A detection system for indicating the degree of contact between catheter electrodes

Abstract

The present invention relates to the technical field of medical electrophysiology catheters, and in particular to a detection system for indicating the degree of contact between catheter electrodes. The system comprises a magnetic field positioning module, a data acquisition module, and an contact detection module. The magnetic field positioning module is used to obtain the relative distance of an electrode relative to a reference point; the data acquisition module is used to obtain the impedance of the electrode relative to the reference point; and the contact detection module locates cells in the total target area based on the relative distance and impedance, and calculates the electrode contact index based on a pre-fitted relationship curve between electrode distance and impedance in the located cells. The contact degree between multiple electrodes and tissue can be obtained in real time. When the electrodes are installed on a catheter, the contact degree between each catheter electrode and tissue is displayed in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of medical electrophysiological catheters, and in particular to a detection system for indicating the degree of abutment of catheter electrodes. Background Art

[0002] Electrophysiology catheters are currently widely used in the interventional diagnosis and treatment of cardiac arrhythmias. Both diagnostic mapping and ablation procedures place high demands on the proper alignment of the catheter electrode with the intracavitary tissue. Furthermore, measuring the alignment of the catheter electrode with the tissue serves as a crucial indicator for evaluating the effectiveness of treatment.

[0003] Currently, most catheters on the market that have abutment detection capabilities do so by placing a pressure sensor at the catheter tip. The pressure sensor installation location is limited, and it can only be installed at the tip to achieve abutment detection of the catheter tip. Abutment detection of electrodes outside the tip cannot be achieved, and the abutment status of different electrodes cannot be accurately obtained in real time, thus affecting the ablation effect. Summary of the Invention

[0004] In order to overcome the above problems, the present invention proposes a detection system for indicating the degree of contact between catheter electrodes.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A contact detection system includes a magnetic field positioning module, a data acquisition module and a contact detection module.

[0007] The magnetic field positioning module is used to obtain the relative distance of the electrode relative to the reference point;

[0008] The data acquisition module is used to obtain the impedance of the electrode relative to the reference point;

[0009] The adhesion detection module calculates the coordinates of the electrode based on the relative distance, obtains the cell where the electrode coordinates are located, and the relationship curve between the electrode distance and impedance pre-fitted in the cell, and solves the degree of adhesion of the electrode based on the impedance and the relationship curve.

[0010] As a preferred solution of the present invention, the cell where the coordinates of the electrode are obtained by the sticking detection module is searched by using the cell index number. The calculation formula of the cell index number is:

[0011]

[0012] in, Represents the size of the cell in the X, Y, and Z directions respectively; are the number of times the target area is divided in the X, Y, and Z directions, k is the cell index number, t refers to the current moment when the spatial position coordinates of the electrode and the spatial position coordinates of the reference point corresponding to the electrode are obtained, and the input data at time t is , is the spatial position coordinate of the electrode, is the spatial coordinate of the electrode corresponding to the reference point, is the impedance of the electrode relative to the reference point, O ( ) are the coordinates of the origin of the three-dimensional space.

[0013] As a preferred embodiment of the present invention, the relationship curve includes a non-attached fitting relationship curve between the distance from the electrode to the reference point and the impedance when not attached, and an attached fitting relationship curve between the distance from the electrode to the reference point and the impedance when attached; in the two-dimensional coordinates of the points constituting the relationship curve, the horizontal coordinate is the distance from the electrode to the reference point, and the vertical coordinate is the impedance.

[0014] As a preferred embodiment of the present invention, the step of solving the electrode contact index includes:

[0015] S1, respectively find the impedance coordinate point B corresponding to the relative distance on the non-aligned fitting relationship curve and the impedance coordinate point C corresponding to the aligned fitting relationship curve;

[0016] S2, determining an electrode contact index according to a relative positional relationship among the impedance coordinate point A, the impedance coordinate point B, and the impedance coordinate point C of the electrode.

[0017] As a preferred embodiment of the present invention, the calculation formula of the electrode adhesion index is:

[0018]

[0019] Among them, point A is the currently collected relative impedance between electrode i and the reference electrode; point B is the first corresponding impedance corresponding to the current electrode spacing obtained by the fitting relationship curve within the cell; point C is the second corresponding impedance corresponding to the current electrode spacing obtained by the non-fitting relationship curve within the cell; AC refers to the difference between the relative impedance and the first corresponding impedance, and BC is the difference between the first corresponding impedance and the second corresponding impedance.

[0020] As a preferred embodiment of the present invention, the relationship curve fitting step includes:

[0021] A1 obtains the data samples in each cell. Each data sample is a two-dimensional coordinate consisting of relative distance and impedance.

[0022] A2, divide the data samples into multiple data sets according to their relative position;

[0023] A3, filter out the optimized data set using pre-set filtering conditions. The pre-set filtering conditions are: ;in, For the dataset center; is the coefficient, for Standard deviation of the dataset;

[0024] A4, finding the center position of the optimized data set, and fitting the center position to a non-aligned fitting relationship curve using the least squares method, or using the optimized data set as a sample, fitting the non-aligned fitting relationship curve using the least squares method;

[0025] A5, based on the non-aligned fitting relationship curve, the aligned fitting relationship curve is obtained by adjusting the fitting coefficient.

[0026] As a preferred embodiment of the present invention, in step A5, the calculation formula of the fitting relationship curve is:

[0027]

[0028] in, To optimize the dataset central location; is the fitting coefficient, for The standard deviation of the dataset.

[0029] As a preferred solution of the present invention, the data acquisition module acquires the impedance of the electrode relative to the reference point in a manner including direct acquisition and indirect acquisition.

[0030] The direct acquisition method is to directly acquire the impedance between the electrode and the reference electrode corresponding to the reference point;

[0031] As a preferred solution of the present invention, the indirect acquisition method is to first respectively acquire the first impedance between the electrode and the body surface reference electrode, and the second impedance between the reference electrode and the body surface reference electrode, and obtain the impedance between the electrode and the reference electrode corresponding to the reference point through the difference between the first impedance and the second impedance.

[0032] Based on the same concept, the present invention also provides an abutment detection device, comprising any of the aforementioned abutment detection systems, and further comprising an annular catheter equipped with a reference electrode corresponding to a reference point, wherein the reference electrode is arranged on an axis perpendicular to the surface of the annular catheter. This arrangement ensures that the electrode at the reference point and the electrodes on the annular catheter surface do not simultaneously contact tissue and cause a short circuit. In other words, the impedance of the electrodes at the reference point and on the annular catheter surface can always be measured.

[0033] As a preferred embodiment of the present invention, it also includes a magnetic field generator and a display screen.

[0034] The magnetic field generator is used to generate a magnetic field and cooperate with the magnetic field positioning module to obtain the relative distance of the electrode relative to the reference point;

[0035] The display screen is used to show the electrode adhesion index.

[0036] Based on the same concept, the present invention also proposes an abutment detection device, comprising the above-mentioned abutment detection system, and further comprising an annular catheter provided with a reference electrode corresponding to a reference point, a body surface reference electrode, a magnetic field generator, and a display screen;

[0037] The reference electrode is arranged on an axis perpendicular to the plane where the annular catheter is located;

[0038] The body surface reference electrode is used to collect the first impedance or the second impedance;

[0039] The magnetic field generator is used to generate a magnetic field and cooperate with the magnetic field positioning module to obtain the relative distance of the electrode relative to the reference point;

[0040] The display screen is used to show the electrode adhesion index.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] By adopting the system of the present invention, the contact degree indexes of multiple electrodes and tissues can be obtained in real time, so that the operator can accurately grasp the contact degree of each electrode and send ablation energy according to the contact status of the ablation electrode. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a diagram of the sticking detection system in Example 1 of the present invention;

[0044] Figure 2A This is a schematic diagram of the catheter in Example 1 of the present invention. Figure 1 ;

[0045] Figure 2B This is a second schematic diagram of the catheter in Example 1 of the present invention;

[0046] Figure 2C This is a third schematic diagram of the catheter in Example 1 of the present invention;

[0047] Figure 2D This is a schematic diagram of the catheter in Example 1 of the present invention. Figure 4 ;

[0048] Figure 3A Schematic diagram of direct impedance acquisition in Example 1 of the present invention;

[0049] Figure 3BSchematic diagram of indirect impedance collection in Example 1 of the present invention;

[0050] Figure 4 This is a system flow chart in Example 1 of the present invention;

[0051] Figure 5 This is the main flow chart of the sticking detection in Example 1 of the present invention;

[0052] Figure 6 This is a modeling flow chart in Example 1 of the present invention;

[0053] Figure 7 This is a schematic diagram of target area division in Example 1 of the present invention;

[0054] Figure 8 Schematic diagram of the modeling results and model application in Example 1 of the present invention;

[0055] Figure 9 This is a schematic diagram of the model application in Example 1 of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0057] Example 1

[0058] 1. System Description

[0059] like Figure 1 As shown, 100 is a catheter electrode tissue contact recognition system. 101 is the patient, 102 is a reference electrode applied to the body surface, 103 is the distal end of the intracardiac catheter, 104 is the catheter body, and 105 is the catheter handle. 106 is a magnetic field generator, 107 is a body surface reference hub, and 108, 109, and 110 are connecting cables. 111 is a display screen, 112 is a preset contact index setting device, 113 is an indication of the contact degree of each catheter electrode, 115 is a schematic diagram of the contact degree of each catheter electrode, and 114 is a catheter electrode numbering diagram.

[0060] 116 is a magnetic field positioning module, which is responsible for positioning the reference electrode on the body surface and the electrodes of the intracardiac catheter. 117 is a data acquisition module, which has two acquisition modes. One is to directly acquire the impedance between the annular electrode and the reference electrode, such as Figure 3A Another method is to collect the impedance between each electrode of the catheter relative to a reference electrode on the body surface, and then indirectly obtain the impedance between the ring electrode and the reference electrode through calculation, as shown in Figure 3B shown.

[0061] Figure 3A and Figure 3B 300 is a schematic diagram of the electrode impedance collection principle, Figure 3A To directly measure the impedance between the toroidal electrode and the reference electrode, Figure 3B It is used to indirectly measure the impedance between the toroidal electrode and the reference electrode.

[0062] 2. Catheter Description

[0063] like Figures 2A to 2D As shown, 200 is a schematic diagram of a catheter, which mainly includes a handle portion 201, a push rod component 202, a tube body portion 203 and a distal portion 204 on which an electrode is installed. The distal end of the catheter includes a bendable section 205 whose bending arc can be controlled by the push rod 202. The catheter head end is designed as an annular catheter, and the annular catheter includes an end hose and an end hard tube, wherein the end hose is in an arc shape, and a plurality of energy-releasing electrodes 207 are arranged at intervals on the end hose. The end hard tube is L-shaped, and one end of the end hard tube is connected to one end of the end hose. The first L-shaped side of the end hard tube forms an annular component with the end hose, and the second L-shaped side of the end hard tube is located at the center of the end hose in the positive projection of the annular component. A reference electrode 206 is arranged on the second L-shaped side of the end hard tube, and a plurality of ring electrodes 207 are sleeved on the outer wall of the annular component, and all of the ring electrodes 207 are arranged at intervals;

[0064] The support member is a memory alloy member that penetrates the terminal rigid tube and the terminal flexible tube along their length direction. The support member makes the catheter tip have a relatively stable shape. When subjected to external force, it will deform. When the external force disappears, the support member can be used to restore the deformed terminal flexible tube. Figure 2B As shown, the reference electrode is set on an axis perpendicular to the surface of the annular catheter. During operation, the ring electrode 207 is in contact with the tissue, while the reference electrode 206 is not directly in contact with the tissue. This arrangement ensures that the electrode at the reference point and the electrode on the annular surface of the annular catheter will not contact the tissue at the same time to cause a short circuit. In other words, the impedance of the electrode at the reference point and the electrode on the annular surface of the annular catheter can always be measured.

[0065] Figure 2D Another embodiment of the reference electrode arrangement is also given. Figure 2D and Figure 2BThe difference is that the annular catheter includes an end hose, an end rigid tube, and an end hose extension rigid tube, wherein the end hose is in an arc shape and is provided with a plurality of energy-emitting electrodes 207 at intervals. The end rigid tube is L-shaped, with one end connected to the starting end of the end hose. The end hose extension rigid tube is L-shaped, with the orthographic projection of the L-shaped edge of the annular component located within the arc of the end hose. The first L-shaped edge of the end hose extension rigid tube connects to the end of the end hose along the radius of the arc, and the second L-shaped edge of the end hose extension rigid tube is perpendicular to the plane of the end hose arc. The reference electrode 206 is provided on the second L-shaped edge of the end hose extension rigid tube. This arrangement is also to make the ring electrode 207 abut against the tissue, while the reference electrode 206 does not directly abut against the tissue, ensuring that the electrode at the reference point and the electrode on the annular surface of the annular catheter do not contact the tissue at the same time and cause a short circuit.

[0066] As a preferred solution, the number of annular electrodes is shown as 9, and the number of reference electrodes is shown as 1.

[0067] 3. Impedance acquisition method description

[0068] 300 is a schematic diagram of the system impedance acquisition method, including two acquisition methods Figure 3A and Figure 3B . Figure 3A It is a direct acquisition method: directly acquiring the impedance between the contact electrode and the reference electrode InRef, where R1 is the impedance between the contact electrode P1 and the reference electrode InRef; and R2 is the impedance between the contact electrode P2 and the reference electrode InRef. Figure 3B Indirect acquisition method: the impedance between the catheter reference electrode InRef and the contact electrode relative to the body surface reference electrode OutRef is collected separately, and then the impedance between the contact electrode and the reference electrode is indirectly obtained through calculation. Figure 3B As shown, the impedance R1' between the attached electrode P1 and the body surface reference electrode OutRef, the impedance R2' between the attached electrode P2 and the body surface reference electrode OutRef, and the impedance Rref between the reference electrode InRef and the body surface reference electrode OutRef are calculated. Therefore, the impedance between the attached electrode P1 and the reference electrode InRef is R1' minus Rref; the impedance between the attached electrode P2 and the reference electrode InRef is R2' minus Rref.

[0069] During impedance acquisition, excitation is delivered in two ways: one is between the surface reference electrodes (such as OutRefA and OutRefB); the other is between the contact electrode (such as P1) and the catheter reference electrode (such as InRef).

[0070] When using direct acquisition, a constant voltage or constant current excitation is applied between the body surface reference electrodes, or a constant current or constant voltage excitation is sent between the contact electrode and the reference electrode. When the excitation is constant current, the voltage difference between the contact electrode and the reference electrode is obtained, and the impedance between the contact electrode and the reference electrode is calculated by dividing the voltage difference by the current value. When the excitation is constant voltage, the current difference between the contact electrode and the reference electrode is obtained, and the impedance between the contact electrode and the reference electrode is calculated by dividing the voltage by the current difference.

[0071] When the indirect acquisition method is used, the impedance calculation principle is the same as that of the direct acquisition method, except that the impedance value between the contact electrode P1 and the reference electrode InRef is R1' minus Rref; the impedance value between the contact electrode P2 and the reference electrode InRef is R2' minus Rref.

[0072] 301 is the electrode that needs to be attached for identification, 302 is the reference electrode, 303 is the impedance acquisition device, and 304 is the reference electrode attached to the body surface.

[0073] (1) Direct collection method

[0074] like Figure 3A As shown, the description is as follows:

[0075] a. Acquisition under body surface reference excitation: Apply constant voltage or constant current excitation between the body surface reference electrodes OutRefA and OutRefB, and the impedance acquisition device R i Collecting electrodes P i The impedance between the catheter reference electrode (such as P1, P2, P3) and the catheter reference electrode InRef (such as InRefA, InRefB).

[0076] b. Collection under catheter electrode excitation: When the catheter reference electrode InRef and the adjacent electrode P i (such as P1, P2, P3) apply constant voltage or constant current excitation, impedance acquisition device R i Collecting electrodes P i The impedance between the catheter reference electrode (such as P1, P2, P3) and the catheter reference electrode InRef (such as InRefA, InRefB).

[0077] While collecting impedance data, the catheter electrode position is recorded, and the data format is as follows:

[0078]

[0079] Among them, P i (x, y, z) is the catheter contact electrode P i Spatial position coordinates, P InRef(x, y, z) is the spatial coordinate of the catheter reference electrode InRef, R i Catheter attached to electrode P i Impedance between the catheter reference electrode InRef.

[0080] (2) Indirect collection method

[0081] like Figure 3B As shown, the description is as follows:

[0082] a. Acquisition under body surface reference excitation: Apply constant voltage or constant current excitation between the body surface reference electrodes OutRefA and OutRefB, and the impedance acquisition device R' i Collecting electrodes P i (such as P1, P2, P3) to the body surface reference impedance; Rref acquisition catheter reference electrode InRef to the body surface reference impedance.

[0083] b. Collection under catheter electrode excitation: When the catheter reference electrode InRef and the adjacent electrode P i (such as P1, P2, P3) apply constant voltage or constant current excitation, impedance acquisition device R' i Collecting electrodes P i (such as P1, P2, P3) to the body surface reference impedance; Rref collects the impedance between the catheter reference electrode InRef and the body surface reference electrode OutRef.

[0084] While collecting impedance data, the catheter electrode position is recorded, and the data format is as follows:

[0085]

[0086] Among them, P i (x, y, z) is the catheter contact electrode P i Spatial position coordinates, P InRef (x, y, z) is the spatial coordinate of the catheter reference electrode, R i Catheter attached to electrode P i Impedance between the reference electrode InRef and the catheter, The impedance between the catheter contact electrode and the body surface reference electrode OutRef, is the impedance between the catheter reference electrode and the body surface reference electrode OutRef, The catheter is attached to the electrode P for indirect acquisition i Impedance between the catheter reference electrode InRef.

[0087] 3. System process description

[0088] like Figure 4As shown, 400 is a diagram of the catheter electrode tissue alignment detection process. System 402 collects catheter spatial position data to obtain the spatial coordinate positions of each catheter electrode; system 404 collects impedance data to obtain impedance data between the catheter alignment electrode and the catheter reference electrode; 406 is the filtering and elimination of abnormal data, such as data collected during rapid catheter movement or data with significant differences between previously collected data at the same location; 408 is the catheter electrode alignment detection process, including the modeling process and the model alignment application process.

[0089] 4. Description of the sticking detection process

[0090] like Figure 5 As shown, 500 is a diagram of the catheter electrode tissue adhesion detection process. 502 is the input impedance information between the adhesion detection electrode and the catheter reference electrode and the catheter electrode spatial position information, wherein the impedance information can be obtained by Figure 3A Direct collection or Figure 3B Acquired using an indirect acquisition method. 504 is the modeling process, which divides the overall target area into multiple small target areas. For each small target area, a model is established for the relationship between the impedance and spatial spacing between the catheter contact electrode and the reference electrode. 506 is the model application process, which utilizes the model established in 504 and combines the currently input impedance and position information of each catheter electrode to output the contact degree of each catheter contact electrode.

[0091] (1) Description of the modeling process

[0092] like Figure 6 As shown, 600 is a diagram of the catheter electrode tissue contact detection process. 602 is the target area division, the division diagram is as shown in FIG. Figure 7 As shown, 702 is the total target area, which is a rectangular space containing the heart formed after the heart is modeled, 704 is a cell schematic diagram of the small target area, and the cell is a smaller rectangular space further divided from the rectangular space containing the heart, and 706 is a cell representation diagram of the small target area; 604 is the impedance information and electrode position information from the input catheter contact electrode to the catheter reference electrode; 606 is the statistical analysis of the data in the cell, and the data with large deviation is subjected to the data elimination process 608; 610 models the cell data set after eliminating the outliers, and updates and outputs the model.

[0093] During the modeling process, a relationship model between the catheter-attached electrode-to-catheter reference impedance and the catheter-attached electrode-to-reference electrode spacing within cells at different spatial locations was established, as described below:

[0094] Refer to cell 706 to indicate that the three-dimensional space range is described as , k is the cell index, and data is input at time t , the cell index is solved as follows:

[0095]

[0096] in, Represents the size of the cell in the X, Y, and Z directions respectively; The number of times the target area is divided in the X, Y, and Z directions respectively, k is the cell index number, and the input data at time t is , is the spatial position coordinate of the electrode, is the spatial coordinate of the electrode corresponding to the reference point, is the impedance of the electrode relative to the reference point, O ( ) are the coordinates of the origin of the three-dimensional space.

[0097] The data set stored in the cell is represented as ,in is the impedance, The distance between the catheter contact electrode and the catheter reference electrode is expressed as follows:

[0098]

[0099] Statistical analysis of cell datasets:

[0100] Step 1: Data Sampling

[0101] One method is described as follows: The horizontal axis is the step size of 1mm, the step range is ±0.25mm, and the cells are extracted. For example, starting with 4mm, extract the distance Impedance data within the range is recorded as The dataset and the extraction results are described as follows Figure 8 Discrete points.

[0102] Step 2: Data Screening

[0103] One method is described as follows: The data is recorded as the optimized data set ,in For the dataset center; is the coefficient, the smaller k is, the stricter the screening is; for The standard deviation of the dataset.

[0104] Step 3: Data fitting

[0105] One method is described as follows: Optimize the center position of the data set, denoted as , by the least squares method, fitting The data was used to obtain the 804 curve (unattached fitting relationship curve), which is the relationship between the distance from the catheter abutment electrode to the catheter reference electrode and the impedance when the catheter is not attached. The data is used to obtain the 802 curve (the fitting relationship curve), which is the relationship between the distance from the catheter abutment electrode to the catheter reference electrode and the impedance when the catheter is abutted. For the dataset center; is the fitting coefficient, The less sensitive the better. The larger the specificity, the better; for The standard deviation of the dataset.

[0106] Another method is described below, The data set is used as a sample, and the 804 curves are obtained directly through the least squares method; The data set is a sample, and 802 curves are obtained by the least squares method. For the dataset center; is the fitting coefficient, The less sensitive the better. The larger the specificity, the better; for The standard deviation of the dataset.

[0107] 802 and 804 are the corresponding snapping relationship models of the cells.

[0108] (2) Model application description

[0109] like Figure 9 As shown in 802, the impedance and distance information between the catheter contact electrode and the catheter reference electrode is input, and 904 solves the contact degree index according to the contact relationship model of 802 and 804 described above. As shown in 806, the coordinates of point A , point B is D i When the distance is 0, the 802 curve corresponds to the value; point C is D i When the distance is 0.001, the 804 curve is taken as the value, and the calculation formula of the adhesion index of the i-th electrode is as follows:

[0110]

[0111] Wherein, AC is the distance from point A to point C, BC is the distance from point B to point C, and i is the number of the electrode.

[0112] Further explanation is that point A is the impedance between electrode i and the reference electrode currently collected; point B is the impedance corresponding to the current electrode spacing obtained through the intra-cell relationship 802; and point C is the impedance corresponding to the current electrode spacing obtained through the intra-cell relationship 804.

[0113] like Figure 8 As shown, the horizontal axis is the distance between the ring surface to be attached to the identification electrode and the reference electrode, the vertical axis is its impedance, and the curves 802 and 804 are the relationship "impedance = f (distance)" obtained through historical data in the cell.

[0114] During application, the positioning module obtains the electrode coordinates in real time, which is then used to determine the distance between the electrodes. Substituting this into the equations 802 and 804, "Impedance = f(distance)," yields the impedance values ​​corresponding to points B and C. Point A represents the impedance between the two electrodes, as measured in real time. The impedance of the BC segment is calculated using an equation derived from historical data and reflects the range of impedance variation in the contact state.

[0115] The calculation formula for the adhesion index of the i-th electrode is AC divided by BC, which reflects the comparison process between the current impedance and the historical adhesion impedance.

[0116] 906 updates the adhesion index information, displays the adhesion index on the screen 111, updates the adhesion degree indication information corresponding to each electrode 113 and 115, and intuitively presents the adhesion degree information.

[0117] 908 determines whether the adhesion index is greater than a preset adhesion index 112. If so, 914 outputs effective electrode adhesion 910, otherwise outputs invalid adhesion 912. Information on effective electrode adhesion can serve as an important basis for modeling, mapping, and ablation of a cardiac electrophysiological three-dimensional mapping system.

[0118] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes that come within the meaning and range of equivalents of the claims are intended to be included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

[0119] In addition, it should be understood that although this specification is described in terms of implementation methods, the implementation methods do not only include an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A contact detection system, characterized in that: Including magnetic field positioning module, data acquisition module and proximity detection module, The magnetic field positioning module is used to obtain the relative distance of the electrode relative to the reference point; The data acquisition module is used to obtain the impedance of the electrode relative to the reference point; The adhesion detection module calculates the coordinates of the electrode based on the relative distance, obtains the cell where the coordinates of the electrode are located, and a pre-fitted relationship curve between the electrode distance and the impedance in the cell, and solves the adhesion degree of the electrode based on the impedance and the relationship curve; The relationship curve includes a non-aligned fitting relationship curve between the distance from the electrode to the reference point and the impedance when not aligned, and an aligned fitting relationship curve between the distance from the electrode to the reference point and the impedance when aligned; in the two-dimensional coordinates of the points constituting the relationship curve, the abscissa is the distance from the electrode to the reference point, and the ordinate is the impedance; The step of determining the degree of contact of the electrodes comprises: S1, respectively find the coordinate point B on the non-aligned fitting relationship curve and the coordinate point C on the aligned fitting relationship curve. S2, determining an electrode adhesion index based on the relative positional relationship between coordinate point A, coordinate point B, and coordinate point C of the current electrode, wherein coordinate point A of the current electrode includes a relative distance of the current electrode relative to a reference point and an impedance of the current electrode relative to the reference point; The calculation formula of the electrode adhesion index is: Where A is the currently collected relative impedance between electrode i and the reference electrode; B is the first corresponding impedance corresponding to the current electrode relative distance obtained by the fitting relationship curve within the cell; C is the second corresponding impedance corresponding to the current electrode relative distance obtained by the non-fitting relationship curve within the cell; AC refers to the difference between the relative impedance and the first corresponding impedance, and BC is the difference between the first corresponding impedance and the second corresponding impedance.

2. The abutment detection system according to claim 1, wherein: The cell where the coordinates of the electrode are located is obtained by the abutment detection module by searching using a cell index number. The calculation formula of the cell index number is: in, Represents the size of the cell in the X, Y, and Z directions respectively; are the number of times the target area is divided in the X, Y, and Z directions, k is the cell index number, t refers to the current moment when the spatial position coordinates of the electrode and the spatial position coordinates of the reference point corresponding to the electrode are obtained, and the input data at time t is , is the spatial position coordinate of the electrode, is the spatial coordinate of the electrode corresponding to the reference point, is the impedance of the electrode relative to the reference point, O ( ) are the coordinates of the origin of the three-dimensional space.

3. The abutment detection system according to claim 1, wherein: The step of fitting the relationship curve includes: A1 obtains the data samples in each cell. Each data sample is a two-dimensional coordinate consisting of relative distance and impedance. A2, dividing the data samples into multiple data sets according to relative position relationships; A3, filter out the optimized data set using pre-set screening conditions, the pre-set screening conditions are to meet ;in, For the dataset central location; is the coefficient, for Standard deviation of the dataset; A4, finding the center position of the optimized data set, and fitting the center position to a non-aligned fitting relationship curve using a least squares method, or using the optimized data set as a sample, fitting the non-aligned fitting relationship curve using a least squares method; A5, based on the non-aligned fitting relationship curve, obtain an aligned fitting relationship curve by adjusting the fitting coefficient.

4. The abutment detection system according to claim 3, wherein: In step A5, the calculation formula of the fitting relationship curve is: in, To optimize the dataset central location; is the fitting coefficient, for The standard deviation of the dataset.

5. The abutment detection system according to any one of claims 1 to 4, characterized in that: The data acquisition module acquires the impedance of the electrode relative to the reference point in a manner including direct acquisition and indirect acquisition. The direct acquisition method is to directly acquire the impedance between the electrode and the reference electrode corresponding to the reference point.

6. The abutment detection system according to claim 5, characterized in that: The indirect acquisition method is to first respectively acquire the first impedance between the electrode and the body surface reference electrode, and the second impedance between the reference electrode and the body surface reference electrode, and obtain the impedance between the electrode and the reference electrode corresponding to the reference point through the difference between the first impedance and the second impedance.

7. A contact detection device, characterized in that: It comprises an abutment detection system as described in any one of claims 1-5, and also comprises an annular catheter provided with a reference electrode corresponding to a reference point, and the reference electrode is arranged on an axis perpendicular to the surface where the annular catheter is located.

8. The abutment detection device according to claim 7, characterized in that: It also includes a magnetic field generator and a display screen. The magnetic field generator is used to generate a magnetic field and cooperate with the magnetic field positioning module to obtain the relative distance of the electrode relative to the reference point; The display screen is used to display the electrode contact degree index.

9. A contact detection device, characterized in that: The device comprises an abutment detection system as claimed in claim 6, further comprising an annular catheter provided with a reference electrode corresponding to a reference point, a body surface reference electrode, a magnetic field generator and a display screen; The reference electrode is arranged on an axis perpendicular to the plane where the annular conduit is located; The body surface reference electrode is used to collect the first impedance or the second impedance; The magnetic field generator is used to generate a magnetic field and cooperate with the magnetic field positioning module to obtain the relative distance of the electrode relative to the reference point; The display screen is used to display the electrode contact degree index.

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