A method and system for determining the location of a device within a living organism

Abstract

The present specification relates to the technical field of medical equipment, and particularly relates to a method and system for determining the position of a device in a living body, the method comprising: obtaining a first position of the device at a first time; obtaining a wireless positioning position of the device at a second time based on a wireless positioning device; obtaining acceleration information of the device from the first time to the second time based on an inertial measurement device; determining an inertial navigation position of the device at the second time based on the first position and the acceleration information; and determining a second position of the device at the second time based on the wireless positioning position and the inertial navigation position.

Description

Technical Field

[0001] This specification relates to the field of medical device technology, and in particular to a method and system for determining the location of a device within a living organism. Background Technology

[0002] Interventional surgeries in biological systems typically involve inserting specialized catheters into the body under X-ray guidance to treat related diseases. For example, traditional electrophysiological surgeries often use DSA (digital subtraction angiography) for navigation and positioning. However, DSA poses certain radiation hazards to both patients and doctors, thus prompting the development of three-dimensional navigation technology for interventional surgeries (such as electrophysiological surgeries). However, current three-dimensional navigation technologies for electrophysiological surgeries use magnetic fields (electric fields) for positioning in a manner similar to satellite navigation, which is easily affected by interference and can be interrupted due to signal blocking, multipath effects, etc., and also suffers from low navigation accuracy over short distances.

[0003] Therefore, improving the accuracy of navigation / positioning systems for interventional surgeries (such as electrophysiological surgeries) has become an unsolved problem. Summary of the Invention

[0004] One embodiment of this specification provides a method for obtaining the location of a device within a biological body, comprising: obtaining a first position of the device at a first moment; obtaining a wireless positioning position of the device at a second moment based on a wireless positioning device; obtaining acceleration information of the device from the first moment to the second moment based on an inertial measurement device; determining an inertial navigation position of the device at the second moment based on the first position and the acceleration information; and determining a second position of the device at the second moment based on the wireless positioning position and the inertial navigation position.

[0005] One embodiment of this specification provides a system for acquiring the location of a device within a biological body, comprising: an acquisition module, a wireless positioning module, an inertial measurement module, and a fusion positioning module; the acquisition module is used to: acquire a first position of the device at a first moment; the wireless positioning module is used to: acquire a wireless positioning position of the device at a second moment based on a wireless positioning device; the inertial measurement module is used to: acquire acceleration information of the device from the first moment to the second moment based on an inertial measurement device; and determine an inertial navigation position of the device at the second moment based on the first position and the acceleration information; the fusion positioning module is used to: determine a second position of the device at the second moment based on the wireless positioning position and the inertial navigation position.

[0006] One embodiment of this specification provides a computer-readable storage medium that stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the steps of the method described in any embodiment of this specification.

[0007] One embodiment of this specification provides an electrophysiological surgical device, including a wireless positioning device and an inertial measurement device, wherein the device uses the positioning method of any embodiment of this specification to determine the position of the device within a living organism. Attached Figure Description

[0008] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0009] Figure 1 This is a schematic diagram illustrating an application scenario of a system for obtaining the location of a device within a living organism, based on some embodiments of this specification;

[0010] Figure 2 This is an exemplary flowchart illustrating a method for obtaining the location of a device within a living organism, according to some embodiments of this specification;

[0011] Figure 3 This is an exemplary flowchart illustrating the determination of the second variance according to some embodiments of this specification;

[0012] Figure 4 This is an exemplary flowchart for determining the second variance using an electrophysiological surgical apparatus as shown in some embodiments of this specification;

[0013] Figure 5 This is a schematic diagram of the various stages of an electrocardiogram signal in an electrocardiogram cycle, as shown in some embodiments of this specification.

[0014] Figure 6 This is an exemplary block diagram of a system for obtaining the location of a device within a living organism, according to some embodiments of this specification. Detailed Implementation

[0015] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0016] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0017] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0018] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them. Figure 1 This is a schematic diagram illustrating an application scenario of a system for obtaining the location of a device within a living organism, based on some embodiments of this specification.

[0019] like Figure 1 As shown, in some embodiments, system 100 may include electrophysiological surgical equipment 110, processing equipment 120, storage device 130, terminal 140 and network 150.

[0020] The electrophysiological surgical device 110 may include devices capable of performing electrophysiological surgeries (such as pulsed ablation surgery, radiofrequency ablation surgery, etc.). In some embodiments, the electrophysiological surgical device 110 may include surgical execution devices (such as ablation electrodes, mapping electrodes, etc.), which can be inserted into the human body to perform surgical operations. In some embodiments, the electrophysiological surgical device 110 may include surgical execution devices, catheters, and surgical control instruments. The surgical control instruments can be connected to the surgical execution devices via catheters and can be used to process relevant information / data outside the body. In some embodiments, the position and orientation of the device within the organism referred to in this specification may refer to the position and orientation of the surgical execution devices.

[0021] In some embodiments, the electrophysiological surgical device 110 is capable of three-dimensional positioning / navigation during electrophysiological surgery, and may further include a wireless positioning device and an inertial measurement device. The wireless positioning device and inertial measurement device may be mounted on the surgical execution device (such as an ablation electrode, mapping electrode, etc.). In some embodiments, the electrophysiological surgical device 110 may include mapping electrodes and / or ablation electrodes. In some embodiments, the electrophysiological surgical device 110 can be used to construct a three-dimensional model of tissues and organs (such as the heart) within a living organism. In some embodiments, the mapping electrode can be placed inside the heart and positioned at a certain sampling frequency to complete the analysis and modeling of the heart, providing assistance for subsequent surgery or analysis. In some embodiments, the electrophysiological surgical device 110 can also accurately display the location of lesions and achieve precise localization treatment, improving the treatment accuracy of electrophysiological surgery. In some embodiments, the electrophysiological surgical device 110 can acquire its position and orientation within the living organism. In some embodiments, the surgical execution device (such as an ablation electrode) can be delivered into the heart chamber via a catheter through a vein or artery to acquire the position and orientation of the ablation electrode within the heart.

[0022] In some embodiments, the electrophysiological surgical device 110 may exchange data and / or information with other components in the system 100 (e.g., processing device 120, storage device 130, terminal 140) via network 150. In some embodiments, the electrophysiological surgical device 110 may be directly connected to other components in the system 100. In some embodiments, one or more components in the system 100 (e.g., processing device 120, storage device 130, terminal 140) may be included within the electrophysiological surgical device 110.

[0023] Processing device 120 can process data and / or information obtained from other devices or system components, and based on this data, information, and / or processing results, perform the methods for obtaining the location (or positioning) of a device within a living organism as shown in some embodiments of this specification, to perform one or more functions described in some embodiments of this specification. For example, processing device 120 can perform three-dimensional modeling of the heart based on the location and orientation within the heart obtained by electrophysiological surgical device 110. In some embodiments, processing device 120 can retrieve pre-stored data and / or information from storage device 130, such as the variance of different regions of the heart corresponding to electrophysiological surgical device 110.

[0024] In some embodiments, the processing device 120 may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-chip processing device). By way of example only, the processing device 120 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction processor (ASIP), a graphics processing unit (GPU), a physical processor (PPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, or any combination thereof. In some embodiments, the processing device 120 may be part of a surgical control instrument.

[0025] Storage device 130 can store data or information generated by other devices. In some embodiments, storage device 130 can store data and / or information acquired by electrophysiological surgery device 110, such as coordinate information. In some embodiments, storage device 130 can store data and / or information processed by processing device 120, such as three-dimensional modeling information of the heart. Storage device 130 may include one or more storage components, each of which may be an independent device or part of other devices. Storage devices may be local or implemented via the cloud.

[0026] Terminal 140 can control the operation of electrophysiological surgical equipment 110 or display the results. Doctors can issue operating instructions to the electrophysiological surgical equipment 110 through terminal 140 to cause it to perform specified operations, such as driving catheter movement. In some embodiments, terminal 140 can instruct processing equipment 120 to perform parameter measurements as shown in some embodiments of this specification via instructions. In some embodiments, terminal 140 can receive information obtained during and / or after processing from processing equipment 120, such as displaying a heart model. In some embodiments, terminal 140 can be one or any combination of mobile device 140-1, tablet computer 140-2, laptop computer 140-3, desktop computer, or other devices with input and / or output functions. In some embodiments, terminal 140 can be part of a surgical control instrument.

[0027] Network 150 can connect the various components of the system and / or connect the system to external resources. Network 150 enables communication between the components and with other parts outside the system, facilitating the exchange of data and / or information. In some embodiments, one or more components in system 100 (e.g., electrophysiological surgery device 110, processing device 120, storage device 130, terminal 140) can send data and / or information to other components via network 150. In some embodiments, network 150 can be any one or more of a wired network or a wireless network.

[0028] It should be noted that the above description is provided for illustrative purposes only and is not intended to limit the scope of this specification. Various changes and modifications can be made by those skilled in the art based on the content of this specification. Features, structures, methods, and other features of the exemplary embodiments described herein can be combined in various ways to obtain other and / or alternative exemplary embodiments. For example, the processing device 120 may be based on a cloud computing platform, such as a public cloud, private cloud, community cloud, and hybrid cloud. However, these changes and modifications will not depart from the scope of this specification.

[0029] It should be noted that the electrophysiological surgical device 110 is only an example of a specific implementation. In some other embodiments, the system 100 can also be applied to other interventional surgical devices (such as valve implantation devices, coronary stent implantation devices, etc.). Figure 2 This is an exemplary flowchart illustrating a method for obtaining the location of a device within a living organism, according to some embodiments of this specification.

[0030] One or more steps in process 200 can be performed by Figure 1 The positioning system 100 (such as electrophysiological surgery equipment 110 or processing equipment 120) or Figure 6 The positioning system 600 is executed. The electrophysiological surgical device 110 can be positioned within a living organism using the method shown in process 200.

[0031] Step 210: Obtain the first position of the device at a first moment. In some embodiments, step 210 may be performed by the acquisition module 610.

[0032] In some embodiments, the device may include an electrophysiological surgical device or any other device requiring in vivo localization (such as other interventional surgical devices). In scenarios such as surgery or treatment, the device needs to be localized within the body to determine its precise location and thus perform the required function. In some embodiments, the device may include an electrophysiological surgical device 110 or its surgical execution device.

[0033] The first moment can be the starting moment of the equipment's operation or any moment. For more information about the first moment, please refer to the relevant description below.

[0034] In some embodiments, the first position can be the starting position of the device's operation or any position. For example, when the device is performing electrophysiological surgery in the heart, the first position can be the position where the surgical device (such as the ablation electrode of a pulsed ablation device) has just entered the heart. As another example, the first position can be the position where the device has just entered the human body.

[0035] In some embodiments, the absolute coordinates of the first position, such as spatial coordinates, can be obtained. In some embodiments, the first position can be used as the coordinate zero point, and the coordinates of subsequent positions are relative to the first position.

[0036] Step 220: Obtain the wireless positioning location of the device at a second moment based on the wireless positioning device. In some embodiments, step 220 may be performed by the wireless positioning module 620.

[0037] The second moment is the moment after the first moment. The wireless positioning device may include, but is not limited to, devices that acquire spatial location using wireless positioning methods, such as magnetic field positioning devices, electric field positioning devices, electromagnetic wave positioning devices, WiFi positioning devices, and Bluetooth positioning devices. In some embodiments, the first location in step 210 can also be obtained through a wireless positioning device.

[0038] In some embodiments, the position information of the device on three axes (X-axis, Y-axis and Z-axis) or some of these axes in space can be obtained by a wireless positioning device. For ease of description, the X-axis will be used as an example in the following text.

[0039] In some embodiments, the sampling rate of the wireless positioning device can be controlled to periodically acquire the device's location. For example, during three-dimensional navigation in electrophysiological surgery, the sampling rate of the wireless positioning device can be controlled to be 5-15Hz (e.g., 5Hz, 10Hz, 15Hz, etc.).

[0040] Step 230: Acquire acceleration information of the device from the first moment to the second moment based on the inertial measurement device. In some embodiments, step 230 may be performed by the inertial measurement module 630.

[0041] In some embodiments, the inertial measurement device may include an accelerometer. The accelerometer can acquire acceleration information of the device along three or some axes in space. The inertial measurement module 630 can further calculate the displacement based on the acceleration information and time.

[0042] Step 240: Determine the inertial navigation position of the device at the second moment based on the first position and acceleration information. In some embodiments, step 240 may be performed by the inertial measurement module 630.

[0043] In some embodiments, the displacement of the device from a first moment to a second moment (e.g., displacement along three axes) can be determined based on acceleration information. In some embodiments, the first moment can be denoted as t0, the second moment as t1, and the acceleration along the X-axis from the first moment to the second moment as a. Assuming the initial velocity of the device at the first moment is 0 and the acceleration a between the first and second moments is constant, then, according to the acceleration-displacement formula, the displacement of the device along the X-axis from the first moment to the second moment is... The inertial navigation position of the device at the second moment can be determined by the device's first position at the first moment and its displacement from the first moment to the second moment.

[0044] Step 250: Determine the second position of the device at the second moment based on the wireless positioning position and the inertial navigation position. In some embodiments, step 250 may be performed by the fusion positioning module 640.

[0045] Since both wireless positioning and inertial measurement units (IMUs) are used to acquire the device's position at the second moment, and both positions may contain some degree of error, the device's second position at the second moment can be determined by fusing the wireless positioning position and the inertial navigation position. The second position determined by fusing the wireless positioning position and the inertial navigation position can reduce the errors caused by a single wireless positioning unit or inertial measurement unit, and more accurately determine the device's objective position at the second moment.

[0046] In some embodiments, the second position of the device at a second time point can be the intermediate position of the wireless positioning position and the inertial navigation position, or a weighted average position. In some embodiments, the weights of the wireless positioning position and the inertial navigation position during position fusion can be set according to the variances of the wireless positioning position and the inertial navigation position. For example, assuming the variance of the wireless positioning position is less than the variance of the inertial navigation position, the weight of the wireless positioning position can be set to 0.3, and the weight of the inertial navigation position can be set to 0.7, thereby calculating the second position. By assigning higher weights to positions with smaller variances (such as wireless positioning positions or inertial navigation positions), the accuracy of the second position determined by fusion can be improved.

[0047] In some embodiments, the first moment in step 210 can be the start moment of device operation or any moment during operation. At the start moment, the device can be in a stationary or moving state. When the device is stationary, it is difficult to obtain inertial positioning information because there is no position before the first moment as a reference. In some embodiments, when the first moment is the start moment, the first position can be a position determined based on a wireless positioning device or a position determined based on an imaging device. In some embodiments, when the first moment is the start moment, the first position can be a preset position. In some embodiments, the preset position can be the position where the device just enters the biological body or the starting position of the device's operation. In some embodiments, the preset position can be a position with known specific coordinate information.

[0048] Imaging equipment can include X-ray equipment, DSA equipment, CT scanning equipment, ultrasound imaging equipment, etc. Imaging equipment can obtain a more accurate first location as the location at a given moment. For determining location based on wireless positioning devices, please refer to the relevant descriptions above, which will not be repeated here.

[0049] In some embodiments, when the first moment is not the starting moment, the first position can be determined based on the fusion of the wireless positioning device and the sex measurement device.

[0050] When the first moment is not the starting moment, it indicates that the first moment is a certain moment in the operation of the device. Since it is not convenient to use imaging equipment to determine the position of the device during operation, the position information of the first moment obtained by the wireless positioning device and the inertial positioning information of the first moment obtained by the inertial measurement device can be fused to determine the position. The inertial positioning information of the first moment can be determined based on the position of the previous moment and the acceleration information from the previous moment to the first moment.

[0051] In some embodiments, the wireless positioning device and the inertial measurement device can be tested before the equipment operates to obtain the variance of each device during operation, i.e., the distribution of errors during operation. In actual testing, the actual test values ​​of the wireless positioning device and the inertial measurement device follow a normal distribution N(μ,σ). 2 ), where μ is the expected value of the actual test value, σ 2 This represents the variance of the actual test values.

[0052] In some embodiments, the wireless positioning location obtained in step 220 may include wireless positioning coordinates and wireless positioning variance. The wireless positioning coordinates can be directly obtained by the wireless positioning device at the target time (e.g., the second time). For the same wireless positioning location, its wireless positioning variance during the measurement process can be considered relatively fixed, and the user can measure the device's error beforehand. For example, the user can perform multiple measurements of the error of the wireless positioning device at different stages and different locations (areas), and further obtain the variance through statistics. In some embodiments, if the error distribution of the device during measurement is fixed, the total variance of the device at different stages and different locations (areas) can be obtained. If the device has different error distributions at different stages and different locations (areas), the variance corresponding to each stage and different location (area) can be obtained through statistics.

[0053] In some embodiments, a work cycle can be completed using a wireless positioning device, while the gold standard method is used to obtain accurate location information of the device as the expected location. The wireless positioning variance is determined by statistically analyzing the error between the actual location information obtained by the wireless positioning device and the expected location. Continuing with the example of the aforementioned device performing three-dimensional positioning / navigation during electrophysiological surgery, the navigation and positioning information obtained by DSA can be used as the gold standard in determining the wireless positioning variance.

[0054] In some embodiments, the device is located within the heart, and the wireless positioning variance of the device in the left atrium, left ventricle, right atrium, and right ventricle can be acquired separately. Taking the left atrium as an example, the device can be placed in the left atrium under catheter-driven placement, while the wireless positioning device continuously collects a total of N sets of wireless positioning coordinate data. For the N sets of data Y... i Divide the N sets of data into multiple blocks, with each block containing M sets of data (M≥2). Calculate the variance of the M consecutive sets of data as follows: Furthermore, since the N sets of data are divided into M groups per block, there are a total of Block, then the N sets of data Y of the left atrium i Variance can be expressed as Repeat the above steps to obtain the wireless positioning variances for the left ventricle, right atrium, and right ventricle, respectively. Since the spatial location and structure of each chamber of the heart are different, the wireless positioning device may experience different positioning errors in different chambers. By determining the wireless positioning variance of the device in each chamber, the device can obtain a more accurate wireless positioning position during actual operation, thus improving the device's positioning accuracy within the heart.

[0055] In some embodiments, the inertial navigation position obtained in step 240 may include inertial navigation coordinates and inertial navigation variance. In some embodiments, the inertial navigation coordinates can be determined by the position coordinates at a first time moment and the acceleration from the first time moment to the second time moment; the inertial navigation variance can be determined by the position variance at the first time moment and the acceleration variance from the first time moment to the second time moment. Since the position coordinates and position variance at the first time moment can be determined according to the fusion method (or as the initial position) and are relatively accurate, the inertial navigation variance is mainly affected by the acceleration variance from the first time moment to the second time moment. Therefore, in some embodiments, the position variance at the first time moment may not be considered in the inertial navigation variance, and only the acceleration variance from the first time moment to the second time moment may be considered. In some embodiments, the method for obtaining the acceleration variance may be similar to the method for obtaining the aforementioned wireless positioning variance.

[0056] For example, assume that the first position at the first moment follows a normal distribution. Where, μ x This indicates the device's position coordinates at the first moment. This represents the position variance of the equipment at the first moment. The acceleration of the equipment from the first moment to the second moment, obtained by the inertial measurement unit, follows a normal distribution. Where, μ a This represents the value of acceleration. This represents the variance of acceleration. If the velocity at the previous moment is denoted as v0, then the velocity at the second moment can be calculated using the velocity calculation formula: v1 = v0 + a0t. The variance of the velocity at the second moment is... The velocity at the second moment can then be expressed as Therefore, the inertial navigation coordinates of the device at the second moment can be further calculated. As mentioned earlier, the position at the second moment mainly considers the variance of acceleration a0, therefore the inertial navigation variance at the second moment is: The inertial navigation position distribution of the device at the second moment can be represented as follows: Figure 3 This is an exemplary flowchart illustrating the determination of the second variance according to some embodiments of this specification.

[0057] refer to Figure 3 In some embodiments, the second position may include a second coordinate and a second variance, and step 250 may further include:

[0058] Step 310: Determine the second coordinates based on the wireless positioning coordinates and the inertial navigation coordinates.

[0059] In some embodiments, continuing with the example of coordinates on the x-axis, it is assumed that the wireless positioning coordinates gx in the second time step follow a normal distribution. Its wireless positioning variance is The inertial navigation coordinates ix follow a normal distribution. Its inertial navigation variance is The coefficients can then be calculated based on the variance of wireless positioning and the variance of inertial navigation. The x-axis in the second coordinate system is calculated as gx+k(gx-ix) based on this coefficient k. By calculating the coefficient and performing coordinate fusion based on it, the accuracy of the determined second coordinate system can be effectively improved.

[0060] In some embodiments, the second coordinates can be determined in other ways, such as based on the average of the wireless positioning coordinates and the inertial navigation coordinates. Continuing with the example above, the x-axis in the second coordinates determined based on the average can be represented as...

[0061] Step 320: Determine the second variance based on the wireless positioning variance and the inertial navigation variance.

[0062] Continuing with the example above, based on wireless positioning variance and inertial navigation variance The second variance of the x-axis can be determined as: Therefore, the x-axis of the device at the second position at the second time moment follows a normal distribution. Similarly, the portions of the second coordinate and the second variance corresponding to the y-axis and z-axis can be determined based on the above method.

[0063] In some embodiments, the second variance can be determined in other ways, such as by determining the second variance based on the square of the difference between the standard deviations of the wireless positioning variance and the inertial navigation variance. Continuing with the example above, determining the second variance based on the square of the difference between the standard deviations of the wireless positioning variance and the inertial navigation variance can be expressed as follows: Combining the second coordinate determined using the average value in step 310, the x-axis of the device at the second position at the second time can be represented as following a normal distribution.

[0064] In some embodiments, different locations of the device correspond to different variances (such as wireless positioning variance and / or inertial navigation variance). For example, in the aforementioned example, the device's location in the left atrium, left ventricle, right atrium, and right ventricle of the heart corresponds to different wireless positioning variances. Therefore, during device operation, the corresponding variance can be obtained based on the device's location. In some embodiments, after executing step 310, the following can be performed:

[0065] Step 330: Determine the area where the device is located based on the wireless positioning coordinates.

[0066] Step 340: Determine the wireless positioning variance and inertial navigation variance based on the area where the device is located.

[0067] For example, continuing with the example of three-dimensional positioning / navigation of an electrophysiological surgical device in the heart, at any moment during the operation of the device, the wireless positioning coordinates of the device can be obtained. Then, the area where the device is located can be determined by the current wireless positioning coordinates of the device, such as a certain chamber in the heart (such as the left atrium). Then, the variance can be determined based on the determined area, such as the wireless positioning variance and inertial navigation variance of the corresponding left atrium, so as to determine the second position.

[0068] In some embodiments, a second variance corresponding to the current area can be determined based on the acquired wireless positioning variance and inertial navigation variance. Figure 4 This is an exemplary flowchart for determining the second variance using an electrophysiological surgical apparatus as shown in some embodiments of this specification; Figure 5 This is a schematic diagram of the various stages of an electrocardiogram (ECG) signal during an ECG cycle, as shown in some embodiments of this specification.

[0069] When the device is located inside the heart, such as when electrophysiological surgery equipment performs three-dimensional localization / navigation within the heart, different variances can be determined based on different stages of the heartbeat. For details, please refer to... Figure 4 Step 250 may further include:

[0070] Step 410: Obtain the electrocardiogram signal.

[0071] Step 420: Determine the ECG stage at the second moment based on the ECG signal.

[0072] Step 430: Based on the ECG stage at the second moment, determine the wireless positioning variance and the inertial navigation variance.

[0073] refer to Figure 5 The figure illustrates the various stages of an electrocardiogram (ECG) signal within a single ECG cycle. Since each cycle of the ECG signal exhibits different characteristics (e.g., significant fluctuations in the QRS wave phase), to ensure more accurate variance, in some embodiments, the variance for each stage of the ECG signal can be collected and calculated separately during the determination of device variance. In some embodiments, the ECG signal can be divided into four stages: the P wave stage, the QRS wave stage, the T wave stage, and other stages, and the variance for each stage can be obtained separately. For example, taking the wireless positioning variance of the QRS wave stage as an example, during the variance determination stage, multiple sets of wireless positioning coordinate data can be continuously collected using a wireless positioning device, and the wireless positioning coordinate data located in the QRS wave stage can be filtered out. The filtered data is then statistically analyzed to obtain the wireless positioning variance for the corresponding QRS wave stage.

[0074] In some embodiments, during the device positioning process, the ECG stage at the second moment can be obtained through an ECG device, and the second position of the device at the second moment can be calculated based on the wireless positioning variance and inertial navigation variance corresponding to the ECG stage.

[0075] More specifically, in some embodiments, during device positioning, the ECG stage at a second moment can be obtained through an ECG device, and the region where the device is located can be determined through wireless positioning coordinates. This yields the variance corresponding to the current region and the current ECG stage, allowing the variance to more accurately reflect the error in the current position and stage. This, in turn, enables the device to determine a more accurate second position at a second moment. For example, when the device is operating, for wireless positioning, a specific variance can be obtained based on the region where the device is located and the current ECG stage to determine a more accurate wireless positioning location.

[0076] In some embodiments, to improve the accuracy of the variance determined during positioning, the first and second time points may be in the same ECG phase, such as both being in the QRS wave phase. It should be noted that although the first and second time points are in the same ECG phase, they may not be within the same ECG cycle; for example, the first time point may be in the first ECG cycle, and the second time point may be in the second ECG cycle.

[0077] When performing tasks such as surgery or 3D positioning / navigation, in addition to obtaining the device's specific location, it is also necessary to obtain the device's orientation for the operator's reference. Therefore, in some embodiments, process 200 may further include:

[0078] Step 260: Obtain the angular position information of the device at the second moment based on the inertial measurement device.

[0079] Step 270: Determine the attitude of the device at the second moment based on the angular position information.

[0080] In some embodiments, steps 260 and 270 may be performed by the inertial measurement module 630.

[0081] In some embodiments, the inertial measurement unit (IMU) may include an angular velocity sensor (such as a gyroscope) to acquire angular position information of the device on three or some axes in space, in order to determine the device's attitude. In some embodiments, the angular position information may reflect the angles between the device and the three axes in space. In some embodiments, the angular velocity sensor may acquire the angle of rotation of the device around the three axes between a first time moment and a second time moment (e.g., a 90° rotation around the x-axis), and the attitude of the device at the second time moment can be determined based on the device's attitude at the first time moment and the angle of rotation around the three axes, providing a reference for the operator. For example, the angular velocity sensor may directly acquire the angular position information of the device at the second time moment. In some embodiments, the IMU may also include a geomagnetic sensor to assist the IMU in determining the device's attitude.

[0082] It should be noted that the above description of process 200 is for illustrative purposes only and does not limit the scope of this specification. Those skilled in the art can make various modifications and changes to process 200 under the guidance of this specification. However, these modifications and changes are still within the scope of this specification. For example, steps 260 and 270 can be performed before step 250, or step 230 can be performed before step 220, etc. Figure 6 This is an exemplary block diagram of a system for obtaining the location of a device within a living organism, according to some embodiments of this specification.

[0083] refer to Figure 6 The system 600 for acquiring the location of a device within a living organism may include an acquisition module 610, a wireless positioning module 620, an inertial measurement module 630, and a fusion positioning module 640.

[0084] The acquisition module 610 can be used to acquire the first position of the device at the first moment.

[0085] In some embodiments, further description of the first position at the first moment can be found in the relevant content of step 210, and will not be repeated here.

[0086] The wireless positioning module 620 can be used to obtain the wireless positioning location of the device at a second moment based on the wireless positioning device.

[0087] In some embodiments, further descriptions of the wireless positioning device and the wireless positioning location can be found in the relevant content of step 220, and will not be repeated here.

[0088] The inertial measurement module 630 can be used to acquire the acceleration information of the device from the first moment to the second moment based on the inertial measurement device; and to determine the inertial navigation position of the device at the second moment based on the first position and the acceleration information.

[0089] In some embodiments, further descriptions of the inertial measurement device and the inertial navigation position can be found in the relevant content of steps 230 and 240, and will not be repeated here.

[0090] The fusion positioning module 640 can be used to determine the second position of the device at the second moment based on the wireless positioning position and the inertial navigation position.

[0091] In some embodiments, further description of the second position at the second moment can be found in the relevant content of step 250, and will not be repeated here.

[0092] In some embodiments, the inertial measurement module 630 is further configured to acquire the angular position information of the device at the second moment based on the inertial measurement device; and determine the attitude of the device at the second moment based on the angular position information.

[0093] It should be understood that Figure 6 The systems and modules shown can be implemented in various ways. For example, in some embodiments, the systems and modules can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution device, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the methods and apparatus described above can be implemented using computer-executable instructions and / or included in processor control code, for example, on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The apparatus and modules described in this specification can be implemented not only with hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., but also with software, for example, executed by various types of processors, or with a combination of the aforementioned hardware circuits and software (e.g., firmware).

[0094] It should be noted that the above description of the system and modules for acquiring the location of a device within a living organism is for convenience only and should not be construed as limiting this specification to the embodiments described. It is understood that those skilled in the art, after understanding the principles of this system, may arbitrarily combine the various modules or construct subsystems connected to other modules without departing from these principles. For example, in some embodiments, for instance, Figure 6The wireless positioning module 620 and inertial measurement module 630 disclosed herein can be different modules within a single system, or a single module can perform the functions of two or more of the aforementioned modules. For example, the modules can share a single storage module, or each module can have its own separate storage module. Such variations are all within the scope of protection of this specification.

[0095] The beneficial effects that the embodiments of this application may bring include, but are not limited to: (1) the device position is determined by the joint determination of the wireless positioning device and the inertial measurement device, so that the device positioning accuracy is higher and the risk of interference is small; (2) by pre-determining the variance of the wireless positioning device and the inertial measurement device, the positioning error distribution can be determined more accurately during actual positioning; (3) by determining different variances of the device for different regions and different stages, the positioning accuracy can be further improved.

[0096] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0097] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0098] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0099] Furthermore, unless expressly stated in the claims, the order of processing elements and sequences, the use of numbers and letters, or other names described in this specification are not intended to limit the order of the processes and methods described herein. Although various examples have been discussed in the foregoing disclosure of some embodiments of the invention that are currently considered useful, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments; rather, the claims are intended to cover all modifications and equivalent combinations that conform to the spirit and scope of the embodiments described herein. For example, while the system components described above can be implemented using hardware devices, they can also be implemented solely using software solutions, such as installing the described system on existing servers or mobile devices.

[0100] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0101] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0102] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A method for determining the location of a device within a living organism, characterized in that, The device is located inside the heart, and the method includes: Obtain the device's first location at the first moment; The wireless positioning location of the device at a second moment is obtained based on the wireless positioning device; Acceleration information of the device from the first moment to the second moment is obtained based on the inertial measurement device; The inertial navigation position of the device at the second moment is determined based on the first position and the acceleration information; Determining the second position of the device at the second moment based on the wireless positioning position and the inertial navigation position includes: Acquire electrocardiogram (ECG) signals; The electrocardiographic stage at the second moment is determined based on the electrocardiogram signal; Based on the ECG stage at the second moment, the wireless positioning variance and the inertial navigation variance are determined; The weights of the wireless positioning position and the inertial navigation position are determined based on the wireless positioning variance and the inertial navigation variance, and the second position is determined based on the wireless positioning position and its weight, and the inertial navigation position and its weight.

2. The method as described in claim 1, characterized in that, Also includes: The angular position information of the device at the second moment is obtained based on the inertial measurement device; The attitude of the device at the second moment is determined based on the angular position information.

3. The method as described in claim 1, characterized in that: When the first moment is the start moment, the first position is a preset position, a position determined by a wireless positioning device, or a position determined by an imaging device; When the first moment is not the starting moment, the first position is determined based on the fusion of the wireless positioning device and the inertial measurement device.

4. The method as described in claim 1, characterized in that: The wireless positioning location includes wireless positioning coordinates and wireless positioning variance; The inertial navigation position includes inertial navigation coordinates and inertial navigation variance; The second position includes the second coordinate and the second variance; Determining the second position of the device at the second moment based on the wireless positioning position and the inertial navigation position includes: The second coordinates are determined based on the wireless positioning coordinates and the inertial navigation coordinates; The second variance is determined based on the wireless positioning variance and the inertial navigation variance.

5. The method as described in claim 4, characterized in that, The method further includes: The area where the device is located is determined based on the wireless positioning coordinates; Based on the area where the device is located, the wireless positioning variance and the inertial navigation variance are determined.

6. The method as described in claim 1, characterized in that: The first and second time points are in the same electrocardiographic phase.

7. A system for determining the location of a device within a living organism, characterized in that, The device is located inside the heart, and the system includes: an acquisition module, a wireless positioning module, an inertial measurement module, and a fusion positioning module; The acquisition module is used to: acquire the first position of the device at a first moment; The wireless positioning module is used to: obtain the wireless positioning location of the device at a second moment based on the wireless positioning device; The inertial measurement module is used to: acquire acceleration information of the device from the first moment to the second moment based on the inertial measurement device; and determine the inertial navigation position of the device at the second moment based on the first position and the acceleration information. The fusion positioning module is used to: determine the second position of the device at the second moment based on the wireless positioning position and the inertial navigation position, including: Acquire electrocardiogram (ECG) signals; The electrocardiographic stage at the second moment is determined based on the electrocardiogram signal; Based on the ECG stage at the second moment, the wireless positioning variance and the inertial navigation variance are determined; The weights of the wireless positioning position and the inertial navigation position are determined based on the wireless positioning variance and the inertial navigation variance, and the second position is determined based on the wireless positioning position and its weight, and the inertial navigation position and its weight.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

9. An electrophysiological surgical device, characterized in that, The device includes a wireless positioning device and an inertial measurement device, wherein the device determines its position within a living organism using the method described in any one of claims 1 to 6.

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