CN111728694A - Method for real-time spatial positioning of ablation catheter in heart cavity by utilizing ultrasound - Google Patents
Method for real-time spatial positioning of ablation catheter in heart cavity by utilizing ultrasound Download PDFInfo
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- CN111728694A CN111728694A CN202010440938.0A CN202010440938A CN111728694A CN 111728694 A CN111728694 A CN 111728694A CN 202010440938 A CN202010440938 A CN 202010440938A CN 111728694 A CN111728694 A CN 111728694A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00345—Vascular system
- A61B2018/00351—Heart
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
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Abstract
A method for positioning an ablation catheter in a heart chamber in real time by utilizing ultrasound relates to the technical field of medical instruments and comprises a fixed seat, wherein an electromagnet is fixedly connected to the inner wall of the right side of the fixed seat, and a buffer groove is formed in the inner wall of the right side of the fixed seat and close to the left side of the electromagnet. The method for positioning the ablation catheter in the heart cavity in real time by utilizing the ultrasound comprises the steps of using an electromagnet and a resistor in a matching mode, electrifying the electromagnet firstly when the device is used, enabling a piston block to move towards the left side under the mutual repulsion force of the electromagnet and a magnetic block, squeezing electrorheological fluid towards the left side, enabling a rubber ring to expand and be clamped with a clamping groove, and when the circuit voltage is larger than the minimum access voltage of the resistor, enabling the electrorheological fluid to be changed into a solid state, fixing the position of a universal ball, effectively ensuring the position fixation of an ultrasonic device, enabling the universal ball to be adjusted in a universal rotating mode when the electrorheological fluid is in a liquid state, achieving the effect of conveniently adjusting the angle of the ultrasonic device, and improving the detection efficiency.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a method for positioning an ablation catheter in a heart cavity in real time by utilizing ultrasound.
Background
The three-dimensional platform becomes the mainstream of modern electrophysiology and radio frequency ablation operation, and the three-dimensional mapping system applied to clinic at present is based on magnetic field positioning, electric field positioning and magnetic field and electric field double positioning, wherein the electric/magnetic field positioning is realized by placing three electric/magnetic fields on the same horizontal plane, distributing three different fields and calculating the relative position change of the head end of the ablation catheter in the three fields in real time to realize real-time three-dimensional space positioning. Specifically, the field emission device realizes real-time visualization of the spatial position of the ablation catheter through electric/magnetic field positioning, and then realizes three-dimensional modeling of the heart through a point-to-point software algorithm, so that accurate, real-time and repeatable three-dimensional positioning of the ablation catheter in the heart is realized, and the ablation catheter can radically treat most arrhythmia. In the prior art, real-time visualization of the spatial position of the ablation catheter is realized through electric/magnetic field positioning, and then three-dimensional modeling of the heart is realized through a point-to-point software algorithm, so that the positioning of the ablation catheter in the heart is further obtained.
And the current device needs multi-angle adjustment when using, and current device often can meet the condition appearance that the angle modulation is not in place when using, causes to detect the angle and accurate inadequately, is difficult to carry out accurate detection to the patient, is unfavorable for medical analysis and formulates medical treatment scheme.
Therefore, the method for positioning the ablation catheter in the heart cavity in real time by using ultrasound solves the problems, effectively ensures the position fixation of the ultrasonic device by matching the electromagnet and the resistor, can adjust the universal ball in a universal rotation mode when the electrorheological fluid is in a liquid state, achieves the effect of conveniently adjusting the angle of the ultrasonic device, improves the detection efficiency, can quickly and accurately determine the real-time positioning of the ablation catheter in the heart by scanning the sectors of the heart at different angles by using two-dimensional ultrasound through the ultrasonic device, and is efficient and accurate.
Disclosure of Invention
The invention adopts the following technical scheme for realizing the technical purpose: a method for positioning an ablation catheter in a heart cavity in real time by utilizing ultrasound comprises a fixed seat, wherein an electromagnet is fixedly connected to the inner wall of the right side of the fixed seat, a buffer groove is formed in the inner wall of the right side of the fixed seat and close to the left side of the electromagnet, a spring is fixedly connected to the inner wall of the right side of the buffer groove, a piston block is fixedly connected to the left side of the spring, a magnetic block is fixedly connected to the inner wall of the right side of the piston block, a dielectric plate is fixedly connected to the middle of the piston block and close to the left side of the magnetic block, a conductive post is fixedly connected to the left side of the piston block, a positive plate is fixedly connected to the inner wall of the fixed seat and close to the bottom of the buffer groove, a negative plate is fixedly connected to the inner wall of the fixed seat, a resistor electrically, the left side swing joint of fixing base has universal ball, and evenly distributed's draw-in groove is seted up in the outside of universal ball, and the left side fixedly connected with ultrasonic device of universal ball.
The invention has the following beneficial effects:
1. the method for positioning the ablation catheter in the heart cavity in real time by utilizing the ultrasound comprises the steps of using an electromagnet and a resistor in a matching mode, electrifying the electromagnet firstly when the device is used, enabling a piston block to move towards the left side under the mutual repulsion force of the electromagnet and a magnetic block, squeezing electrorheological fluid towards the left side, enabling a rubber ring to expand and be clamped with a clamping groove, and when the circuit voltage is larger than the minimum access voltage of the resistor, enabling the electrorheological fluid to be changed into a solid state, fixing the position of a universal ball, effectively ensuring the position fixation of an ultrasonic device, enabling the universal ball to be adjusted in a universal rotating mode when the electrorheological fluid is in a liquid state, achieving the effect of conveniently adjusting the angle of the ultrasonic device, and improving the detection efficiency.
2. According to the method for positioning the ablation catheter in the heart cavity in real time by utilizing the ultrasound, the sectors at different angles of the heart are scanned by utilizing two-dimensional ultrasound through the ultrasonic device arranged on the electrode in the coronary sinus, the heart three-dimensional model is reconstructed, the sectors at different angles of the heart are scanned by utilizing the two-dimensional ultrasound through the ultrasonic device arranged on the esophagus adjacent to the heart, and the heart three-dimensional model is reconstructed, so that the real-time positioning of the ablation catheter in the heart can be rapidly and accurately determined, and the method is efficient and accurate.
Furthermore, the fixing seat is made of hard high-strength materials and does not have conductivity and magnetic conductivity, the magnetism on the left side of the electromagnet is the same as that on the right side of the magnetic block, and the size of the electromagnet is smaller than that of the fixing seat.
Further, the size of dashpot is less than the size of fixing base and the left side of dashpot is the arc, the spring is extension spring and the diameter of spring is less than the height of piston piece.
Further, the material of piston block is stereoplasm high strength material and the left side fixedly connected with rubber pad of piston block, the material of magnetic path is rubidium magnet material and the shape of magnetic path is the cuboid form, the size of dielectric plate is less than the size of piston block and the length of dielectric plate is the same with the length of positive plate.
Further, the positive plate is the same with the negative plate in size and the positive plate is smaller than the piston block in size, the resistance is the minimum voltage that the biggest pass voltage of piezo-resistor and resistance is greater than the circuit.
Further, the electrorheological fluid is liquid under the power-on state and solid under the power-on state, the rubber ring is made of soft rubber materials and is arc-shaped, and the universal ball is made of hard high-strength materials and is spherical.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged partial view of portion A of FIG. 1;
FIG. 3 is a schematic view of the piston block left shift structure of the present invention;
FIG. 4 is an enlarged partial view of portion B of FIG. 3 according to the present invention;
FIG. 5 is a schematic view of an ablation catheter positioning device for electric/magnetic field positioning;
FIG. 6 is a schematic view of an ablation catheter positioning device for electric/magnetic field positioning;
FIG. 7 is a flow chart of a method of the present invention;
FIG. 8 illustrates the placement of an ultrasound device of the present invention in the coronary sinus;
fig. 9 shows the placement of the ultrasound device of the present invention in the esophagus.
In the figure: 1. a fixed seat; 2. an electromagnet; 3. a buffer tank; 4. a spring; 5. a piston block; 6. a magnetic block; 7. a dielectric plate; 8. a conductive post; 9. a positive plate; 10. a negative plate; 11. a resistance; 12. electrorheological fluid; 13. a rubber ring; 14. a universal ball; 15. a card slot; 16. an ultrasonic device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, a method for real-time spatial positioning of an ablation catheter in a heart chamber by using ultrasound comprises a fixing seat 1, wherein the fixing seat 1 is used for facilitating fixing and installation, the fixing seat 1 is made of a hard high-strength material and does not have electrical conductivity and magnetic conductivity, the magnetism on the left side of an electromagnet 2 is the same as that on the right side of a magnetic block 6, the size of the electromagnet 2 is smaller than that of the fixing seat 1, the electromagnet 2 is fixedly connected to the inner wall on the right side of the fixing seat 1 and plays a role in magnetic transmission, a buffer groove 3 is formed in the inner wall on the right side of the fixing seat 1 and close to the left side of the electromagnet 2, the buffer groove 3 is used for filling electrorheological fluid 12 and facilitating movement of a piston block 5, the size of the buffer groove 3 is smaller than that of the fixing seat 1, the left side of the buffer groove 3 is arc, the spring 4 is fixedly connected with the inner wall of the right side of the buffer groove 3, and the spring 4 plays a role in contracting the piston block 5 towards the right side.
The left side of the spring 4 is fixedly connected with a piston block 5, the material of the piston block 5 is a hard high-strength material, the left side of the piston block 5 is fixedly connected with a rubber pad, the material of the magnetic block 6 is a rubidium magnet material, the shape of the magnetic block 6 is a cuboid, the size of a dielectric plate 7 is smaller than that of the piston block 5, the length of the dielectric plate 7 is the same as that of a positive plate 9, the inner wall of the right side of the piston block 5 is fixedly connected with the magnetic block 6, the magnetic block 6 plays a role in magnetic transmission, the middle part of the piston block 5 and the left side close to the magnetic block 6 are fixedly connected with the dielectric plate 7, the dielectric plate 7 plays a role in changing the circuit voltage, the left side of the piston block 5 is fixedly connected with a conductive column 8, the conductive column 8 plays a role in communicating a circuit, the bottom of the buffer groove 3 and the inner wall of, the size of positive plate 9 is the same with the size of negative plate 10 and the size of positive plate 9 is less than the size of piston piece 5, and resistance 11 is the piezo-resistor and the maximum path voltage of resistance 11 is greater than the minimum voltage of circuit, and the top fixedly connected with negative plate 10 that the inner wall of fixing base 1 just is close to buffer slot 3.
The inner wall of the fixed seat 1 is fixedly connected with a resistor 11 electrically connected with the negative plate 10, the resistor 11 plays a role in controlling the circuit communication status of the conductive column 8, the inner part of the buffer groove 3 is movably connected with an electrorheological fluid 12, the electrorheological fluid 12 plays a role in strengthening the relative fixing effect of the universal ball 14 and the fixed seat 1, the electrorheological fluid 12 is liquid under the power-on state and solid under the power-on state, the rubber ring 13 is made of soft rubber material and the rubber ring 13 is arc-shaped, the universal ball 14 is made of hard high-strength material and the universal ball 14 is spherical, the rubber ring 13 is fixedly connected with the inner wall of the fixed seat 1 and the left side close to the buffer groove 3, the universal ball 14 is movably connected with the left side of the fixed seat 1, the universal ball 14 plays a role in conveniently adjusting the angle of an ultrasonic device 16, the outer side of the universal ball 14 is provided with clamping grooves 15 which are uniformly distributed, an ultrasonic device 16 is fixedly connected to the left side of the universal ball 14, and the ultrasonic device 16 plays a role of facilitating the detection of a patient.
The working principle is as follows: the following examples are intended to illustrate the present application, but are not intended to limit the scope thereof;
example 1
Fig. 2 is a flowchart of a method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to the present application; the method comprises the following steps:
acquiring sectors of different angles of a heart scanned by an ultrasonic device by using two-dimensional ultrasound, and reconstructing a three-dimensional model of the heart;
and in the three-dimensional model, real-time three-dimensional space positioning is realized on the ablation catheter in the heart.
Example 2
Acquiring an ultrasonic device arranged on an electrode in a coronary sinus, scanning sectors of the heart at different angles by using two-dimensional ultrasound, and reconstructing a three-dimensional model of the heart;
and in the three-dimensional model, real-time three-dimensional space positioning is realized on the ablation catheter in the heart.
The coronary sinus is a vein (a heart wall with a thickness of about 10mm away from a heart chamber) which is formed around the surface of the heart in a C shape, is opened in the right atrium, has an inner diameter of about 3-5mm and a length of 10-12mm, and is shown in fig. 3, and fig. 8 shows a placement position of the ultrasonic device provided by embodiment 1 of the invention in the coronary sinus.
During operation, a motor is required to be inserted into the coronary sinus for diagnosis, and an ultrasonic device is arranged on an electrode in the coronary sinus so as to realize real-time three-dimensional space positioning of the ablation catheter in the heart.
Example 3
Acquiring an ultrasonic device arranged on an esophagus adjacent to the heart, scanning sectors of the heart at different angles by using two-dimensional ultrasound, and reconstructing a three-dimensional model of the heart;
and in the three-dimensional model, real-time three-dimensional space positioning is realized on the ablation catheter in the heart.
Referring to fig. 9, the ultrasound device provided by the present application is placed in the esophagus, which is anatomically attached to the posterior wall of the heart, as shown by the encircled lines, and is clinically applied to diagnosis of structural abnormalities of the heart and surgical guidance through an esophageal echocardiogram due to its anatomically adjacent relationship, so that the ultrasound device is installed on the esophagus to realize real-time three-dimensional space positioning of an ablation catheter in the heart.
Example 4
The device of the invention is shown in figure 1 in an initial state, at this time, the rubber ring 13 is in a contraction state, and the electrorheological fluid 12 is in an unpowered state and is in a liquid state, because the piston block 5 contracts to the right side of the buffer slot 3 under the action of the spring 4, the relative area of the positive plate 9 and the negative plate 10 is large, the circuit voltage is larger than the maximum path voltage of the resistor 11, and the conductive post 8 is not electrified, at this time, the universal ball 14 can freely and universally rotate in the fixed seat 1, so that the ultrasonic device 16 can be conveniently adjusted to a proper angle;
when the position of the ultrasonic device 16 needs to be fixed, the circuit of the electromagnet 2 is connected, at this time, the magnetic block 6 drives the piston block 5 to move to the left side under the action of like-pole repulsion force of the electromagnet 2, the electrorheological fluid 12 is extruded to the left side, the rubber ring 13 is expanded and attached to the clamping groove 15, when the piston block 5 moves to the leftmost end, the relative area of the positive plate 9 and the negative plate 10 is reduced to the minimum by the dielectric plate 7, at this time, the circuit voltage is smaller than the maximum path voltage of the resistor 11, the conductive column 8 is connected in a circuit, the electrorheological fluid 12 is electrified and changed into a solid state, the rubber ring 13 and the universal ball 14 are relatively fixed, the position of the universal ball 14 is fixed, and the stability of the ultrasonic device 16 in the using process is.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A method for real-time spatial positioning of an ablation catheter in a heart chamber by utilizing ultrasound comprises a fixed seat (1), and is characterized in that: the right inner wall of the fixing seat (1) is fixedly connected with an electromagnet (2), the right inner wall of the fixing seat (1) and the left side close to the electromagnet (2) are provided with a buffer groove (3), the right inner wall of the buffer groove (3) is fixedly connected with a spring (4), the left side of the spring (4) is fixedly connected with a piston block (5), the right inner wall of the piston block (5) is fixedly connected with a magnetic block (6), the middle part of the piston block (5) and the left side close to the magnetic block (6) are fixedly connected with a dielectric plate (7), the left side of the piston block (5) is fixedly connected with a conductive column (8), the inner wall of the fixing seat (1) and the bottom close to the buffer groove (3) are fixedly connected with a positive plate (9), the inner wall of the fixing seat (1) and the top close to the buffer groove (3) are fixedly connected with a negative plate (10, the inside swing joint of dashpot (3) has electrorheological fluids (12), and the inner wall of fixing base (1) just is close to left side fixedly connected with rubber circle (13) of dashpot (3), and the left side swing joint of fixing base (1) has universal ball (14), and evenly distributed's draw-in groove (15), left side fixedly connected with ultrasonic device (16) of universal ball (14) have been seted up in the outside of universal ball (14).
2. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the material of the fixing seat (1) is hard high-strength material, and the fixing seat (1) has no conductivity and magnetic permeability.
3. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the magnetism on the left side of the electromagnet (2) is the same as that on the right side of the magnetic block (6), and the size of the electromagnet (2) is smaller than that of the fixed seat (1).
4. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the size of the buffer groove (3) is smaller than that of the fixed seat (1) and the left side of the buffer groove (3) is arc-shaped.
5. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the spring (4) is an extension spring, and the diameter of the spring (4) is smaller than the height of the piston block (5).
6. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the piston block (5) is made of a hard high-strength material, a rubber pad is fixedly connected to the left side of the piston block (5), the magnetic block (6) is made of a rubidium magnet material, the shape of the magnetic block (6) is cuboid, the size of the dielectric plate (7) is smaller than that of the piston block (5), and the length of the dielectric plate (7) is the same as that of the positive plate (9).
7. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the size of the positive plate (9) is the same as that of the negative plate (10), the size of the positive plate (9) is smaller than that of the piston block (5), the resistor (11) is a piezoresistor, and the maximum path voltage of the resistor (11) is larger than the minimum voltage of a circuit.
8. The method for real-time spatial localization of an ablation catheter in a heart chamber using ultrasound according to claim 1, wherein: the electrorheological fluid (12) is liquid under the electrified state and solid under the electrified state, the rubber ring (13) is made of soft rubber materials, the rubber ring (13) is arc-shaped, the universal ball (14) is made of hard high-strength materials, and the universal ball (14) is spherical.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010440938.0A CN111728694A (en) | 2020-05-22 | 2020-05-22 | Method for real-time spatial positioning of ablation catheter in heart cavity by utilizing ultrasound |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010440938.0A CN111728694A (en) | 2020-05-22 | 2020-05-22 | Method for real-time spatial positioning of ablation catheter in heart cavity by utilizing ultrasound |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605089A (en) * | 2020-11-27 | 2021-04-06 | 石峰 | Cleaning device for circuit board inside instrument |
| CN112933432A (en) * | 2021-02-04 | 2021-06-11 | 吉林省肿瘤医院 | Treatment equipment convenient for fixing body position of patient for radiology department |
| CN113317929A (en) * | 2021-05-20 | 2021-08-31 | 吴允成 | Automatic adjusting embossing device for producing paper diapers with different thicknesses |
| CN115870963A (en) * | 2023-02-03 | 2023-03-31 | 极限人工智能有限公司 | Universal ball head, mechanical arm and robot based on electrorheological fluid and working method of universal ball head, mechanical arm and robot |
-
2020
- 2020-05-22 CN CN202010440938.0A patent/CN111728694A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605089A (en) * | 2020-11-27 | 2021-04-06 | 石峰 | Cleaning device for circuit board inside instrument |
| CN112933432A (en) * | 2021-02-04 | 2021-06-11 | 吉林省肿瘤医院 | Treatment equipment convenient for fixing body position of patient for radiology department |
| CN113317929A (en) * | 2021-05-20 | 2021-08-31 | 吴允成 | Automatic adjusting embossing device for producing paper diapers with different thicknesses |
| CN115870963A (en) * | 2023-02-03 | 2023-03-31 | 极限人工智能有限公司 | Universal ball head, mechanical arm and robot based on electrorheological fluid and working method of universal ball head, mechanical arm and robot |
| CN115870963B (en) * | 2023-02-03 | 2023-08-25 | 极限人工智能有限公司 | Universal ball head based on electrorheological fluid, mechanical arm, robot and working method of robot |
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