Positioning precision detection device realized by combining robot

Abstract

The utility model discloses a positioning precision detection device realized by combining with a robot, comprising a mechanical arm used for clamping a mapping conduit connected with a three-dimensional mapping system; under the condition that the mapping catheter moves to a theoretical coordinate point, the three-dimensional mapping system can generate a mapping coordinate point corresponding to the theoretical coordinate point; the intracardiac environment simulation device is provided with a space for movement of the mapping catheter; and the upper computer is used for generating a plurality of theoretical coordinate points, is connected with the mechanical arm and is used for controlling the mapping catheters to move to the theoretical coordinate points one by one in the intracardiac environment simulation device along with the mechanical arm. In conclusion, the mechanical arm simulates the action of a human arm, so that flexible movement is performed in a three-dimensional space, and high-precision and repeated precision evaluation of the three-dimensional mapping system is further realized.

Description

Technical Field

[0001] This utility model relates to the field of medical device testing, specifically to a positioning accuracy testing device that combines a robot. Background Technology

[0002] Mapping is a crucial step in the diagnosis, treatment, and research of complex arrhythmias. Through mapping, arrhythmias can be identified, assessed, and localized. In clinical diagnosis, treatment, and mechanistic studies, mapping of complex arrhythmias mainly falls into two categories: endocardial mapping and epicardial mapping. Historically, endocardial mapping has been the primary method. Currently, three-dimensional mapping technology is mainly used in complex arrhythmia research to obtain electrophysiological information. This technology arose from the need for endocardial mapping and can display the anatomical locations of the heart and their corresponding electrophysiological information in three dimensions. Positional accuracy is extremely important during intracardiac mapping, requiring the three-dimensional mapping system to maintain high precision. Therefore, positioning accuracy must be determined before using the three-dimensional mapping system.

[0003] However, the positioning accuracy of three-dimensional mapping systems in related technologies is usually measured using two-dimensional measurement. This measurement method is not intuitive, and it is difficult to combine with intracardiac mapping to analyze the corresponding areas. Moreover, most of them adopt offline analysis, and the analysis results cannot be obtained in real time, so the evaluation accuracy is limited. Utility Model Content

[0004] This utility model was made to solve the above-mentioned technical problems. Its purpose is to provide a positioning accuracy detection device that combines with a robot, which can improve the accuracy of the evaluation of the positioning accuracy of a three-dimensional mapping system.

[0005] This utility model discloses a positioning accuracy detection device implemented with a robot, comprising: a robotic arm for holding a mapping catheter connected to a three-dimensional mapping system; when the mapping catheter moves to a theoretical coordinate point, the three-dimensional mapping system can generate a mapping coordinate point corresponding to the theoretical coordinate point; an intracardiac environment simulation device, having space for the movement of the mapping catheter; and a host computer for generating several theoretical coordinate points, connected to the robotic arm, and used to control the mapping catheter to move sequentially to each of the theoretical coordinate points in the intracardiac environment simulation device along with the robotic arm.

[0006] Optionally, the host computer is communicatively connected to the three-dimensional mapping system, and the host computer is used to receive the mapping coordinate points.

[0007] Optionally, the robotic arm includes a robotic arm body, a first moving arm, a second moving arm, and an end effector connected in sequence. The robotic arm body is connected to the host computer. The first moving arm is rotatably connected to the robotic arm body and the second moving arm, respectively. The second moving arm is rotatably connected to the end effector. The end effector is provided with a clamping member for fixing the measuring guide tube to the end effector.

[0008] Optionally, the end effector arm is a sleeve used to sleeve the measuring guide tube, and the clamping member is a clamping head provided on the end effector arm.

[0009] Optionally, the end effector arm includes a connecting seat, a rotating arm, and a clamping head. The connecting seat is connected to the second moving arm, the rotating arm is rotatably disposed on the connecting seat, and the clamping head is connected to the rotating arm. The connecting seat is provided with a drive motor for driving the rotating arm to rotate, and the measuring guide tube passes through the connecting seat, the rotating arm, and the clamping head in sequence.

[0010] Optionally, the intracardiac environment simulation device is equipped with a coordinate zeroing device.

[0011] Optionally, the intracardiac environment simulation device is a water tank containing physiological saline.

[0012] Optionally, it also includes a serving platform, on which the intracardiac environment simulation device is disposed.

[0013] Optionally, the robotic arm is a multi-axis robotic arm.

[0014] Optionally, the robotic arm is connected to the host computer via a cable.

[0015] The beneficial effects of this utility model are as follows:

[0016] This utility model discloses a positioning accuracy detection device implemented with a robot, comprising: a robotic arm for holding a mapping catheter connected to a three-dimensional mapping system; when the mapping catheter moves to a theoretical coordinate point, the three-dimensional mapping system can generate a mapping coordinate point corresponding to the theoretical coordinate point; an intracardiac environment simulation device, having space for the movement of the mapping catheter; and a host computer for generating several theoretical coordinate points, connected to the robotic arm, and used to control the mapping catheter to move sequentially to each of the theoretical coordinate points in the intracardiac environment simulation device along with the robotic arm.

[0017] In this application, a host computer is used to generate a number of theoretical coordinate points and control the mapping catheter to move sequentially to each of the theoretical coordinate points within the intracardiac environment simulation device along with the robotic arm. When the mapping catheter moves to a theoretical coordinate point, the three-dimensional mapping system generates corresponding mapping coordinate points for that theoretical coordinate point. Thus, there is a one-to-one correspondence between the theoretical coordinate points set by the host computer and the mapping coordinate points generated by the three-dimensional mapping system. By comparing the consistency between the theoretical coordinate points and the mapping coordinate points, the positioning accuracy of the three-dimensional mapping system can be evaluated.

[0018] In summary, by mimicking the movements of a human arm, a robotic arm can move flexibly in three-dimensional space, thereby enabling high-precision and repeatable accuracy evaluation of a three-dimensional mapping system. Attached Figure Description

[0019] The above-described features and advantages of this invention can be better understood after reading the following detailed description of the embodiments of this disclosure in conjunction with the accompanying drawings. In the drawings, the components are not necessarily drawn to scale, and components having similar related characteristics or features may have the same or similar reference numerals.

[0020] Figure 1 This is a schematic diagram of the device of this utility model;

[0021] Figure 2 This is a structural diagram of the end effector arm of this utility model;

[0022] Figure 3 This is a test flowchart for this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 10-Three-dimensional mapping system, 20-Mapping catheter,

[0025] 100-robotic arm

[0026] 110-Robotic arm body,

[0027] 120-First Movement Arm

[0028] 130-Second moving arm,

[0029] 140-End effector arm

[0030] 141-card header,

[0031] 142-Connector

[0032] 143-Rotating arm,

[0033] 1431 - Rotary platform, 1432 - Extended arm,

[0034] 144-Drive motor,

[0035] 200-Intracardiac Environment Simulation Device

[0036] 300-Host computer,

[0037] 400- Coordinate zeroing device. Detailed Implementation

[0038] The present invention will be further described below with reference to specific embodiments and accompanying drawings. More details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention can obviously be implemented in many other ways different from those described herein. Those skilled in the art can make similar extensions and derivations based on actual application situations without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0039] It should be noted that these and other accompanying drawings are merely examples and are not drawn to scale, and should not be used as a limitation on the scope of protection of this utility model.

[0040] Mapping is a crucial step in the diagnosis, treatment, and research of complex arrhythmias. Through mapping, arrhythmias can be identified, assessed, and localized. In clinical diagnosis, treatment, and mechanistic studies, mapping of complex arrhythmias mainly falls into two categories: endocardial mapping and epicardial mapping. Historically, endocardial mapping has been the primary method. Currently, three-dimensional mapping technology is mainly used in complex arrhythmia research to obtain electrophysiological information. This technology arose from the need for endocardial mapping and can display the anatomical locations of the heart and their corresponding electrophysiological information in three dimensions. Positional accuracy is extremely important during intracardiac mapping, requiring the three-dimensional mapping system to maintain high precision. Therefore, positioning accuracy measurement is necessary before using the three-dimensional mapping system. However, the positioning accuracy measurement of three-dimensional mapping systems in related technologies typically uses two-dimensional measurement. This method lacks intuitiveness and is difficult to combine with intracardiac mapping for corresponding area analysis. Furthermore, most analyses are performed offline, preventing real-time results and thus limiting the accuracy of evaluation. Therefore, the technical solution of this application was developed, which is described below in conjunction with… Figures 1-3 To elaborate.

[0041] This application discloses a positioning accuracy detection device integrated with a robot for measuring the positioning accuracy of a three-dimensional mapping system. The three-dimensional mapping system 10 is a system for electrophysiological mapping and positioning of the atria and ventricles based on a mapping catheter 20. It can be used in conjunction with a magnetically positioned cardiac mapping ablation catheter and a surface reference electrode. By collecting and analyzing cardiac electrophysiological activity, a three-dimensional graphic of the human heart can be displayed in real time. The three-dimensional mapping system 10 can be used in conjunction with a mapping catheter 20 with pressure sensing function. The two can be connected by a cable to provide real-time measurement of the contact pressure between the tip of the mapping catheter 20 and the contact tissue.

[0042] The accuracy testing device of this application includes a robotic arm 100, an intracardiac environment simulation device 200, and a host computer 300. The robotic arm 100 is used to hold the mapping catheter 20. The robotic arm 100 is an automated device capable of mimicking human arm movements, composed of multiple joints and connectors, and features high precision, high efficiency, high reliability, and high repeatability. The robotic arm 100 can be a six-axis robotic arm to perform flexible movement in three-dimensional space. Fixing the mapping catheter 20 onto the robotic arm 100 enables high-precision and repeatable accuracy evaluation. The intracardiac environment simulation device 200 is used to simulate the internal environment of the human heart and has space provided for the movement of the mapping catheter 20. The host computer 300 is the control device for the robotic arm 100 and is connected to the robotic arm 100.

[0043] In this application, the host computer 300 is used to generate a plurality of theoretical coordinate points and control the mapping catheter 20 to move sequentially to each of the theoretical coordinate points in the intracardiac environment simulation device 200 along with the robotic arm 100. When the mapping catheter 20 moves to a theoretical coordinate point, the three-dimensional mapping system 10 can generate a mapping coordinate point corresponding to the theoretical coordinate point. In this way, there is a one-to-one correspondence between the plurality of theoretical coordinate points set by the host computer 300 and the mapping coordinate points generated by the three-dimensional mapping system 10. By comparing the consistency between the theoretical coordinate points and the mapping coordinate points, the positioning accuracy of the three-dimensional mapping system 10 can be evaluated.

[0044] In summary, by mimicking the movements of a human arm, the robotic arm 100 can move flexibly in three-dimensional space, thereby achieving high-precision and repeatable accuracy evaluation of the three-dimensional mapping system 10.

[0045] Optionally, the host computer 300 is communicatively connected to the 3D mapping system 10 to receive the mapping coordinate points generated by the 3D mapping system 10. This allows for real-time monitoring of the accuracy of the 3D mapping system 10 during the measurement process. Specifically, when the host computer 300 controls the mapping guide tube 20 to move with the robotic arm 100 to a theoretical coordinate point, it compares this theoretical coordinate point with the corresponding mapping coordinate point generated by the 3D mapping system 10. If the comparison is inconsistent, the host computer 300 can control the mapping guide tube 20 to repeatedly test at that coordinate point several times, for example, three times, to eliminate the possibility of other interference and ultimately confirm whether the accuracy of the 3D mapping system 10 at that coordinate point meets the standard. This further improves the reliability of the evaluation of the positioning accuracy of the 3D mapping system.

[0046] Optionally, the robotic arm 100 includes a robotic arm body 110, a first moving arm 120, a second moving arm 130, and an end effector 140 connected in sequence. The robotic arm body 110 is connected to the host computer 300. The first moving arm 120 is rotatably connected to the robotic arm body 110 and the second moving arm 130, respectively. The second moving arm 130 is rotatably connected to the end effector 140, so as to realize the movement of the robotic arm 100 along different axes and the rotation around different axes. The end effector 140 is provided with a clamping member, which is used to fix the mapping conduit 20 to the end effector 140 to ensure the stability of the mapping conduit 20.

[0047] Optionally, the end effector arm 140 is a sleeve used to sleeve the calibration guide tube 20. The clamping member is a clamp 141 provided on the end effector arm 140, which acts as a clamp to tightly fix the calibration guide tube 20 in a surrounding manner. The sleeve structure of the end effector arm 140 can provide a covering protection for the slender calibration guide tube 20, and can also reduce abnormalities such as shaking of the calibration guide tube 20 through covering and limiting, thus ensuring detection accuracy.

[0048] Optionally, the end effector 140 is as follows: Figure 2 The diagram shows a connecting seat 142, a rotating arm 143, and a clamping head 141. The connecting seat 142 is connected to the second moving arm 130. The rotating arm 143 is rotatably mounted on the connecting seat 142, and the clamping head 141 is connected to the rotating arm 143. The connecting seat 142 is equipped with a drive motor 144 for driving the rotating arm 143 to rotate. The mapping guide tube 20 passes through the connecting seat 142, the rotating arm 143, and the clamping head 141 in sequence. When the drive motor 144 is working, it can drive the mapping guide tube 20 to rotate with the rotating arm 143, thereby further enriching the adjustment methods of the mapping guide tube 20.

[0049] Furthermore, the rotating arm 143 is a modular structure, including a rotating platform 1431 and an extended arm 1432 connected to each other. The rotating platform 1431 is fixed to the connecting seat 142 by bolts, and the extended arm 1432 is installed to the rotating platform 1431 by bolts. The clamp 141 is located at the end of the extended arm 1432. The drive motor 144 is connected to the rotating platform 1431 to drive the rotating platform 1431 to rotate.

[0050] Optionally, the intracardiac environment simulation device 200 is equipped with a coordinate zeroing device 400. The coordinate zeroing device 400 is a calibration ball. Before the formal measurement, the three-dimensional mapping system 10 and the host computer 300 can be zeroed by moving the mapping catheter 20 to touch the coordinate zeroing device 400, so as to realize the coordinate system unification in the three-dimensional mapping system 10 and the host computer 300, which facilitates the subsequent measurement work.

[0051] Optionally, the intracardiac environment simulation device 200 is a water tank containing physiological saline, so that the intracardiac environment simulation device 200 is similar to physiological saline in the human body and can better simulate the physiological environment inside the heart.

[0052] Optionally, the precision testing device also includes a holding platform 500, on which the intracardiac environment simulation device 200 is disposed to provide an installation base for the intracardiac environment simulation device 200.

[0053] Optionally, the robotic arm 100 is connected to the host computer 300 via a cable to facilitate control of the robotic arm 100.

[0054] The specific testing for this application can be conducted according to the following procedure:

[0055] Step S100: Fix the mapping guide tube 20 onto the robotic arm 100, and complete the electrical connections between the three-dimensional mapping system 10 and the mapping guide tube 20, between the host computer 300 and the robotic arm 100, and between the host computer 300 and the three-dimensional mapping system 10.

[0056] Step S200: Set several theoretical coordinate points #1, #2, #3.......#m on the host computer 300, and generate the corresponding three-dimensional quadrant map of the dot matrix; wherein, the three-dimensional quadrant map of the dot matrix is ​​a map formed by connecting the theoretical coordinate points #1, #2, #3.......#m in sequence;

[0057] Step S300: The host computer 300 controls the mapping guide tube 20 to move along the three-dimensional quadrant map of the dot matrix with the robotic arm 100 until it reaches the theoretical coordinate point #n; where n is any point from 1 to m, and the initial value of n is assigned to 1, that is, the host computer 300 first controls the mapping guide tube 20 to move to the theoretical coordinate point #1.

[0058] Step S400: The three-dimensional calibration system 10 generates a calibration coordinate point #′n corresponding to the theoretical coordinate point #n, and transmits the calibration coordinate point #′n to the host computer 300;

[0059] Step S500: The host computer 300 compares the corresponding measured coordinate point #′n with the theoretical coordinate point #n; if the measured coordinate point #n′n and the theoretical coordinate point #n are consistent, proceed to step S600; if the measured coordinate point #′nn and the theoretical coordinate point #n are inconsistent, return to step S300 to retest the consistency between the theoretical coordinate point #n and the measured coordinate point #′n, until the number of repeated tests reaches the preset test count threshold, then proceed to step S600; wherein, the preset test count threshold can be set to three times, that is, the test is repeated three times;

[0060] Step S600: Record the measured coordinate point #n′ and the theoretical coordinate point #n into the table generated internally by the host computer 300;

[0061] Step S700: Assign n = n + 1 and return to step S300 until the consistency test of all theoretical coordinate points and measured coordinate points is completed;

[0062] Step S800: Based on the theoretical coordinate points #1 to #m and the measured coordinate points #′1 to #′m recorded by the host computer 300, generate an accuracy test report.

[0063] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible variations and modifications without departing from the spirit and scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A positioning accuracy detection device combined with a robot, characterized in that, include: A robotic arm (100) is used to hold the mapping conduit (20) connected to the three-dimensional mapping system (10); When the mapping catheter (20) moves to the theoretical coordinate point, the three-dimensional mapping system (10) can generate a mapping coordinate point corresponding to the theoretical coordinate point; The intracardiac environment simulation device (200) is provided with space for the movement of the mapping catheter (20); A host computer (300) is used to generate several theoretical coordinate points, connected to the robotic arm (100), and used to control the mapping catheter (20) to move one by one to each of the theoretical coordinate points in the intracardiac environment simulation device (200) along with the robotic arm (100).

2. The precision detection device according to claim 1, characterized in that, The host computer (300) is connected to the three-dimensional mapping system (10) and is used to receive the mapping coordinate points.

3. The precision detection device according to claim 1, characterized in that, The robotic arm (100) includes a robotic arm body (110), a first motion arm (120), a second motion arm (130), and an end effector (140) connected in sequence. The main body (110) of the robotic arm is connected to the host computer (300), the first moving arm (120) is rotatably connected to the main body (110) of the robotic arm and the second moving arm (130) respectively, and the second moving arm (130) is rotatably connected to the end effector (140); The end effector (140) is provided with a clamping member for fixing the mapping conduit (20) to the end effector (140).

4. The accuracy detection device according to claim 3, characterized in that, The end effector (140) is a sleeve and is used to fit the measuring guide tube (20). The clamping member is a clamp (141) provided on the end effector (140).

5. The precision detection device according to claim 4, characterized in that, The end effector (140) includes a connecting base (142), a rotating arm (143), and a locking head (141). The connecting seat (142) is connected to the second moving arm (130), the rotating arm (143) is rotatably disposed on the connecting seat (142), the clamp (141) is connected to the rotating arm (143), and the connecting seat (142) is provided with a drive motor (144) for driving the rotating arm (143) to rotate. The mapping catheter (20) is sequentially threaded through the connecting seat (142), the rotating arm (143), and the clamp (141).

6. The accuracy detection device according to claim 1, characterized in that, The intracardiac environment simulation device (200) is equipped with a coordinate zeroing device (400).

7. The accuracy detection device according to claim 1, characterized in that, The intracardiac environment simulation device (200) is a water tank containing physiological saline.

8. The precision detection device according to claim 1, characterized in that, It also includes a serving table (500), on which the intracardiac environment simulation device (200) is disposed.

9. The precision detection device according to claim 1, characterized in that, The robotic arm (100) is a multi-axis robotic arm (100).

10. The accuracy detection device according to claim 1, characterized in that, The robotic arm (100) is connected to the host computer (300) via a cable.

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