Device and method for monitoring the complete morphology of a guidewire catheter

Abstract

The present invention provides a device and method for monitoring the complete morphology of a guidewire or catheter, belonging to the field of medical device technology. The device includes: a displacement sensor, a multi-point shooting module, and a mirror reflection device, wherein the displacement sensor is used to detect the displacement data of the guidewire or catheter, and generate a data packet based on the displacement data, and send the data packet to the host computer so that the host computer can calculate the motion state and movement distance of the guidewire or catheter based on the data packet; the multi-point shooting module is used to collect images of the guidewire or catheter when it moves in an artificial blood vessel, and send the images to the host computer so that the host computer can obtain the morphological data of the guidewire or catheter based on the images and perform three-dimensional reconstruction based on the morphological data; the mirror reflection device is used to expand the visible light path to obtain more dimensional morphological data of the guidewire or catheter when it moves in an artificial blood vessel in a limited space. The present invention can realize the identification, tracking and three-dimensional reconstruction of the guidewire or catheter under zero radiation conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a device and method for monitoring the complete morphology of a guidewire catheter. Background Art

[0002] Currently, guidewire catheter morphology tracking is performed using X-rays. However, using X-rays during training, testing, and experiments carries the risk of radiation exposure. Without X-rays, conventional methods cannot track the complete shape of guidewire catheters, which are typically slender and narrow. Furthermore, because guidewire catheters penetrate deeply into various parts of blood vessels, tracking the complete shape of the guidewire catheter within a limited space is a significant challenge to ensure tracking capabilities and minimize product size and weight. Furthermore, when the guidewire is inside the catheter, the obstruction of the catheter makes it impossible to determine the guidewire's shape. Summary of the Invention

[0003] The present invention provides a device and method for monitoring the complete morphology of a guidewire catheter, which are used to address the risks of radiation damage exposure in the prior art using X-rays. Without the use of X-rays, the complete morphology of the guidewire catheter cannot be tracked due to its generally slender and narrow characteristics. The guidewire catheter also penetrates deeply into various parts of the blood vessel, making it difficult to track the complete morphology of the guidewire catheter in a limited space. In addition, when the guidewire is inside the catheter, the morphology of the guidewire cannot be calculated due to obstruction by the catheter.

[0004] The present invention provides a device for monitoring the complete morphology of a guidewire or catheter, comprising: a displacement sensor, a multi-point shooting module, and a mirror reflection device, wherein the displacement sensor is used to detect displacement data of a guidewire or catheter, and generate a data packet based on the displacement data, and send the data packet to a host computer so that the host computer can calculate the motion state and movement distance of the guidewire or catheter based on the data packet; the multi-point shooting module is used to capture images of the guidewire or catheter when it travels in an artificial blood vessel, and send the images to the host computer so that the host computer can obtain morphological data of the guidewire or catheter based on the images and perform three-dimensional reconstruction based on the morphological data; the mirror reflection device is used to expand the visible light path so as to obtain morphological data of the guidewire or catheter in multiple dimensions when it travels in the artificial blood vessel within a limited space.

[0005] According to a device for monitoring the complete morphology of a guidewire or catheter provided by the present invention, the displacement sensor includes an upper cover, a displacement sensor chip, a lens, a replaceable bracket and a base, wherein the upper cover serves as the appearance structure of the displacement sensor and is located above the displacement sensor chip to prevent the displacement sensor chip from being exposed; the displacement sensor chip is used to detect the displacement data of the guidewire or catheter; the lens is located below the displacement sensor chip and is used to assist the displacement sensor chip in collecting the displacement data of the guidewire or catheter through refraction and focusing of light; the top of the replaceable bracket has an opening adapted to the size of the lens, the opening is used to support the lens, and the interior of the replaceable bracket is provided with a through hole for the guidewire or catheter to pass through; the base serves as the bottom support structure of the displacement sensor and is located below the replaceable bracket. The base is provided with multiple grooves, and the protrusions at the bottom of the replaceable bracket are connected to the grooves of the base.

[0006] According to a guidewire catheter complete morphology monitoring device provided by the present invention, the displacement sensor chip is also used to send the displacement data to an embedded controller. The embedded controller and the displacement sensor chip are arranged on the same circuit board, and are used to parse the displacement data, generate a data packet, and send the data packet to a host computer.

[0007] According to a device for monitoring the complete morphology of a guidewire or catheter provided by the present invention, the structure of the replaceable stent is determined according to the appearance characteristics of the guidewire or catheter.

[0008] According to a device for monitoring the complete morphology of a guidewire catheter provided by the present invention, the multi-point shooting module includes: a first shooting module arranged on one side of the artificial blood vessel, a second shooting module arranged on the other side of the artificial blood vessel, and a shooting bracket for supporting the first shooting module and the second shooting module.

[0009] According to a guidewire catheter complete morphology monitoring device provided by the present invention, the first shooting module includes a right neck camera arranged on the right side of the carotid artery, an arch camera arranged on the right side of the aortic arch, and a femoral camera arranged on the right side of the femoral artery, and the second shooting module includes a left neck camera arranged on the left side of the carotid artery.

[0010] According to a device for monitoring the complete morphology of a guidewire catheter provided by the present invention, the mirror reflection device includes: a first mirror reflection device arranged in a first area within the range of an artificial blood vessel, and a second mirror reflection device and a mirror bracket arranged in a second area within the range of the artificial blood vessel, wherein the first mirror reflection device forms an obtuse angle with the horizontal plane; the second mirror reflection device forms an acute angle with the horizontal plane; the mirror bracket is used to support the first mirror reflection device and the second mirror reflection device; the first area is different from the second area.

[0011] According to a guidewire catheter integrity morphology monitoring device provided by the present invention, the first mirror reflection device is arranged in the range from the femoral artery to the upper part of the renal artery, and the second mirror reflection device is arranged in the range of the carotid artery.

[0012] According to the present invention, a device for monitoring the complete morphology of a guidewire catheter also includes: the artificial blood vessel, a base plate, a light source, a whiteboard, an artificial blood vessel stent, an exhaust valve, and a liquid circulation device. The light source is arranged on the entire base plate to illuminate the entire artificial blood vessel area; the whiteboard is parallel to the base plate and is set in the range from the femoral artery to the upper part of the renal artery, and is used to complement the light source to improve the contrast of the image captured by the multi-point shooting module; the artificial blood vessel simulates a real human blood vessel in the range from the femoral artery to the extracranial area; the artificial blood vessel stent is used to support the artificial blood vessel; the exhaust valve is used to remove bubbles generated by liquid circulation in the artificial blood vessel; and the liquid circulation device is used to provide a channel for liquid to circulate in the artificial blood vessel.

[0013] The present invention also provides a method for monitoring the complete morphology of a guidewire catheter, based on the above-mentioned device for monitoring the complete morphology of a guidewire catheter, the method comprising:

[0014] The displacement sensor detects displacement data of the guidewire or catheter, generates a data packet based on the displacement data, and sends the data packet to a host computer;

[0015] The host computer calculates the motion state and movement distance of the guidewire or catheter based on the data packet;

[0016] The multi-point shooting module collects images of the guidewire or catheter moving in the artificial blood vessel and sends the images to the host computer;

[0017] The host computer obtains morphological data of the guidewire or catheter based on the image and performs three-dimensional reconstruction based on the morphological data;

[0018] The image includes the actual guidewire or catheter morphology image in the horizontal position captured by the multi-point shooting module, and the guidewire or catheter morphology image reflected by the mirror reflection device.

[0019] According to a method for monitoring the complete morphology of a guidewire or catheter provided by the present invention, the motion state and movement distance of the guidewire or catheter are calculated based on the data packet, including: verifying the data packet; if the verification passes, inputting the axial displacement information in the data packet into a finite state machine for iteration and state update, thereby obtaining the motion state and movement distance of the guidewire or catheter.

[0020] According to a method for monitoring the complete morphology of a guidewire or catheter provided by the present invention, the morphological data of the guidewire or catheter is obtained based on the image and three-dimensional reconstruction is performed based on the morphological data, including: segmenting the actual guidewire or catheter morphological image in the horizontal position captured by the multi-point shooting module and the guidewire or catheter morphological image reflected by the mirror reflection device to obtain y-axis and z-axis information of the spatial coordinate points of the three-dimensional reconstruction of the blood vessel, as well as x-axis and z-axis information of the spatial coordinate points of the three-dimensional reconstruction of the blood vessel; constraining the obtained coordinate points according to the known center line and blood vessel radius; supplementing the missing dimensional information of the obtained coordinate points according to the similar z-axis information, and determining the coordinate point closest to the center line; constraining the coordinate point closest to the center line according to the blood vessel radius to the blood vessel; and performing three-dimensional reconstruction according to the three-dimensional information corresponding to the coordinate point finally constrained to the blood vessel.

[0021] The device and method for monitoring the complete morphology of a guidewire or catheter provided by the present invention monitor the movement and rotation of the guidewire or catheter using a displacement sensor, thereby achieving proximal tracking of the guidewire or catheter, and using mirror reflection to expand the visible light path within a limited space to cover the movement space of the guidewire or catheter in the entire body. The guidewire or catheter is tracked based on optical images collected at different viewing angles. By combining the proximal displacement sensor and the distal multi-point shooting module, the overall morphology of the guidewire or catheter can be completely reconstructed, thereby achieving the identification, tracking and three-dimensional reconstruction of the guidewire or catheter in the artificial blood vessel under zero-radiation conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is one of the structural schematic diagrams of a device for monitoring the complete morphology of a guidewire catheter provided by the present invention;

[0024] Figure 2 A schematic structural diagram of a displacement sensor in a device for monitoring the complete morphology of a guidewire catheter provided by the present invention;

[0025] Figure 3 This is a second structural diagram of the device for monitoring the complete morphology of a guidewire catheter provided by the present invention;

[0026] Figure 4 This is a schematic structural diagram of a liquid circulation device in the guidewire catheter integrity monitoring device provided by the present invention;

[0027] Figure 5 A schematic flow chart of a method for monitoring the complete morphology of a guidewire catheter provided by the present invention;

[0028] Figure 6 A schematic diagram of a process for calculating the motion state and movement distance of a guidewire or catheter based on a data packet provided by the present invention;

[0029] Figure 7 A schematic diagram of a process for obtaining morphological data of a guidewire or catheter based on an image and performing three-dimensional reconstruction based on the morphological data provided by the present invention;

[0030] Reference numerals:

[0031] 101: Displacement sensor; 102: Multi-point shooting module; 103: Mirror reflection device; 30: Upper cover; 31: Displacement sensor chip; 32: Lens; 33: Replaceable bracket; 34: Base; 1: Bottom plate; 2: Light source; 3: Catheter; 4: Femoral artery access port; 5, 12, 23: Exhaust valve; 6, 11, 16: Vascular stent; 7, 24: Artificial blood vessel; 8: Whiteboard; 9: First mirror reflection device; 10: Femoral camera; 13: Bow camera; 14: Right neck camera; 15: Shooting bracket; 17: Second mirror reflection device; 18: Mirror bracket; 19: Left neck camera; 20: Water inlet; 21: Return water inlet; 22: Radial artery access port; 25: Return water pipe; 26: Water inlet pipe; 27: Guide wire; 28: Catheter displacement sensor; 29: Guide wire displacement sensor. DETAILED DESCRIPTION

[0032] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0033] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0035] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0037] The present invention provides a device for monitoring the complete morphology of a guidewire or catheter, which realizes the identification, tracking, and three-dimensional reconstruction of guidewires or catheters in artificial blood vessels under zero-radiation conditions. It can be used for medical training purposes to improve the professional level of trainees in minimally invasive vascular interventional surgery.

[0038] The following combination Figure 1-Figure 7 The present invention describes a device and method for monitoring the complete morphology of a guidewire catheter.

[0039] Please refer to Figure 1 , Figure 1 This is one of the structural diagrams of a device for monitoring the complete morphology of a guidewire catheter provided by the present invention. Figure 1 As shown, the guidewire catheter complete morphology monitoring device includes: a displacement sensor 101, a multi-point shooting module 102 and a mirror reflection device 103.

[0040] Among them, the displacement sensor 101 is usually set at the tail of the guidewire 27 or the catheter 3, and is used to detect the displacement data of the guidewire or the catheter, and generate a data packet based on the displacement data, and send the data packet to the host computer so that the host computer can calculate the motion state and moving distance of the guidewire or the catheter based on the data packet.

[0041] The present invention utilizes the displacement sensor 101 to track the proximal end of the guidewire or catheter, thereby enabling monitoring of the proximal movement and rotation of the guidewire or catheter without utilizing X-rays.

[0042] The multi-point shooting module 102 is used to capture images of the guidewire 27 or catheter 3 as it moves in the artificial blood vessel, and send the images to the host computer so that the host computer can obtain the morphological data of the guidewire or catheter based on the images and perform three-dimensional reconstruction based on the morphological data.

[0043] It is understood that the multi-point shooting module 102 includes shooting modules set at multiple points. The shooting module can be a depth camera, a color camera, a black and white camera, or a common 2D camera. Other devices capable of capturing clear guidewire or catheter images can also be used as the shooting module in this embodiment, and the present invention is not limited to this.

[0044] Typically, to capture the shape of a guidewire or catheter as it navigates within a graft, a portion of the multi-point capture module is positioned on one side of the graft, while another portion is positioned on the other side. The multi-point capture module can capture the horizontal shape of the guidewire or catheter.

[0045] The mirror reflection device 103 is used to expand the visible light path so as to obtain more dimensional morphological data of the guidewire or catheter when it moves in the artificial blood vessel within a limited space.

[0046] The present invention utilizes the mirror reflection device 103 to construct a visible light path to cover the entire space where the guidewire or catheter moves in the artificial blood vessel. The mirror reflection device 103 can provide a guidewire or catheter morphology that is different from the perspective directly captured by the multi-point shooting module 102, thereby enabling the multi-point shooting module 102 to capture optical images from multiple perspectives, thereby achieving the acquisition of more dimensional morphological data of the guidewire or catheter when it moves in the artificial blood vessel within a limited space.

[0047] The limited space can be the chest cavity and abdominal space of an adult human body. The artificial blood vessels in this embodiment are silicone (nearly transparent) blood vessels.

[0048] In the present invention, the motion state of guide wire or catheter and the solution of moving distance, and the three-dimensional form solution of guide wire or catheter and reconstruction are realized in host computer. Also be the host computer in the present embodiment, for solving the motion state and the moving distance of described guide wire or catheter based on described data packet, based on described image, obtain the form data of guide wire or catheter and carry out three-dimensional reconstruction based on described form data.Host computer can be the motion state that can carry out guide wire or catheter and the solution of moving distance, and the three-dimensional form solution of guide wire or catheter and any electronic device of reconstruction.In certain embodiments, host computer can also be used for display solution result and reconstruction result.

[0049] In some embodiments, if there is a guidewire inside the catheter, the current guidewire position and shape can be calculated based on the current catheter shape collected by the multi-point shooting module 102 and the guidewire entry length calculated according to the data packet sent by the displacement sensor 101. That is, the host computer performs the following steps: receiving the data packet sent by the displacement sensor; calculating the motion state and movement distance of the guidewire or catheter based on the data packet; receiving the image sent by the multi-point shooting module; obtaining the morphological data of the guidewire or catheter based on the image, and performing three-dimensional reconstruction based on the morphological data, or performing three-dimensional reconstruction based on the morphological data and the motion state and movement distance of the guidewire or catheter; wherein the data packet is generated by the displacement sensor based on the displacement data of the detected guidewire or catheter; the image includes the actual guidewire or catheter morphological image in the horizontal position collected by the multi-point shooting module, and the guidewire or catheter morphological image reflected by the mirror reflection device.

[0050] The present invention monitors the movement and rotation of the guidewire or catheter using a displacement sensor, thereby achieving proximal tracking of the guidewire or catheter, and uses mirror reflection to expand the visible light path in a limited space, covering the movement space of the guidewire or catheter in the entire body. The guidewire or catheter is tracked based on optical images collected at different viewing angles. By combining the proximal displacement sensor and the distal multi-point shooting module, the overall shape of the guidewire and catheter can be completely reconstructed, thereby achieving the identification, tracking and three-dimensional reconstruction of the guidewire or catheter in the artificial blood vessel under zero radiation conditions.

[0051] Based on the above examples, please refer to Figure 2 , Figure 2 This is a structural schematic diagram of a displacement sensor in a guidewire catheter integrity morphology monitoring device provided by the present invention.

[0052] like Figure 2 As shown, the displacement sensor 101 includes five parts, which are, from top to bottom, an upper cover 30 , a displacement sensor chip 31 , a lens 32 , a replaceable bracket 33 and a base 34 .

[0053] The upper cover 30 serves as the appearance structure of the displacement sensor 101 and is located above the displacement sensor chip 31 to prevent the displacement sensor chip 31 from being exposed.

[0054] The displacement sensor chip 31 is used to detect guidewire or catheter displacement. It can detect movement along the X-axis or Y-axis, with a maximum detection speed of 150 IPS. The X-axis represents the direction of guidewire or catheter rotation, while the Y-axis represents the direction of catheter advancement or retraction.

[0055] The lens 32 is located below the displacement sensor chip 31 and is used to assist the displacement sensor chip 31 in collecting displacement data of the guidewire or catheter by refraction and focusing of light.

[0056] The replaceable bracket 33 is used to support the guide wire or catheter passing through it. The top of the replaceable bracket 33 of the auxiliary displacement sensor chip 31 has an opening adapted to the size of the lens, and the opening is used to support the lens. The interior of the replaceable bracket 33 is provided with a through hole for the guide wire or catheter to pass through.

[0057] The interchangeable bracket 33 can be flexibly replaced based on the external features of the guidewire or catheter, such as the size and shape of the corresponding guidewire or catheter model. Specifically, the structure of the interchangeable bracket is determined based on the external features of the guidewire or catheter. It should be noted that the distance between the guidewire or catheter and the lens 32 can be adjusted by replacing the bracket.

[0058] The base 34 serves as the bottom support structure of the displacement sensor 101 and is located below the replaceable bracket 33. The base 34 is provided with multiple grooves. The protrusions at the bottom of the replaceable bracket 33 are connected to the grooves of the base, so that the base 34 can support the replaceable bracket 33 and then support the lens 32 and the displacement sensor chip 31.

[0059] In some embodiments of the present invention, the displacement sensor chip 31 is also used to send displacement data to an embedded controller. The embedded controller and the displacement sensor chip 31 are arranged on the same circuit board, and are used to parse the displacement data, generate data packets, and send the data packets to the host computer.

[0060] When the guidewire or catheter moves, it manifests as axial movement in the groove in the base. At this time, the displacement sensor can detect the displacement in the Y-axis direction and exchange data with the embedded controller through the SPI bus. After the embedded controller parses the displacement data, it sends it to the host computer through the USART interface. The dedicated program in the host computer can use the finite state iterative algorithm based on the data packet to calculate the motion state and movement distance of the guidewire or catheter.

[0061] The embedded controller and displacement sensor chip 31 are installed on the same circuit board. The data output by the displacement sensor chip 31 complies with the SPI protocol. Since the data output by the displacement sensor chip 31 contains a lot of unnecessary information and cannot be directly parsed by the host computer, the embedded controller (such as STM32) must perform preliminary parsing and then package the parsed data to send to the host computer. The host computer receives the data packaged by the embedded controller.

[0062] The data packet contains X-axis and Y-axis displacement data within a specific time period, as well as checksum and stop bit data. The algorithm first verifies the data packet. If a checksum error occurs, the data is corrected using the checksum information. This verification is performed to prevent bit errors caused by voltage glitches or distortion during transmission. This verification can be performed using a cyclic redundancy check (CRC) or other verification methods, which are not limited by the present invention.

[0063] The algorithm then inputs the X- and Y-axis displacement data contained in the data packet within a specific timeframe as dx and dy information streams into a finite state machine. The finite state machine then iterates and updates the state, storing the update log in a storage stack. The latest state can be output using various modes, such as APIs, console variables, and databases. The purpose of this state update is to determine the forward and backward movement of the guidewire or catheter, as well as the distance traveled. Ultimately, the guidewire's motion state and distance are calculated, providing data support for subsequent guidewire and catheter reconstruction.

[0064] In some embodiments of the present invention, the artificial blood vessel simulates a real blood vessel from the femoral artery to the extracranial area of ​​the human body. In order to track the guidewire or catheter in the entire range from the femoral artery to the extracranial artificial blood vessel, the present invention sets multiple shooting modules on one side of the artificial blood vessel at the maximum height of the visible range. The multiple shooting modules constitute a first shooting module, and a second shooting module is set on the other side of the artificial blood vessel.

[0065] In some embodiments of the present invention, the multi-point imaging module includes: a first imaging module disposed on one side of the artificial blood vessel, a second imaging module disposed on the other side of the artificial blood vessel, and a imaging bracket for supporting the first and second imaging modules. The imaging bracket is used to ensure imaging stability.

[0066] Specifically, a plurality of shooting modules are provided on the right side of the artificial blood vessel, and the plurality of shooting modules constitute a first shooting module. A second shooting module is provided on the left side of the artificial blood vessel.

[0067] Optionally, the first shooting module includes a right neck camera arranged on the right side of the carotid artery, an arch camera arranged on the right side of the aortic arch, and a femoral camera arranged on the right side of the femoral artery, and the second shooting module includes a left neck camera arranged on the left side of the carotid artery.

[0068] In this way, the present invention can track the guidewire or catheter in the entire range from the femoral artery to the extracranial blood vessels through the multi-point shooting module.

[0069] Furthermore, in order to obtain more dimensional information within a limited space (such as the size of the chest and abdomen of an adult human body) for three-dimensional reconstruction of the guidewire or catheter morphology, the mirror reflection device of the present invention includes: a first mirror reflection device arranged in a first area within the range of an artificial blood vessel, and a second mirror reflection device and a mirror bracket arranged in a second area within the range of the artificial blood vessel.

[0070] The first mirror reflection device forms an obtuse angle with the horizontal plane; the second mirror reflection device forms an acute angle with the horizontal plane; the mirror bracket is used to support the first mirror reflection device and the second mirror reflection device to ensure the stability of the extended optical path; the first area is different from the second area.

[0071] Since the first mirror reflection device forms an obtuse angle with the horizontal plane and the second mirror reflection device forms an acute angle with the horizontal plane, the optical path can be expanded, so that the multi-point shooting module 102 can capture optical images from multiple perspectives, including the horizontal guidewire and catheter morphology, and the top view captured by the mirror reflection device, thereby obtaining more dimensional morphological data of the guidewire or catheter when it moves in the artificial blood vessel in a limited space.

[0072] In some embodiments of the present invention, the first mirror reflecting device is arranged in the range from the femoral artery to the upper part of the renal artery, and the second mirror reflecting device is arranged in the range of the carotid artery. That is, the first area is the range from the femoral artery to the upper part of the renal artery, and the second area is the carotid artery.

[0073] When a guidewire catheter navigates within an artificial blood vessel, two segments of the guidewire or catheter within the camera-captured image are segmented (segment A: the actual guidewire catheter image captured horizontally, and segment B: the guidewire catheter image reflected by a mirror device, carrying coordinate information in a different dimension). Segment A obtains the y and z coordinates for the 3D reconstruction of the vessel, while segment B obtains the x and z coordinates for the 3D reconstruction of the vessel. Segment A is a side view of the vessel captured by the camera and contains only two-dimensional coordinate information in 3D space, corresponding to the y and z axes in a real human vessel model. Segment B is a top view of the vessel captured by the camera via a mirror device and also contains two-dimensional coordinate information, corresponding to the x and z axes in a real human vessel model. The obtained coordinate points are constrained based on the existing centerline and radius. The z values ​​in segments A and B are compared, and the x coordinates in segment B with similar z values ​​are used as the missing x coordinates in segment A. Similarly, segment B uses the y coordinates in segment A with similar z values ​​to supplement the missing y coordinates in segment B. Each point in A and B contains three-dimensional information. The coordinate point with the closest Euclidean distance on the centerline is found and, based on the corresponding radius, the point is constrained to be within the vessel. The point that ultimately meets the requirements represents the three-dimensional morphology of the catheter and guidewire, and a 3D reconstruction is performed. The specific method of 3D reconstruction is not limited in this invention.

[0074] Among them, if there is a guidewire inside the catheter, the current guidewire position and shape are calculated based on the current catheter shape and the guidewire entry length. Based on the above embodiments, the present invention provides a guidewire catheter complete shape monitoring device, which also includes: an artificial blood vessel, a base plate, a light source, a whiteboard, an artificial blood vessel stent, an exhaust valve, and a liquid circulation device;

[0075] Wherein, the light source is arranged on the entire bottom plate to illuminate the entire artificial blood vessel area;

[0076] The whiteboard is parallel to the baseboard and is set in the range from the femoral artery to the upper part of the renal artery to complement the light source to improve the contrast of the image captured by the multi-point shooting module;

[0077] The artificial blood vessels simulate the blood vessels from the femoral artery to the extracranial area of ​​the real human body;

[0078] Artificial blood vessel stents are used to support artificial blood vessels;

[0079] The exhaust valve is used to remove bubbles generated by liquid circulation in the artificial blood vessel;

[0080] The liquid circulation device is used to provide a channel for liquid to circulate in the artificial blood vessel.

[0081] Please refer to Figure 3 , Figure 3 This is the second structural diagram of the device for monitoring the complete morphology of the guidewire catheter provided by the present invention. Figure 3As shown, base plate 1 serves as the base plate of the entire guidewire catheter morphology monitoring device. Light source 2 is arranged throughout base plate 1, illuminating the entire blood vessel area. A catheter displacement sensor 28 is installed at the tail of catheter 3, and a guidewire displacement sensor 29 is installed at the tail of guidewire 27. Whiteboard 8 is parallel to base plate 1 and is located between the femoral artery and the upper part of the renal artery. It complements the light source to enhance the contrast of images captured by the multi-point capture module. 7 and 24 represent artificial blood vessels, and 6, 11, and 16 represent vascular stents. The multi-point capture module includes a right carotid camera 14 located on the right side of the carotid artery, an arch camera 13 located on the right side of the aortic arch, and a femoral camera 10 located on the right side of the femoral artery. The second capture module includes a left carotid camera 19 located on the left side of the carotid artery, and a capture bracket 15. The mirror reflection device includes a first mirror reflection device 9, a second mirror reflection device 17, and a mirror bracket 18. The displacement sensor (catheter displacement sensor 28 or guidewire displacement sensor 29) includes an upper cover 30, a displacement sensor chip 31, a lens 32, a replaceable bracket 33, and a base 34. Exhaust valves 5, 12, and 23 are used to remove bubbles generated by fluid circulation within the artificial blood vessel. The guidewire catheter integrity monitoring device also includes a femoral artery access port 4 and a fluid circulation device. The fluid circulation device includes a water inlet 20, a return water port 21, a radial artery access port 22, a return water pipe 25, and a water inlet pipe 26. Figure 4 This is a schematic diagram of the structure of the guidewire catheter complete morphology monitoring device A provided by the present invention. Figure 4 The water inlet 20 is set on the bottom plate, mainly serving as the water inlet of the entire intravascular liquid circulation. The water inlet pipe 26 is set under the bottom plate and connected to the water inlet 20, serving as the water inlet channel of the intravascular liquid circulation. The return water port 21 is set on the bottom plate, mainly serving as the water outlet of the entire intravascular liquid circulation. The return water pipe 25 is set under the bottom plate and connected to the return water port 21, serving as the water outlet channel of the intravascular liquid circulation. The radial artery intervention port 22 is mainly set at the blood vessel of the arm, which can be used as another access point for the guidewire catheter.

[0082] The present invention monitors the movement and rotation of a guidewire or catheter by utilizing a displacement sensor, and expands the visible light path within a limited space using mirror reflection, thereby covering the travel space of the guidewire or catheter in the entire body. The guidewire or catheter is tracked based on optical images collected at different viewing angles. Moreover, if there is a guidewire inside the catheter, the current guidewire position and shape can be calculated based on the current catheter shape and the guidewire entry length. By combining the proximal displacement sensor with the distal multi-point shooting module, the overall shape of the guidewire catheter can be completely reconstructed, thereby realizing the identification, tracking and three-dimensional reconstruction of the guidewire or catheter in the artificial blood vessel under zero-radiation conditions.

[0083] Please refer to Figure 5 , Figure 5This is a flow chart of a method for monitoring the complete morphology of a guidewire catheter provided by the present invention. The method is implemented based on the device for monitoring the complete morphology of a guidewire catheter described in the above embodiment. The method includes:

[0084] Step 501: A displacement sensor detects displacement data of a guidewire or catheter, generates a data packet based on the displacement data, and sends the data packet to a host computer;

[0085] Specifically, the displacement sensor detects the displacement data of the guidewire or catheter and sends the displacement data to the embedded controller, which analyzes the displacement data, generates a data packet, and sends the data packet to the host computer.

[0086] Step 502: The host computer calculates the motion state and movement distance of the guidewire or catheter based on the data packet;

[0087] Step 503: The multi-point shooting module captures images of the guidewire or catheter moving in the artificial blood vessel and sends the images to the host computer;

[0088] Step 504: The host computer obtains morphological data of the guidewire or catheter based on the image and performs three-dimensional reconstruction based on the morphological data;

[0089] The image includes the actual guidewire or catheter morphology image in the horizontal position captured by the multi-point shooting module, and the guidewire or catheter morphology image reflected by the mirror reflection device.

[0090] Please refer to Figure 6 , Figure 6 A schematic diagram of a process for calculating the motion state and movement distance of a guidewire or catheter based on a data packet provided by the present invention.

[0091] like Figure 6 As shown, step 502 specifically includes:

[0092] Step 5021: Verify the data packet.

[0093] Step 5022: If the verification is passed, the axial displacement information in the data packet is input into the finite state machine for iteration and state update to obtain the motion state and movement distance of the guidewire or catheter.

[0094] Optionally, refer to Figure 7 , Figure 7 A schematic diagram of a process for obtaining morphological data of a guidewire or catheter based on an image and performing three-dimensional reconstruction based on the morphological data provided by the present invention.

[0095] like Figure 7 As shown, step 504 specifically includes:

[0096] Step 5041: Segment the actual guidewire or catheter morphology image captured by the multi-point imaging module in the horizontal position and the guidewire or catheter morphology image reflected by the mirror reflection device to obtain y-axis and z-axis information of the 3D reconstruction space coordinate point of the blood vessel, as well as x-axis and z-axis information of the 3D reconstruction space coordinate point of the blood vessel;

[0097] Step 5042: constrain the obtained coordinate points according to the known center line and blood vessel radius;

[0098] Step 5043: supplement the missing dimension information of the obtained coordinate point based on the similar z-axis information, and determine the coordinate point closest to the center line;

[0099] Step 5044: Based on the blood vessel radius, constrain the coordinate point closest to the center line to be inside the blood vessel;

[0100] Step 5045: Perform three-dimensional reconstruction based on the three-dimensional information corresponding to the coordinate points finally constrained within the blood vessel.

[0101] For an introduction to the guidewire catheter integrity morphology monitoring method provided by the present invention, please refer to the above-mentioned guidewire catheter integrity morphology monitoring device embodiment, which will not be described in detail here.

[0102] The method for monitoring the complete morphology of a guidewire or catheter provided by the present invention monitors the movement and rotation of the guidewire or catheter by using a displacement sensor, and expands the visible light path by using mirror reflection in a limited space, covering the movement space of the guidewire or catheter in the entire body, and tracking the guidewire or catheter based on optical images collected at different viewing angles. Moreover, if there is a guidewire inside the catheter, the current position and morphology of the guidewire can be calculated based on the current catheter morphology and the guidewire entry length. By combining the proximal displacement sensor and the distal multi-point shooting module, the overall morphology of the guidewire catheter can be reconstructed, thereby realizing the identification, tracking and three-dimensional reconstruction of the guidewire or catheter in the artificial blood vessel under zero-radiation conditions.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A device for monitoring the complete morphology of a guidewire catheter, characterized in that: include: Displacement sensor, multi-point shooting module and mirror reflection device, wherein, A displacement sensor is used to detect displacement data of the guidewire or catheter, generate a data packet based on the displacement data, and send the data packet to a host computer so that the host computer can calculate the motion state and movement distance of the guidewire or catheter based on the data packet; a multi-point shooting module for capturing images of the guidewire or catheter as it moves within the artificial blood vessel, and transmitting the images to a host computer, so that the host computer can obtain morphological data of the guidewire or catheter based on the images and perform three-dimensional reconstruction based on the morphological data; A mirror reflection device is used to expand the visible light path to obtain more dimensional morphological data of the guidewire or catheter when it moves in the artificial blood vessel within a limited space; The displacement sensor includes an upper cover, a displacement sensor chip, a lens, a replaceable bracket and a base, wherein: The upper cover serves as the appearance structure of the displacement sensor and is located above the displacement sensor chip to prevent the displacement sensor chip from being exposed. The displacement sensor chip is used to detect the displacement data of the guide wire or catheter; The lens is located below the displacement sensor chip and is used to assist the displacement sensor chip in collecting displacement data of the guidewire or catheter by refraction and focusing of light; The top of the replaceable bracket is provided with an opening adapted to the size of the lens, the opening is used to support the lens, and the interior of the replaceable bracket is provided with a through hole for the guide wire or catheter to pass through; The base serves as the bottom support structure of the displacement sensor and is located below the replaceable bracket. The base is provided with a plurality of grooves, and the protrusions at the bottom of the replaceable bracket are connected to the grooves of the base. The multi-point shooting module includes: a first shooting module arranged on one side of the artificial blood vessel, a second shooting module arranged on the other side of the artificial blood vessel, and a shooting bracket for supporting the first shooting module and the second shooting module; The mirror reflection device includes: a first mirror reflection device arranged in a first area within the range of the artificial blood vessel, and a second mirror reflection device and a mirror bracket arranged in a second area within the range of the artificial blood vessel, wherein the first mirror reflection device forms an obtuse angle with the horizontal plane; the second mirror reflection device forms an acute angle with the horizontal plane; the mirror bracket is used to support the first mirror reflection device and the second mirror reflection device; the first area is different from the second area.

2. The device for monitoring the complete morphology of a guidewire catheter according to claim 1, characterized in that: The displacement sensor chip is further configured to send the displacement data to an embedded controller. The embedded controller and the displacement sensor chip are disposed on the same circuit board and configured to parse the displacement data, generate a data packet, and send the data packet to a host computer.

3. The device for monitoring the complete morphology of a guidewire catheter according to claim 1, characterized in that: The structure of the replaceable stent is determined according to the appearance characteristics of the guide wire or catheter.

4. The device for monitoring the complete morphology of a guidewire catheter according to claim 1, characterized in that: The first shooting module includes a right neck camera arranged on the right side of the carotid artery, an arch camera arranged on the right side of the aortic arch, and a femoral camera arranged on the right side of the femoral artery. The second shooting module includes a left neck camera arranged on the left side of the carotid artery.

5. The device for monitoring the complete morphology of a guidewire catheter according to claim 1, characterized in that: The first mirror reflection device is arranged in the range from the femoral artery to the upper part of the renal artery, and the second mirror reflection device is arranged in the range of the carotid artery.

6. The device for monitoring the complete morphology of a guidewire catheter according to any one of claims 1 to 5, characterized in that: Also includes: The artificial blood vessel, base plate, light source, whiteboard, artificial blood vessel stent, exhaust valve, liquid circulation device, The light source is arranged on the entire bottom plate to illuminate the entire artificial blood vessel area; The whiteboard is parallel to the bottom board and is disposed in the range from the femoral artery to the upper part of the renal artery, and is used to complement the light source to improve the contrast of the image captured by the multi-point shooting module; The artificial blood vessel simulates a real blood vessel from the femoral artery to the extracranial area of ​​the human body; The artificial blood vessel stent is used to support the artificial blood vessel; The exhaust valve is used to remove bubbles generated by liquid circulation in the artificial blood vessel; The liquid circulation device is used to provide a channel for liquid to circulate in the artificial blood vessel.

7. A method for monitoring the complete morphology of a guidewire catheter, based on the device for monitoring the complete morphology of a guidewire catheter according to any one of claims 1 to 6, characterized in that: The method comprises: The displacement sensor detects displacement data of the guidewire or catheter, generates a data packet based on the displacement data, and sends the data packet to a host computer; The host computer calculates the motion state and movement distance of the guidewire or catheter based on the data packet; The multi-point shooting module collects images of the guidewire or catheter moving in the artificial blood vessel and sends the images to the host computer; The host computer obtains morphological data of the guidewire or catheter based on the image and performs three-dimensional reconstruction based on the morphological data; The image includes the actual guidewire or catheter morphology image in the horizontal position captured by the multi-point shooting module, and the guidewire or catheter morphology image reflected by the mirror reflection device.

8. The method for monitoring the complete morphology of a guidewire catheter according to claim 7, characterized in that: Calculating the motion state and movement distance of the guidewire or catheter based on the data packet includes: verifying the data packet; If the verification is passed, the axial displacement information in the data packet is input into a finite state machine for iteration and state update to obtain the motion state and movement distance of the guidewire or catheter.

9. The method for monitoring the complete morphology of a guidewire catheter according to claim 7, characterized in that: The step of obtaining morphological data of the guidewire or catheter based on the image and performing three-dimensional reconstruction based on the morphological data includes: Segmenting the actual guidewire or catheter morphology image in the horizontal position captured by the multi-point shooting module and the guidewire or catheter morphology image reflected by the mirror reflection device to obtain y-axis and z-axis information of the spatial coordinate point of the three-dimensional reconstruction of the blood vessel, as well as x-axis and z-axis information of the spatial coordinate point of the three-dimensional reconstruction of the blood vessel; Constrain the obtained coordinate points according to the known centerline and vessel radius; Supplement the missing dimension information of the obtained coordinate point based on the similar z-axis information, and determine the coordinate point closest to the center line; According to the blood vessel radius, constraining the coordinate point closest to the center line to be inside the blood vessel; Three-dimensional reconstruction is performed based on the three-dimensional information corresponding to the coordinate points finally constrained within the blood vessel.

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