CN103800017A - Device and method for detecting contact pressure between catheter and tissue - Google Patents
Device and method for detecting contact pressure between catheter and tissue Download PDFInfo
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- CN103800017A CN103800017A CN201210445144.9A CN201210445144A CN103800017A CN 103800017 A CN103800017 A CN 103800017A CN 201210445144 A CN201210445144 A CN 201210445144A CN 103800017 A CN103800017 A CN 103800017A
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Abstract
The invention provides a device and a method for detecting the contact pressure between a catheter and tissue, wherein a sensor in a handle is utilized for sensing and measuring the movement amount of a control device; the correspondence relation between the movement amount and the bending form of a bendable section when no contact pressure exists is provided; after an insertion pipe is inserted into the body of a patient, the movement amount is sensed and measured by the sensor; based on the correspondence relation, the bending form of the bendable section corresponding to the sensed and measured movement amount without the contact pressure is calculated; the actual bending form of the bendable section is sensed and measured by a positioning sensor; the contact pressure is calculated based on the actual bending form of the bendable section, the bending form without the contact pressure and elasticity moduli in all directions. According to the invention, the bending form of the bendable section can be obtained indirectly, the positioning and guiding for the catheter are performed, the contact pressure between an electrode arranged on a far side terminal and the tissue can also be detected so as to maintain proper contact pressure, and the effect of ablation therapy is improved.
Description
Technical field
The present invention relates to a kind of insertion type medical catheter.More specifically, the present invention relates to a kind of apparatus and method that are used to interposing catheter to detect the contact pressure between itself and tissue.
Background technology
Tachy-arrhythmia, such as atrial fibrillation, be one of common in the world cardiac arrhythmia, and transcatheter radio frequency (RF) ablation has been widely used in treating such disease clinically at present.Distal end enters into the chambers of the heart with the conduit percutaneous of electrode by patient's vascular system, the far-end of conduit has one section to be more soft and to have certain elastic body (be referred to as can curved segment), can by the device at modular catheter place control can curved segment song stretch and make the electrode that is positioned at its distal end arrive the target location on chambers of the heart inwall and contact with this place's tissue.Radio-frequency (RF) energy is transferred to electrode to melt and the position of electrode contact and the cardiac muscular tissue of certain area around by conduit.Meanwhile, in order to facilitate doctor's operation, the conduit of distal end band location navigation function has also been applied to clinical, particularly for some complicated tachy-arrhythmias, with the conduit of the location navigation function operation device that is absolutely necessary.But, through clinical confirmation, only under the suitable condition of the contact pressure between electrode and the cardiac muscular tissue of the distal end of conduit especially distal end, melt and just can reach good therapeutic effect, otherwise contact force is crossed the even cardiac perforation of excessive damage that conference causes chambers of the heart wall, the too small lesion depths that does not reach requirement of contact force maybe needs prolongation to melt the time, if electrode melts with organizing while contact, radio-frequency (RF) energy is mainly to blood generation effect, and can not produce therapeutical effect to the tissue on chambers of the heart wall.In the past, mainly by operation, navigator fix information, X-ray image and the experience of feel when conduit, conduit judge that whether radio frequency provide electrode with the contact of heart tissue appropriateness to doctor, this method is not easy to grasp very much, judgement simultaneously occurs that the probability of error is also larger, thereby causes the generation of complication or thoroughly recur because not melting.
The several technology for detection of the distal end of conduit and the contact force of tissue is disclosed at present.Below illustrate:
1) Chinese patent application that publication number is CN101416874A, the method and apparatus of the conduit upward pressure in patient body has been described a kind of sensing and has been applied in this patent application.Have two wire coils of close together in the distal tip of conduit, be connected therebetween with spring, two coils configure respectively as magnetic field sensor and the second magnetic field generator, and patient body is provided with the first magnetic field generator outward simultaneously.In the time that pressure puts on the electrode of conduit distal end, spring generation deformation, position and the direction of relative the first magnetic field generator of magnetic field sensor and relative the second magnetic field generator change, and calculate the pressure that is applied to electrode by the variation of position and direction.This Technology Need is installed two coils and a spring in the minimum space of conduit distal end, and technology difficulty is large, and cost is higher, and need to do larger change to prior art, and complexity improves greatly.
2) United States Patent (USP) 6695808, the probe that this patent is described has contact surface, contact compression therapeutic region are to produce contact pressure, pressure transducer is measured this contact pressure, this device can provide to instrumentation person the information of contact pressure, to meet the stable requirement that contacts and don't apply excessive contact pressure of conduit and tissue.But this technology has realized pressure detecting has not had location navigation and the conduit can curved segment form Presentation Function.
3) U.S. Patent application that publication number is 2007/0100332, wherein discloses a kind of description for organize together the method for contact pressure in ablation of tissue evaluate electrode.Be that pressure transducer (being generally piezoelectric transducer) in conduit distal end produces and the stressed corresponding signal of telecommunication of the electrode at this distal end place, controller receives this signal of telecommunication and calculates contact force.But this technology has realized pressure detecting has not had location navigation and the conduit can curved segment form Presentation Function.
At present also be widely used in clinical with the conduit of positioning function and supporting device, this technology can build the form of the chambers of the heart, show in real time the even shape of position of conduit head end, make operation technique indirectly visual, can improve quality and the efficiency of having performed the operation, and reduce the use of X-ray transmission in operation process, reduce the damage to patient.Based on above background, in the technical foundation of the radio frequency ablation catheter with positioning function of existing three-dimensional Electrophysiological mapping system with positioning function and controllable bending, consider to utilize the elasticity that conduit can curved segment self, and conduit can curved segment at the momental corresponding relation that is not subject to form under contact pressure effect with control bending apparatus, realize the detection of the contact pressure suffered to the distal end of conduit.Although be above example for the distal end of radio-frequency ablation procedure with the conduit of electrode, interposing catheter is illustrated, in medical field, for example, for the interposing catheter of other kinds (distal end does not arrange electrode but other similar), consider to utilize the elasticity that conduit can curved segment self, and conduit can curved segment at the momental corresponding relation that is not subject to form under contact pressure effect with control bending apparatus, realize the detection of the contact pressure suffered to the distal end of conduit, thereby the contact pressure between distal end and the surrounding tissue of control conduit in the reasonable scope, also be in demand.
Summary of the invention
The invention provides a kind of method that is used to interposing catheter to detect the contact pressure between its distal end and tissue, wherein, described conduit comprises handle and for entering the insertion tube in patient body, described insertion tube comprises that the flexible of near main paragraph handle and distally thereof can curved segment, described can the distal end of curved segment and the distal end of main paragraph on be respectively equipped with alignment sensor, bending shape that can curved segment for sensing, and, described handle comprise via its move to control can curved segment bending control device in the fixing plane of the distal end with respect to main paragraph, it is characterized in that, described method comprises:
Sensor is set in handle, for the amount of movement of feed sensing control device;
Provide the amount of movement of contactless pressure timed unit and can the bending shape of curved segment between corresponding relation;
After insertion tube is inserted in patient body, utilize described sensor to carry out the amount of movement of feed sensing control device;
Based on the corresponding relation detecting before, the amount of movement of control device that calculates institute sensing is corresponding bending shape that can curved segment in the time of contactless pressure;
Utilize described alignment sensor, the actual flexion form that sensing can curved segment; And
When actual flexion form based on can curved segment, contactless pressure can curved segment bending shape and elastic modelling quantity that can curved segment all directions, calculate described contact pressure.
Preferably, the distal end of conduit is provided with electrode so that the tissue being in contact with it is melted.
Preferably, the sensor in handle can be selected from movable sensor or force sensor.
Preferably, calculating the step of contact pressure comprises: when actual flexion form that relatively can curved segment and contactless pressure can curved segment the difference of bending shape draw can the elastic deformation of curved segment in all directions, in conjunction with elastic modelling quantity that can curved segment respective direction, calculate described contact pressure with elastic deformation based in described all directions.
Preferably, the control device in described handle is connected with connector, and the other end of described connector is fixed on distal end that can curved segment.Described connector can be leptosomatic connector, such as bracing wire.
Preferably, during the manufacture of conduit, detect in advance and store in described conduit contactless pressure timed unit amount of movement and can the bending shape of curved segment between corresponding relation.
Preferably, described control device can be by its push-and-pull or rotate control can curved segment bending, correspondingly, utilize described movable sensor can sense push-and-pull amount or the amount of spin of described control device.
Preferably, detect in advance and obtain described elastic modelling quantity that can curved segment all directions.
Preferably, described alignment sensor is selected from magnetic field sensor, electric-field sensor and both combinations.If described alignment sensor is magnetic field sensor, also need to magnetic field generator be set outward at patient body, in interior certain area, produce magnetic field to comprise in vivo magnetic field sensor.Field signal process that magnetic field sensor receives magnetic field generator generation calculate position coordinates and the directional information with respect to magnetic field generator.If described alignment sensor is electric-field sensor, also needs to arrange electric field and provide electrode, field generator and signal processor.If described alignment sensor is the combination of magnetic field sensor and electric-field sensor, needs to arrange electric field simultaneously and provide electrode, field generator and signal processor and magnetic field generator and corresponding control unit.
Preferably, described movable sensor is generally resistance-type, such as potentiometer type, can be also the other types such as photoinduction formula or condenser type.
The invention provides a kind of device that is used to interposing catheter to detect the contact pressure between its distal end and tissue, wherein, described conduit comprises handle and for entering the insertion tube in patient body, described insertion tube comprises that the flexible of near main paragraph handle and distally thereof can curved segment, described can the distal end of curved segment and the distal end of main paragraph on be respectively equipped with alignment sensor, bending shape that can curved segment for sensing, and, described handle comprise via its move to control can curved segment bending control device in the fixing plane of the distal end with respect to main paragraph, it is characterized in that, described device comprises:
When contactless pressure, corresponding relation provides portion, for provide the amount of movement of contactless pressure timed unit and can the bending shape of curved segment between corresponding relation;
Control device moving sensing portion, for after insertion tube is inserted in patient body, utilizes the sensor arranging in handle to carry out the amount of movement of feed sensing control device;
Bending shape calculating part that can curved segment when contactless pressure, for the corresponding relation based on provided, the amount of movement of control device that calculates institute's sensing is corresponding bending shape that can curved segment in the time of contactless pressure;
Actual flexion form detecting part that can curved segment, for utilizing described alignment sensor to carry out the actual flexion form that sensing can curved segment; And
Contact pressure calculating portion, during for the actual flexion form based on can curved segment, contactless pressure can curved segment bending shape and elastic modelling quantity that can curved segment all directions, calculate described contact pressure.
Preferably, described device can also comprise or be connected to can curved segment elastic modelling quantity test section, for detecting in advance the elastic modelling quantity of all directions that can curved segment.
The method according to this invention and device only need to increase simple device and just can realize on the controllable bending of prior art and (melting) interposing catheter with location navigation function, good with (melting) interposing catheter compatibility of prior art, and cost is lower, easy to implement.And, the method according to this invention and device, not only can indirectly know conduit can curved segment bending shape, conduit is positioned to navigation, distal end that can also detected catheter is with the contact pressure between patient body inner tissue, when detecting this electrode with the contact pressure between patient body inner tissue in the time that this distal end arranges ablating electrode, to contact pressure is remained on to applicable scope, realize the effect of good ablation.
Accompanying drawing explanation
In order more clearly to describe technical scheme of the present invention, briefly introduce below in conjunction with accompanying drawing.Obviously, these accompanying drawings are only some specific embodiment that the application records.Include but not limited to following these accompanying drawings according to of the present invention.
Fig. 1 is the structural representation for utilizing the radio-frequency (RF) energy loop that electrode pair respective organization melts, and what show conduit can curved segment and the relative configurations of catheter main body section distal end;
Fig. 2 is the schematic diagram for controlling dependency structure that can curved segment bending, show for control can curved segment bending model of action;
Fig. 3 is the schematic diagram before and after can curved segment contacting with patient tissue of conduit; And
Fig. 4 is used to conduit and detects the structural representation of device of the contact pressure between its distal end and tissue.
The specific embodiment
In order further to understand the present invention, below in conjunction with embodiment, preferred version of the present invention is described.These descriptions just illustrate the features and advantages of the present invention, but not limit the scope of the invention.
In the embodiment being described below, we perform the operation as example take common treatment atrial fibrillation, in such operation, need to carry out the focus in ablate cardiac tissue with interposing catheter, or melt cardiac muscular tissue and make focus with normal structure electricity isolation.
As shown in Figure 2, described conduit comprises handle 11 and for entering the insertion tube in patient body, described insertion tube comprises that the flexible of near main paragraph 25 handle and distally thereof can curved segment 23, this can the distal end of curved segment and the distal end of main paragraph on be respectively equipped with alignment sensor 21 and 24, bending shape that can curved segment for sensing, and, handle 11 comprise via its move to control can curved segment bending control device 16.For the treatment atrial fibrillation conduit using of performing the operation, this conduit can curved segment distal end can be provided with electrode 22, so that the tissue being in contact with it is melted.For the interposing catheter of other types, this conduit can curved segment distal end electrode 22 also can be set, as an example of ablation catheter example, the present invention will be described in the past, but the present invention is also applicable to the interposing catheter of the other types with similar structures.
Operator, such as Cardiologists, inserts conduit in patient body by patient's vascular system, makes the distal end (together with the electrode 22 arranging on it) of conduit and can curved segment 23 enter in the atrium of patient's heart.Operator makes distal end (together with the electrode 22 of setting it on) arrive intra-auricular target location by pushing, reverse and control a series of actions such as curved.Particularly, operator can be according to the anatomical structure that will insert conduit, utilize handle 11 to be rotated main paragraph 25, and control and can curved segment 23 in the fixing plane of the distal end with respect to main paragraph 25, carry out bending via control device 16, thereby be convenient to can curved segment 23 and distal end (together with the electrode 22 arranging it on) be sent to such as the curved surface of atrium and blood vessel comparatively in the anatomical cavity of complexity.
As shown in Figure 1, electrode 22 is connected to radio frequency (RF) generator by wire and adapter, simultaneously, the same patient body-surface of electrode (being generally back) that another one area is larger is connected, and form radio-frequency (RF) energy loop with conduit and patient tissue, radio-frequency (RF) energy be discharged into conduit distal end on the patient tissue that electrically contacts of the electrode (area is little, and energy density is high) that arranges being melted.
As shown in Figure 2, by the movement of control device 16 can control can curved segment 23 bending, although only show plug-type control device 16 in Fig. 2, rotary control device 16 is also suitable for.There is the bending that various ways can curved segment 23 via the mobile control of control device 16, for example as shown in Figure 2, by in can curved segment, a connection piece 18 be set and make its two ends be connected respectively to can curved segment distal end and control device, by the movement of control device 16 be converted to can curved segment bending.This connector 18 can be leptosomatic, such as bracing wire.Although illustrated in Fig. 2 at bendable intrasegmental part this connector is set, setting position is not limited to this, if set connector control device mobile can be transmitted and be converted to can curved segment bending.Preferably, described control device can be by its push-and-pull or rotate control can curved segment bending.
To describe a kind of method that is used to described conduit to detect the contact pressure between its distal end and tissue below, the method is at the interior movable sensor 14 that arranges of handle 11, for the amount of movement (such as push-and-pull amount or amount of spin) of feed sensing control device.Described movable sensor is generally resistance-type, than potentiometer type as shown in Figure 2, can be also the other types such as photoinduction formula or condenser type.In addition, described movable sensor 14 also can substitute with force sensor.In the time that control device has different amount of movements and is namely positioned at different positions, can read different readings from movable sensor 14, and can curved segment 23 there is different bending shapes.As shown in Figure 2, when the control device 16 on modular catheter 11 is positioned at position a1, the reading of movable sensor 14 is c1, and bending shape that can curved segment is b1; And in the time that control device 16 is positioned at position a2, the reading of movable sensor 14 is c2, and bending shape that can curved segment is b2.That is to say, can curved segment 23 not with treat that ablation tissue contacts or the latter does not apply contact pressure in the situation that, for same conduit, the different amount of movements of the corresponding control device 16 of different readings of movable sensor 14, and the different amount of movements of control device 16 and can there is one-to-one relationship between the bending shape of curved segment.This method can detect in advance the amount of movement of contactless pressure timed unit 16 and can the bending shape of curved segment between corresponding relation to directly provide this corresponding relation after conduit is inserted.Preferably, during the manufacture of conduit, detect in advance and the amount of movement of storing contactless pressure timed unit in described conduit with can the bending shape of curved segment between corresponding relation, thus, after by conduit insertion, just can directly call this corresponding relation.After this, no matter treat that whether ablation tissue is to can curved segment 23 applying contact pressure, carry out the amount of movement of the controlled device 16 of sensing by reading the reading of movable sensor 14, the amount of movement that all can calculate institute's feed sensing control device 16 is answered corresponding bending shape that can curved segment in the time of contactless pressure.Can be by during the manufacture of conduit, the amount of movement of the contactless pressure timed unit that in the memorizer in conduit, storage detects in advance and can the bending shape of curved segment between corresponding relation, and conduit is being inserted after human body, by cooperating of memorizer and correlation calculation apparatus, the amount of movement that calculates institute's feed sensing control device 16 is answered corresponding bending shape that can curved segment in the time of contactless pressure.
As shown in Figure 3, fine rule shows the bending shape 26 that is not subject to contact pressure to make used time bendable section 23, and thick line shows the actual flexion form that is subject to contact pressure to make used time bendable section 23.Can see, after insertion tube is inserted in patient body, owing to treating the contact pressure effect of ablation tissue 20, cause actual flexion form that can curved segment 23 and be not subject to contact pressure to do to there are differences between the bending shape of used time.
Can utilize alignment sensor 21 and 24, carry out the actual flexion form that sensing can curved segment.Described alignment sensor 21 and 24 is selected from magnetic field sensor, electric-field sensor and both combinations.If described alignment sensor is magnetic field sensor, also need to magnetic field generator be set outward at patient body, in interior certain area, produce magnetic field to comprise in vivo magnetic field sensor.Field signal process that magnetic field sensor receives magnetic field generator generation calculate position coordinates and the directional information with respect to magnetic field generator.If described alignment sensor is electric-field sensor, also needs to arrange electric field and provide electrode, field generator and signal processor.If described alignment sensor is the combination of magnetic field sensor and electric-field sensor, needs to arrange electric field simultaneously and provide electrode, field generator and signal processor and magnetic field generator and corresponding control unit.
Can comprise the bracing wire 18 in it by curved segment 23(, material and even structure if present), can detect in advance and draw its elastic modelling quantity in all directions.The present invention can according to can curved segment 23 be subject to contact pressure do the bending shape of used time, can curved segment 23 actual flexion form with and elastic modelling quantity in all directions, calculate contact pressure.Particularly, actual flexion form by relatively can curved segment 23 and can curved segment 23 not be subject to contact pressure to make the difference between the bending shape of used time, can obtain the amount of elastic deformation in all directions can curved segment 23 causing due to action by contact power, the elastic modelling quantity that amount of elastic deformation in all directions is multiplied by respective direction obtains the elastic force in all directions, and the elastic force in all directions is carried out to vector addition, just can obtain the suffered contact pressure of distal end of bendable section 23.If being provided with the electrode that melts use in the distal end of curved segment 23, can obtain the suffered contact pressure of electrode.
By said method, the contact pressure between distal end (or the electrode 22 arranging on it) that can examination and controlling conduit and tissue, in the time that contact pressure is excessive, that can remind operator to loosen and organize contacts; In the time that contact pressure is too small, can remind operator's compressed tissue, to the distal end of conduit (or on it arrange electrode 22) and the contact pressure between organizing are controlled at and realize good ablation effect in suitable scope.
To utilize example to being elaborated for the process of calculating contact pressure suffered on can the distal end of curved segment 23 below.
Be (x, y, z, Rx, Ry by the normal indication that utilizes alignment sensor 21 and 24 to detect, Rz), wherein x, y, z is three-dimensional coordinate data, Rx, Ry, the orientation angles data that Rz is three degree of freedom, i.e. self anglec of rotation of the direction of two degree of freedom and one degree of freedom.If alignment sensor 21 and 24 only has five degree of freedom, self anglec of rotation data defect.As mentioned above, alignment sensor 24 readings in the distal end of main paragraph 25 can be expressed as (xa, ya, za, Rxa, Rya, Rza), the actual read number of the alignment sensor 21 on can the distal end of curved segment 23 can be expressed as (xb, yb, zb, Rxb, Ryb, Rzb), the normal indication that can curved segment 23 be subject to its distal end of predicting in other external force situations for (xb ', yb ', zb ', Rxb ', Ryb ', Rzb '), the reading of the movable sensor 16 in handle 11 can be expressed as m.
As above mentioned, utilize handle 11 to be rotated suitable angle to main paragraph 25, and control and can curved segment 23 in the fixing plane of the distal end with respect to main paragraph 25, carry out bending via control device 16.This plane can be passed through namely (xa, ya, za, Rxa, Rya, Rza) acquisition of location of the distal end of main paragraph 25, and as datum plane.If alignment sensor 21 and 24 only has five degree of freedom, also need to obtain the actual read number (xb, yb, zb, Rxb, Ryb, Rzb) of alignment sensor 21, estimate described datum plane, the deviation of this estimation is in tolerance interval.
Initial point and Y-axis are determined in location (xa, ya, za, Rxa, Rya, Rza) with the distal end of main paragraph 25, set up the coordinate system using above-mentioned plane as datum plane.By coordinate transform, the reading of each alignment sensor can be transformed in this coordinate system.And not can obtain by the reading m of the movable sensor in handle and the corresponding relation providing by the location (xb ', yb ', zb ', Rxb ', Ryb ', Rzb ') of its distal end of predicting in other external force situations, such as:
xb’=f(m)。
In like manner can calculate yb ', zb ', Rxb ', Ryb ', the numerical value of Rzb '.
According to practical application, thereby being mainly subject to elastic stress to produce deformation, the distal end that conduit can curved segment 23 is subject to contact pressure, described distal end may be subject to along x, y, tri-each axial elastic stress components of z.According to conduit characteristic, proof resilience modulus can have one group of elastic modulus G x+ corresponding to each elastic stress component, Gx-, and Gy+, Gz+,, owing to there is not pulling force in contact force, so the elastic stress in y-direction does not exist in Gz-.
Can measure in advance and record the elastic modelling quantity under can multiple bending shapes of curved segment 23, and choose close predicted can curved segment 23 the bending shape that is not subject to should present in other external force situations (be not namely subject to its distal end in other external force situations location (xb ', yb ', zb ', Rxb ', Ryb ', Rzb ')) one group of elastic modelling quantity for calculating.
The elastic modelling quantity that elastic strain amount in all directions is multiplied by respective direction can draw the elastic stress component in all directions, carries out vector summing by the elastic stress component in all directions, draws total elastic stress.Preferably, described elastic strain amount can, by the corresponding coordinate of the actual sensed of the alignment sensor 21 in the coordinate system using above-mentioned plane as datum plane relatively and the difference that can curved segment 23 be subject to the elements of a fix of its distal end of predicting in other external force situations in this coordinate system, calculate.
Example is above just to the object of explanation, and based on principle of the present invention, other corresponding computational processes are also suitable for.
Fig. 4 shows a kind of device that is used to described conduit to detect the contact pressure between its distal end and tissue, described device comprises: when contactless pressure, corresponding relation provides portion, for provide the amount of movement of contactless pressure timed unit and can the bending shape of curved segment between corresponding relation; Control device moving sensing portion, for after insertion tube is inserted in patient body, utilizes the movable sensor arranging in handle to carry out the amount of movement of feed sensing control device; Bending shape calculating part that can curved segment when contactless pressure, corresponding relation test section and control device moving sensing portion while being connected to contactless pressure, for based on described corresponding relation, the amount of movement that calculates the control device of the sensing being fed to from control device moving sensing portion in the time of contactless pressure, answer correspondence can curved segment bending shape; Actual flexion form detecting part that can curved segment, for utilizing described alignment sensor to carry out the actual flexion form that sensing can curved segment; And contact pressure calculating portion, bending shape calculating part that can curved segment while being connected to contactless pressure and actual flexion form detecting part that can curved segment, be fed to for bending shape calculating part that can curved segment when from contactless pressure can curved segment actual flexion form, be fed to from actual flexion form detecting part that can curved segment contactless pressure time can curved segment bending shape and elastic modelling quantity that can curved segment all directions, calculate described contact pressure.
Although do not illustrate in Fig. 4, described device can also comprise or be connected to can curved segment elastic modelling quantity test section, for detecting in advance the elastic modelling quantity of all directions that can curved segment.
The explanation of above embodiment is just for helping to understand core concept of the present invention.It should be pointed out that for the ordinary skill in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, but these improvement and modification also fall in the scope of the claims in the present invention request protection.
Claims (12)
1. a method that is used to interposing catheter to detect the contact pressure between its distal end and tissue, wherein, described conduit comprises handle and for entering the insertion tube in patient body, described insertion tube comprises that the flexible of near main paragraph handle and distally thereof can curved segment, described can the distal end of curved segment and the distal end of main paragraph on be respectively equipped with alignment sensor, bending shape that can curved segment for sensing, and, described handle comprise via its move to control can curved segment bending control device in the fixing plane of the distal end with respect to main paragraph, it is characterized in that, described method comprises:
Sensor is set in handle, for the amount of movement of feed sensing control device;
Provide the amount of movement of contactless pressure timed unit and can the bending shape of curved segment between corresponding relation;
After insertion tube is inserted in patient body, utilize described sensor to carry out the amount of movement of feed sensing control device;
Based on described corresponding relation, the amount of movement of control device that calculates institute sensing is corresponding bending shape that can curved segment in the time of contactless pressure;
Utilize described alignment sensor, the actual flexion form that sensing can curved segment; And
When actual flexion form based on can curved segment, contactless pressure can curved segment bending shape and elastic modelling quantity that can curved segment all directions, calculate described contact pressure.
2. according to the method for claim 1, wherein, calculating the step of contact pressure comprises: when actual flexion form that relatively can curved segment and contactless pressure can curved segment the difference of bending shape draw can the elastic deformation of curved segment in all directions, in conjunction with elastic modelling quantity that can curved segment respective direction, calculate described contact pressure with elastic deformation based in described all directions.
3. according to any one the method in claim 1-2, wherein, the sensor in handle is selected from movable sensor or force sensor.
4. according to any one the method in claim 1-2, wherein, detect in advance and obtain described elastic modelling quantity that can curved segment all directions.
5. according to any one the method in claim 1-2, described control device is connected with connector, and the other end of described connector is fixed on distal end that can curved segment.
6. according to the method for claim 5, wherein, during the manufacture of conduit, detect in advance and store in described conduit contactless pressure timed unit amount of movement and can the bending shape of curved segment between corresponding relation.
7. according to any one the method in claim 1-2, wherein, at distal end place that can curved segment, electrode is set, so that the tissue being in contact with it is melted.
8. according to any one the method in claim 1-2, wherein, during the manufacture of conduit, detect in advance and store in described conduit contactless pressure timed unit amount of movement and can the bending shape of curved segment between corresponding relation.
9. according to the method for claim 1, described control device by its push-and-pull or rotate control can curved segment bending.
10. according to the method for claim 3, described movable sensor is selected from resistance-type, photoinduction formula or condenser type type.
11. 1 kinds of devices that are used to interposing catheter to detect the contact pressure between its distal end and tissue, wherein, described conduit comprises handle and for entering the insertion tube in patient body, described insertion tube comprises that the flexible of near main paragraph handle and distally thereof can curved segment, described can the distal end of curved segment and the distal end of main paragraph on be respectively equipped with alignment sensor, bending shape that can curved segment for sensing, and, described handle comprise via its move to control can curved segment bending control device in the fixing plane of the distal end with respect to main paragraph, it is characterized in that, described device comprises:
When contactless pressure, corresponding relation provides portion, for provide the amount of movement of contactless pressure timed unit and can the bending shape of curved segment between corresponding relation;
Control device moving sensing portion, for after insertion tube is inserted in patient body, utilizes the sensor arranging in handle to carry out the amount of movement of feed sensing control device;
Bending shape calculating part that can curved segment when contactless pressure, for based on described corresponding relation, the amount of movement of control device that calculates institute's sensing is corresponding bending shape that can curved segment in the time of contactless pressure;
Actual flexion form detecting part that can curved segment, for utilizing described alignment sensor to carry out the actual flexion form that sensing can curved segment; And
Contact pressure calculating portion, during for the actual flexion form based on can curved segment, contactless pressure can curved segment bending shape and elastic modelling quantity that can curved segment all directions, calculate described contact pressure.
12. according to the device of claim 11, and described device also comprises or is connected to can curved segment elastic modelling quantity test section, for detecting in advance the elastic modelling quantity of all directions that can curved segment.
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| CN105434035A (en) * | 2014-09-02 | 2016-03-30 | 上海微创电生理医疗科技有限公司 | Ablation catheter |
| CN106264719A (en) * | 2016-07-29 | 2017-01-04 | 上海微创电生理医疗科技股份有限公司 | Electrophysiologicalcatheter catheter |
| CN107789051A (en) * | 2016-08-30 | 2018-03-13 | 四川锦江电子科技有限公司 | A kind of catheter pressure detection method, and corresponding conduit |
| CN108366825A (en) * | 2015-10-01 | 2018-08-03 | 通用电气公司 | The system and method for expression and visualization for conduit applied force and power |
| CN108601618A (en) * | 2016-01-29 | 2018-09-28 | 波士顿科学医学有限公司 | The power sensing tube of orientation with impedance guiding |
| CN111001075A (en) * | 2019-12-24 | 2020-04-14 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
| CN111631811A (en) * | 2020-06-24 | 2020-09-08 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for obtaining contact force of head end of flexible magnetic conduit |
| CN112004477A (en) * | 2018-02-22 | 2020-11-27 | 皇家飞利浦有限公司 | Sensor-based shape recognition |
| CN114848144A (en) * | 2022-03-23 | 2022-08-05 | 上海微创微航机器人有限公司 | Catheter shape control method, interventional operation system, electronic device, and storage medium |
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| CN108366825B (en) * | 2015-10-01 | 2021-09-28 | 通用电气公司 | System and method for representation and visualization of catheter applied forces and powers |
| CN108601618A (en) * | 2016-01-29 | 2018-09-28 | 波士顿科学医学有限公司 | The power sensing tube of orientation with impedance guiding |
| US10932852B2 (en) | 2016-07-29 | 2021-03-02 | Shanghai Microport Ep Medtech Co., Ltd. | Electrophysiology catheter |
| CN106264719A (en) * | 2016-07-29 | 2017-01-04 | 上海微创电生理医疗科技股份有限公司 | Electrophysiologicalcatheter catheter |
| CN106264719B (en) * | 2016-07-29 | 2019-07-23 | 上海微创电生理医疗科技股份有限公司 | Electrophysiologicalcatheter catheter |
| CN107789051A (en) * | 2016-08-30 | 2018-03-13 | 四川锦江电子科技有限公司 | A kind of catheter pressure detection method, and corresponding conduit |
| CN112004477A (en) * | 2018-02-22 | 2020-11-27 | 皇家飞利浦有限公司 | Sensor-based shape recognition |
| CN111001075B (en) * | 2019-12-24 | 2022-01-28 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
| CN111001075A (en) * | 2019-12-24 | 2020-04-14 | 四川锦江电子科技有限公司 | Catheter with form and position display and method thereof |
| CN111631811A (en) * | 2020-06-24 | 2020-09-08 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for obtaining contact force of head end of flexible magnetic conduit |
| CN111631811B (en) * | 2020-06-24 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for obtaining contact force of head end of flexible magnetic conduit |
| CN114848144A (en) * | 2022-03-23 | 2022-08-05 | 上海微创微航机器人有限公司 | Catheter shape control method, interventional operation system, electronic device, and storage medium |
| WO2023179339A1 (en) * | 2022-03-23 | 2023-09-28 | 上海微创微航机器人有限公司 | Catheter shape and force sensing method, surgical navigation method, and interventional operation system |
| CN114848144B (en) * | 2022-03-23 | 2024-05-10 | 上海微创微航机器人有限公司 | Catheter shape control method, interventional operation system, electronic device, and storage medium |
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