A human body in-motion electrode coordinate positioning and radio frequency ablation system

Abstract

The application discloses a human body in-vivo mobile electrode coordinate positioning and radio frequency ablation system, comprising a total control system, a voltage and current module, a human body in-vivo and in-vitro electrode, an in-vivo mobile electrode coordinate positioning module, an ablation system and a human body in-vivo ablation electrode needle. The application is used for calculating the coordinate position of the in-vivo mobile electrode by the method of measuring the voltage by injecting the current into the human body in-vivo and in-vitro and then by the electrical impedance imaging method, and controlling the electrode of the radio frequency ablation to move to the lesion area, so as to achieve the purpose of the in-vivo mobile electrode coordinate positioning and the accurate radio frequency ablation operation positioning. The function of the real-time in-vivo electrode positioning is realized, and the precision of the ablation operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to coordinate positioning and bioelectrical impedance imaging technology, in particular to a human body internal moving electrode coordinate positioning and radio frequency ablation system. BACKGROUND

[0002] Cardiovascular disease is the most common disease in human, and is one of the most important diseases threatening human health. The morbidity and mortality of cardiovascular disease ranks first among all kinds of diseases. Minimally invasive intervention surgery is a new medical procedure in which a catheter is used to reach a remote lesion site along the lumen of the blood vessel under the guidance of medical imaging equipment, and then a minimally invasive treatment is performed on the lesion site.

[0003] However, in the cardiovascular intervention surgery, for example, the radio frequency ablation surgery for treating arrhythmia caused by myocardium, the ablation catheter needs to be punctured into the vein, and then radio frequency current is emitted for surgery after reaching the precise lesion site along the blood vessel. During the surgery, contrast agent needs to be injected and X-ray imaging needs to be performed to understand the blood vessel structure and lesion position of the patient, and the catheter needs to be pushed and placed under the guidance of X-ray imaging to ensure the accuracy and success rate of the surgery. However, multiple X-ray imaging will cause radiation damage to the patient and medical staff, and the catheter position cannot be positioned in real time, so an imaging positioning system capable of positioning the catheter position in real time and causing little harm to the patient and medical staff is needed. SUMMARY

[0004] In view of the above problems in the prior art, the present application aims to provide a human body internal moving electrode coordinate positioning and radio frequency ablation system, which applies a positioning electrode on the ablation electrode inside the human body, positions the internal electrode position by measuring the voltage distribution outside the human body, and draws the human body structure and electrode position in real time to guide the ablation system to move the electrode.

[0005] Therefore, the technical scheme adopted by the present application is as follows: a human body internal moving electrode coordinate positioning and radio frequency ablation system, comprising a total control system, a voltage and current module, a human body external and internal electrode, an internal moving electrode coordinate positioning module, an ablation system, and a human body internal ablation electrode needle. The voltage and current module comprises a constant current source and a voltage measurement module. The total control system controls the constant current source of the voltage and current module to apply a constant current on the human body external and internal electrode. The voltage measurement module measures the voltage of the human body external and internal electrode, and then transmits the data to the internal moving electrode coordinate positioning module. The internal moving electrode coordinate positioning module calculates the coordinate position of the internal electrode by using an endogenous electrical impedance imaging method, and controls the human body internal ablation electrode needle to move through the ablation system.

[0006] This invention utilizes electrical impedance tomography (EI) to calculate the coordinates of a mobile electrode within the body by injecting current into the body and measuring the voltage. It then controls the movement of the radiofrequency ablation electrode towards the lesion area, achieving precise positioning of the mobile electrode and accurate radiofrequency ablation surgery. This provides real-time in-body electrode positioning, improving the accuracy of the ablation procedure.

[0007] This invention has the advantages of high-precision measurement, real-time positioning, and minimally invasive surgery. The positioning algorithm adopts a brand-new electrical impedance imaging algorithm, which improves the traditional electrical impedance algorithm for global imaging into a method for positioning a single electrode, thereby improving the accuracy of positioning a single moving electrode and realizing rapid and accurate positioning of the ablation electrode needle. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0009] In the diagram: 1-General control system, 2-Voltage and current module, 3-External and internal electrodes of the human body, 4-Internal moving electrode coordinate positioning module, 5-Ablation system, 6-Internal ablation electrode needle. Detailed Implementation

[0010] The present invention will now be described in more detail with reference to the accompanying drawings and embodiments. Because the internal structure is relatively complex, only the relevant structures of the present invention are simplified in the schematic diagram.

[0011] Example 1:

[0012] like Figure 1 As shown, a human body in-body mobile electrode coordinate positioning and radiofrequency ablation system includes a main control system 1, a voltage and current module 2, external and internal human body electrodes 3, an in-body mobile electrode coordinate positioning module 4, an ablation system 5, and an in-body ablation electrode needle 6. The voltage and current module 2 includes a constant current source and a voltage measurement module. The main control system 1 controls the constant current source of the voltage and current module to apply a constant current to the external and internal human body electrodes 3. After the voltage measurement module measures the voltage of the external and internal human body electrodes, it transmits the data to the in-body mobile electrode coordinate positioning module 4, where the coordinate position of the in-body electrode is calculated using an intrinsic electrical impedance imaging method. The movement of the in-body ablation electrode needle 6 is controlled by the ablation system 5.

[0013] The control chip used in the overall control system is the STM32G474 chip.

[0014] The overall control system includes: Figure 1As shown, the overall control system includes control systems for the remaining modules. The current and voltage control system for module 2 (voltage and current) mainly controls the frequency and amplitude of the constant current source, the voltage acquisition frequency, and the amplification factor. The electrode switching system for module 3 (external and internal electrodes) mainly controls the switching of the injected current electrode point and the switching of the measurement electrode point. The control system for module 4 (internal moving electrode coordinate positioning) mainly controls the calculation of the internal moving coordinates and provides navigation direction for the ablation system based on the lesion location. The control system for module 5 (ablation system) mainly controls the movement of the ablation electrode needle according to the navigation direction, thereby controlling and scheduling the operation of the entire system.

[0015] A constant current source can generate sinusoidal constant current signals from 1kHz to 100kHz. The current generated by the constant current source can be expressed as I = A. I sin(2πf I t);

[0016] Where A I f represents the current amplitude. I t represents the frequency of the current, and t represents time.

[0017] The current amplitude and frequency of the constant current source are adjustable, and this is achieved using the AD9833 chip.

[0018] The voltage measurement module can switch between measuring voltage data from multiple electrodes, and is implemented using the internal AD sampling channel of the STM32G474 chip.

[0019] The aforementioned external and internal human electrode 3 includes one movable electrode disposed inside the body and 15 fixed electrodes distributed outside the body. The movable electrode is an independent electrode fixed to the ablation electrode needle inside the body and can move with the ablation electrode needle. The 15 fixed electrodes are relatively evenly distributed on the skin next to the lesion area.

[0020] The in vivo moving electrode coordinate positioning module integrates the current frequency and magnitude of the constant current source and the voltage data measured by the voltage measurement module, and calculates the coordinate position of the in vivo moving electrode using the electrical impedance imaging method.

[0021] First, the human body coefficient matrix [K] is established using the finite element method, and then the voltage vector [V] is obtained by measuring the voltage vector using a voltage measurement module. meas ] = [V1,V2,V3……V n ], where n represents the number of finite element mesh nodes, V n This represents the voltage value at node n.

[0022] The formula for calculating the current vector is [I] = [K]·[V]. meas ]

[0023] Find the maximum value point max[I] in the current vector. The node corresponding to the maximum value point is the coordinate position of the moving electrode in the body.

[0024] Example 2

[0025] This invention provides a method for using a human body mobile electrode coordinate positioning and radiofrequency ablation system, comprising the following steps:

[0026] Step 1: Establish a mathematical and physical model of the human body, draw a three-dimensional human body model diagram, use the finite element method to divide the human body model, and calculate the coefficient matrix [K] of the human body model.

[0027] Step 2: Place electrodes on the outside of the human body and insert the movable electrode into the human body together with the ablation electrode needle inside the human body. Inject current into the movable electrode inside the body through the constant current source in the voltage and current module.

[0028] Step 3: Measure the voltage vector [V] using the voltage measurement module within the voltage and current module. meas ] = [V1,V2,V3……V n ], where n represents the number of finite element mesh nodes, V n This represents the voltage value at the nth node;

[0029] Step four, according to the formula for calculating the current vector, [I] = [K]·[V] meas The current vector is calculated.

[0030] Step 5: Find the maximum value point max[I] in the current vector. The node corresponding to the maximum value point is the coordinate position of the moving electrode in the body. Combined with the 3D human body model drawn in Step 1, mark the coordinates of the moving electrode in the body on the model.

[0031] Step six: The coordinates of the moving electrode inside the body correspond to the coordinates of the ablation electrode needle inside the body. Combined with the location of the lesion area in the model diagram, the ablation electrode needle inside the body is guided to move towards the lesion location.

[0032] The above-described embodiments one and two are merely illustrative of the present invention. After reading the above embodiments, those skilled in the art can make modifications or variations to the present invention based on the inventive concept. These modifications or variations also fall within the technical scope of the claims of this invention.

Claims

1. A system for locating and radiofrequency ablation of mobile electrodes within the human body, characterized in that: The system includes a main control system (1), a voltage and current module (2), external and internal electrodes (3), an internal moving electrode coordinate positioning module (4), an ablation system (5), and an internal ablation electrode needle (6). The voltage and current module (2) includes a constant current source and a voltage measurement module. The main control system (1) controls the constant current source of the voltage and current module (2) to apply a constant current to the external and internal electrodes (3). After the voltage measurement module measures the voltage of the external and internal electrodes (3), it transmits the data to the internal moving electrode coordinate positioning module (4) and calculates the coordinate position of the internal electrode using an endogenous electrical impedance imaging method. The ablation system (5) controls the movement of the internal ablation electrode needle (6). The internal moving electrode coordinate positioning module (4) integrates the current frequency and magnitude of the constant current source and the voltage data measured by the voltage measurement module, and calculates the coordinate position of the internal moving electrode using an electrical impedance imaging method. Specifically, it includes: First, the human body coefficient matrix [K] is established using the finite element method, and then the voltage vector [V] is obtained by measuring the voltage vector using a voltage measurement module. meas ] = [V1,V2,V3……V n ], where n represents the number of finite element mesh nodes, V n This represents the voltage value at node n; The formula for calculating the current vector is [I] = [K]·[V]. meas ] Find the maximum value point max[I] in the current vector. The node corresponding to the maximum value point is the coordinate position of the moving electrode in the body.

2. The human body mobile electrode coordinate positioning and radiofrequency ablation system according to claim 1, characterized in that: The overall control system (1) includes: a current and voltage control system, an electrode switching system, an in vivo moving electrode coordinate positioning module control system, and an ablation system control system, which realizes the control and scheduling of the entire system's operation.

3. The human body mobile electrode coordinate positioning and radiofrequency ablation system according to claim 1, characterized in that: The constant current source generates a sinusoidal constant current signal of 1kHz-100kHz, and the current generated by the constant current source can be expressed as I = A. I sin(2πf I t), Where A I f represents the current amplitude. I The frequency of the current is represented by t, and time is represented by t. The current amplitude and frequency of the constant current source are both adjustable.

4. The human body mobile electrode coordinate positioning and radiofrequency ablation system according to claim 1, characterized in that: The aforementioned external and internal electrodes (3) include one movable electrode disposed inside the body and 15 fixed electrodes disposed outside the body.

5. The human body mobile electrode coordinate positioning and radiofrequency ablation system according to claim 4, characterized in that: The movable electrode is an independent electrode fixed to the ablation electrode needle inside the human body and can move along with the ablation electrode needle.

6. The human body mobile electrode coordinate positioning and radiofrequency ablation system according to claim 4, characterized in that: The 15 fixed electrodes are evenly distributed on the human skin in the lesion area.

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