter of claim 8 or 9, wherein the mounting member comprises a structural member disposed at a distal end of the pull ring.
11. The medical catheter of claim 10, wherein the structure comprises a first locating block and a second locating block, wherein the first locating block and the second locating block are triangular blocks and are symmetrically arranged on the inner tube; the first positioning groove is arranged on the first positioning block, and the second positioning groove is arranged on the second positioning block; or the structural part is a hollow cylindrical body and is sleeved on the inner-layer pipe, and the first positioning groove and the second positioning groove are both arranged on the peripheral surface of the hollow cylindrical body.
12. A medical catheter according to claim 8 or 9, wherein the pull ring is provided as the mounting member.
13. A medical catheter according to claim 1 or 2, wherein the first and second magnetic sensors are located on opposite sides of the adjustable bend segment, or wherein the first and second magnetic sensors are located on the same side of the adjustable bend segment and distributed axially.
14. The medical catheter of claim 1 or 2, wherein the first and second magnetic sensors are each five degree of freedom sensors.
15. The medical catheter of claim 1 or 2, wherein the medical catheter is a guiding sheath or an electrophysiology catheter.
16. A three-dimensional magnetic positioning system comprising a positioning device and a medical catheter as claimed in any one of claims 1 to 15;
the positioning device comprises a positioning processing unit and a display unit; the first magnetic sensor and the second magnetic sensor are respectively in communication connection with the positioning processing unit;
the positioning processing unit is configured to acquire pose information of the first magnetic sensor and pose information of the second magnetic sensor, and acquire pose information of the head end pipe section according to the acquired pose information of the first magnetic sensor and the acquired pose information of the second magnetic sensor;
the display unit is in communication connection with the positioning processing unit and is configured to receive and display the pose information of the head pipe section.
17. The three-dimensional magnetic positioning system of claim 16, wherein the first and second magnetic sensors are symmetrically disposed within the adjustable bend section on opposite sides;
the positioning processing unit is configured to acquire intermediate position information of the head end pipe section according to the acquired pose information of the first magnetic sensor and the pose information of the second magnetic sensor, and obtain an image model through the intermediate position information simulation of the head end pipe section;
the image model is used for representing the pose of the head end pipe section, and the image model is displayed through the display unit.
18. The three-dimensional magnetic positioning system of claim 17 wherein the first and second magnetic sensors are each a five degree of freedom sensor;
the positioning processing unit is configured to synthesize pose information of one six-freedom-degree sensor according to pose information of the two five-freedom-degree sensors, and acquire intermediate position information of the head-end pipe section by using the pose information of the six-freedom-degree sensor.
19. The three-dimensional magnetic positioning system of any of claims 16-18 wherein the positioning processing unit is further configured to graphically process pose information of the head end pipe segment;
the display unit is configured to receive and display the graphically processed pose information.
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| WO2022182770A1 (en) * | 2021-02-26 | 2022-09-01 | Covidien Lp | Six degrees of freedom from a single inductive pickup coil sensor |
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| WO2022182770A1 (en) * | 2021-02-26 | 2022-09-01 | Covidien Lp | Six degrees of freedom from a single inductive pickup coil sensor |
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