A system for placing a chest lead of an electrocardiogram based on vibration signal analysis

Abstract

The present application relates to a kind of electrocardiogram chest lead placement system based on vibration signal analysis, including examination bed, mechanical arm, chest lead and controller, the multiple pressure sensors of examination bed surface matrix arrangement synchronous acquisition data;Mechanical arm is connected with chest lead, and multiple vibration sensors are arranged on the side of chest lead;Controller obtains human pressure data by pressure sensor and constructs human pressure distribution image, and then calculates the projection coordinates of each intercostal space, sternum and clavicular midline on examination bed plane;Controller also drives mechanical arm to drive chest lead to move to the above corresponding lead position projection coordinates, contacts chest wall in certain direction, applies pressure and keeps;Controller calculates the nature of each direction adjacent tissue of chest lead and chest wall contact area according to the vibration signal collected by vibration sensor, to adjust the placement position of chest lead.Compared with prior art, the present application realizes electrocardiogram chest lead placement automation and standardization, with the advantages of convenient operation, efficient and accurate etc..

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrocardiogram chest lead, and particularly relates to an electrocardiogram chest lead placement system based on vibration signal analysis. BACKGROUND

[0002] A conventional electrocardiogram examination needs to place chest leads, and the identification colors are red, yellow, green, brown, black and purple, and the numbers are V1, V2, V3, V4, V5 and V6 respectively.

[0003] The placement positions of the chest leads are as follows:

[0004] V1 lead: the 4th intercostal space of the right sternal border.

[0005] V2 lead: the 4th intercostal space of the left sternal border.

[0006] V3 lead: the midpoint of the line connecting V2 and V4.

[0007] V4 lead: the left midclavicular line and the 5th intercostal space.

[0008] V5 lead: the left anterior axillary line and the same horizontal position of V4.

[0009] V6 lead: the same horizontal position of V4 at the midaxillary line.

[0010] The existing chest lead positions are distinguished according to the color identification, and in actual use, the placement order error may occur; the electrode position placed manually is based on visual subjective judgment, and the electrode position may deviate from the standard position. The chest lead placement order error or position deviation may cause the electrocardiogram pattern to change, and the electrocardiogram diagnosis may deviate, and thus an incorrect diagnosis conclusion is caused.

[0011] The fixation of the chest lead is currently mostly the rubber suction ball, and the suction ball aging may leak, the internal pressure is reduced, and thus the quality of the recorded electrocardiogram waveform is reduced, and in a serious case, an incorrect diagnosis conclusion is caused.

[0012] The electrocardiogram acquisition process needs the participation of medical staff, and thus the doctor-patient contradiction is easily caused, and the privacy of the examinee is easily leaked.

[0013] The vibration needs an elastic medium to propagate, and the gas, liquid and solid can be used as the propagation medium; the propagation speed, vibration transmission rate and vibration attenuation rate of the vibration are different due to the different medium. SUMMARY

[0014] The present application relates to the technical field of electrocardiogram chest lead, and particularly relates to an electrocardiogram chest lead placement system based on vibration signal analysis.

[0015] The present application relates to the technical field of electrocardiogram chest lead, and particularly relates to an electrocardiogram chest lead placement system based on vibration signal analysis.

[0016] An electrocardiogram chest lead placement system based on vibration signal analysis, characterized by comprising an examination bed, a robotic arm, chest leads, and a controller. The examination bed surface is provided with a plurality of pressure sensors arranged in a matrix for synchronously collecting data, for collecting human body pressure data. The robotic arm is connected to the chest leads, and a plurality of vibration sensors are provided on the sides of the chest leads for collecting vibration signals in the contact area between the chest leads and the chest wall.

[0017] The controller is communicatively connected to the examination bed, the robotic arm and the chest leads respectively;

[0018] The controller obtains human body pressure data and constructs a human body pressure distribution image through the examination bed pressure sensor, and then calculates the projection coordinates of each intercostal space, sternum and clavicle midline on the examination bed plane; the controller also drives the robotic arm to move the chest lead to the top of the corresponding projection coordinate, contact the chest wall in a certain direction, apply pressure and maintain it; the controller calculates the properties of adjacent tissues in each direction of the contact area between the chest lead and the chest wall based on the vibration signal collected by the vibration sensor, thereby adjusting the placement of the chest lead.

[0019] Furthermore, the cross-section of the chest lead is semi-elliptical, with a curved tip at the top and a flat bottom; the top of the chest lead is used to contact the chest wall of the subject, and the bottom is connected to the robotic arm; the top center area of ​​the chest lead is a metal electrode for collecting electrocardiogram signals.

[0020] Furthermore, the vibration sensors are arranged near the tip of the side of the chest lead and are distributed in a ring shape, and the vibration signal area collected is also ring-shaped.

[0021] Furthermore, the chest lead includes a V2 lead, and the controller drives the robotic arm to drive the V2 lead to the calculated projection coordinates (x2, y2) of the 4th intercostal space on the left edge of the sternum on the examination bed plane, and contacts the chest wall in a direction perpendicular to the examination bed plane, applies pressure and maintains it; based on the vibration signal collected by the vibration sensor, calculate whether the left, upper and lower sides of the contact area between the V2 chest lead and the chest wall are bone tissue, and whether the right side is soft tissue; if not, adjust the position of the V2 lead through the robotic arm, and re-judge whether the left, upper and lower sides of the contact area are all bone tissue and whether the right side is soft tissue based on the vibration signal; if so, complete the placement of the V2 lead.

[0022] Further, the chest lead further comprises a V4 lead, the controller drives the mechanical arm to carry the V4 lead to the calculated projection coordinates (x4, y4) of the fifth intercostal space in the midline of the clavicle on the examination bed plane, contacts the chest wall in a direction perpendicular to the examination bed plane, applies pressure and keeps; according to the vibration signal collected by the vibration sensor, it is judged whether the upper side and the lower side of the contact area of the V4 chest lead and the chest wall are bone tissue, and whether the left side and the right side are soft tissue, if not, adjust the position of the V4 lead through the mechanical arm, and judge again according to the vibration signal whether the upper side and the lower side of the contact area are bone tissue, and whether the left side and the right side are soft tissue, if yes, the placement of the V4 lead is completed.

[0023] Further, the controller extracts the heart vibration signal according to the vibration signal collected by the vibration sensor, calculates the propagation speed, vibration transmission rate and vibration attenuation rate of the heart vibration in each direction of the contact area of the chest lead and the chest wall according to the amplitude, frequency, period and phase of the heart vibration signal, and compares the propagation speed, vibration transmission rate and vibration attenuation rate of the heart vibration in each direction, so as to calculate the properties of the adjacent tissues in each direction of the contact area of the chest lead and the chest wall.

[0024] Compared with the prior art, the present application has the following advantages:

[0025] (1) The present application automatically completes the placement of the chest lead by using the mechanical arm. In the process of determining the placement position of the chest lead, the approximate position is first obtained through the pressure distribution image of the examinee on the examination bed, and then the vibration data in each direction of the contact point is obtained through the vibration sensor arranged on the chest lead, so as to distinguish whether it is bone tissue, so as to adjust the accurate position of the chest lead placement according to the distribution of the bone tissue, thereby realizing accurate and efficient chest lead placement.

[0026] (2) The present application realizes the determination of the position of the chest lead by arranging the vibration sensor on the chest lead and judging whether it is bone tissue based on the propagation speed and vibration attenuation rate of the vibration signal, so that the identification mode based on the vibration signal is more convenient and accurate.

[0027] (3) The present application realizes the automation and standardization of electrocardiogram chest lead placement through human-computer interaction, and improves the recording quality.

[0028] (4) In the prior art, the invention with publication number CN114403882A discloses an electrocardiogram chest lead placement system, which calculates the hardness and properties of the adjacent tissue at the contact position of the chest lead and the chest wall according to the slope of the displacement-pressure data curve of the chest lead, while the present application calculates the tissue properties according to the propagation speed, vibration transmission rate and vibration attenuation rate of the heart vibration in the contact area of the chest lead and the chest wall. Compared with the prior art, the present application adopts a different technical route. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 This is a schematic diagram of the connection status of a chest lead provided in an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a chest lead signal acquisition area provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of a chest lead placement process of an electrocardiogram chest lead placement system based on vibration signal analysis provided in an embodiment of the present invention;

[0032] In the figure, 1. Chest lead, 2. Vibration sensor, 3. Robotic arm. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing 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 operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0037] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0039] Example 1

[0040] This embodiment provides an electrocardiogram chest lead 1 placement system based on vibration signal analysis, comprising an examination bed, a robotic arm 3, a chest lead 1, and a controller.

[0041] The surface of the examination bed is arranged in a matrix with multiple pressure sensors that collect data synchronously at high frequency. The collected pressure data and sensor identification are transmitted to the controller, which processes the pressure data collected at the same time point to construct a human body pressure distribution image.

[0042] like Figure 1 As shown, the top of the chest lead 1 is a curved tip and the bottom is a flat surface. The top of the chest lead 1 is used to contact the chest wall of the subject and the bottom is connected to the robotic arm 3. The cross-section of the chest lead 1 is semi-elliptical.

[0043] The vibration sensor 2 is a three-dimensional ring structure, which is set on the proximal tip of the chest lead 1 and is used to collect the vibration signal of the contact area between the chest lead 1 and the chest. Figure 2 As shown, the black area collects human electrocardiogram signals, and the gray area collects human vibration signals.

[0044] The general working principle of this ECG chest lead placement system is:

[0045] like Figure 3 As shown, the controller obtains human body pressure data through the examination bed and constructs a human body pressure distribution image, and then calculates the projection coordinates of each intercostal space, sternum and clavicle midline on the examination bed plane; the controller also drives the robotic arm to move the chest lead to the top of the corresponding chest lead placement position projection coordinate, in a direction perpendicular to the examination bed plane to contact the chest wall, apply pressure and maintain it; the moving robotic arm calculates the properties of adjacent tissues in each direction of the contact area based on the vibration signal collected by the vibration sensor, and thus adjusts the placement position of the chest lead. After the position is determined, the chest lead is still in contact with the chest wall in a certain direction, and pressure is applied and maintained.

[0046] The principle of judging bone tissue based on vibration signals is:

[0047] Vibration is a universal phenomenon in the universe, broadly categorized as macroscopic vibrations (such as earthquakes and tsunamis) and microscopic vibrations (thermal motion and Brownian motion of elementary particles). Heart sounds and respiratory sounds are essentially vibrations. The propagation of vibrations is dependent on the physical properties of the medium. Different media result in different propagation speeds, transmissibility rates, and attenuation rates.

[0048] Therefore, it is possible to determine whether adjacent tissues in all directions are bone tissues based on the propagation speed, vibration transmission rate and vibration attenuation rate of the vibration signal.

[0049] The specific implementation process of the electrocardiogram chest lead placement system in this embodiment is as follows:

[0050] This electrocardiogram chest lead placement system can realize the automatic placement of V1 lead, V2 lead, V3 lead, V4 lead, V5 lead and V6 lead, and each lead is driven by a corresponding robotic arm.

[0051] When using, the person being examined lies flat on the examination bed and relaxes his whole body.

[0052] The surface of the examination bed is arranged in a matrix with pressure sensors that collect data synchronously at high frequency. The collected pressure data and sensor identification are transmitted to the controller, which processes the pressure data collected at the same time point to construct a human body pressure distribution image.

[0053] The controller processes the human body pressure distribution image in the following ways:

[0054] A three-dimensional coordinate system was established with the human body's central axis as the x-axis, the straight line perpendicular to the x-axis and passing through the occipital bone and the center point of the pressure area of ​​the examination bed as the y-axis, the xy plane as the horizontal plane of the examination bed, and the z-axis as the straight line passing through the origin and perpendicular to the xy plane.

[0055] Based on the human body pressure distribution image, image recognition technology is used to calculate the position coordinates of the bony landmarks on the lumbar and back on the xy plane. Based on the position coordinates of the bony landmarks on the lumbar and back, the projection coordinates of each intercostal space, sternum, and clavicle midline on the xy plane are calculated.

[0056] The procedure for lead V2 placement involves the following steps:

[0057] The control program stored in the controller issues instructions to drive the first robotic arm, which moves the V2 lead to the calculated xy-plane projection coordinates (x2, y2) above the fourth intercostal space at the left edge of the sternum. The lead contacts the chest wall skin perpendicular to the horizontal plane with a certain pressure. Vibration signals collected by the vibration sensor confirm that the contact area between the V2 lead and the skin is bone tissue in all three directions (left: right edge of the sternum, upper: lower edge of the fourth rib, lower: upper edge of the fifth rib). The actual coordinates of the V2 lead (x'2, y'2, z'2) are calculated based on the angles of the robotic arm's joints (Note: ' represents the actual coordinate value, the same applies below).

[0058] The V1 lead placement procedure involves the following steps:

[0059] The main control program calculates the coordinates of the V1 lead (x1, y1) based on the actual coordinates of the V2 lead, where x1 = x2', y1 = -y2'; the main controller drives the second robotic arm to drive the V1 lead above the coordinates (x1, y1), so that the V1 lead contacts the chest wall perpendicular to the xy plane, applies pressure and maintains it.

[0060] The main control program issues a command to drive the third robotic arm, which moves the V4 lead to the calculated xy-plane projection coordinates (x4, y4) of the fifth intercostal space on the midclavicular line. The arm then contacts the chest wall skin perpendicular to the horizontal plane with a certain pressure. The vibration signal characteristics collected by the vibration sensor confirm that the contact point between the V4 lead and the skin is bone tissue in both directions (the upper side is the lower edge of the fifth rib, and the lower side is the upper edge of the sixth rib). The actual coordinates of the V4 lead (x'4, y4, z'4) are calculated based on the angles of the robotic arm's joints.

[0061] The V3 lead placement procedure includes the following steps:

[0062] Based on the positions of leads V2 and V4, the master control program issues a command to drive the fourth robotic arm to move lead V3 above the calculated position, contacting the chest wall skin perpendicularly with a certain pressure. The actual coordinates of lead V3 (x3, y3, z'3) are calculated based on the angles of the robotic arm's joints.

[0063] The V6 lead placement procedure includes the following steps:

[0064] The position of lead V6 is calculated based on the positions of leads V2, V3, and V4: x6 = x'4, z6 = (z'2 + z'3 + z'4) / 6. This means that the z-coordinate of lead V6 is half the arithmetic mean of the z-coordinates of leads V2, V3, and V4. The main control program issues a command to drive the fifth robotic arm, which moves lead V6 between the left chest wall and the left upper arm. It then moves down to the z6 level, perpendicular to the xz plane, and contacts the chest wall skin with a certain pressure. The actual coordinates of lead V6 (x6, y'6, z6) are calculated based on the angles of the robotic arm's joints.

[0065] The V5 lead placement procedure includes the following steps:

[0066] The main controller constructs the three-dimensional contour of the left chest wall based on the human body pressure distribution image and the actual coordinates of the points where leads V2, V3, V4, and V6 contact the chest wall. It also calculates the contour coordinates of the left chest wall on the yz plane where lead V4 is located. It also calculates the coordinates of the center point of the arc between the points where lead V4 contacts the chest wall and the point where lead V6 contacts the chest wall. These coordinates are the coordinates of lead V5 (x5, y5, z5).

[0067] The main controller drives the robotic arm to move the V5 lead to contact the chest wall at an angle perpendicular to the chest wall at (x5, y5, z5), apply pressure and maintain it.

[0068] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An electrocardiogram chest lead placement system based on vibration signal analysis, characterized in that: The system includes an examination bed, a robotic arm, chest leads, and a controller. Multiple pressure sensors are arranged in a matrix on the surface of the examination bed to collect data synchronously, for collecting human body pressure data. The robotic arm is connected to the chest leads, and multiple vibration sensors are set on the side of the chest leads to collect vibration signals in the contact area between the chest leads and the chest wall. The controller is communicatively connected to the examination bed, the robotic arm and the chest leads respectively; The controller obtains human body pressure data and constructs a human body pressure distribution image through the examination bed pressure sensor, and then calculates the projection coordinates of each intercostal space, sternum and clavicle midline on the examination bed plane; the controller also drives the robotic arm to move the chest lead to the top of the corresponding projection coordinate, contact the chest wall in a certain direction, apply pressure and maintain it; the controller calculates the properties of adjacent tissues in each direction of the contact area between the chest lead and the chest wall based on the vibration signal collected by the vibration sensor, thereby adjusting the placement of the chest lead.

2. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1, characterized in that: The cross-section of the chest lead is semi-elliptical, with a curved tip at the top and a flat bottom; the top of the chest lead is used to contact the chest wall of the subject, and the bottom is connected to the robotic arm; the top center area of ​​the chest lead is a metal electrode for collecting electrocardiographic signals.

3. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 2, characterized in that: The vibration sensors are arranged near the tip of the side of the chest lead and are distributed in a ring shape, and the vibration signal area collected is also in a ring shape.

4. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1, characterized in that: The chest leads include a V2 lead. The controller drives the robotic arm to move the V2 lead to the calculated projection coordinates (x2, y2) of the 4th intercostal space on the left edge of the sternum on the examination bed plane, contacting the chest wall in a direction perpendicular to the examination bed plane, applying and maintaining pressure; based on the vibration signal collected by the vibration sensor, calculate whether the left, upper and lower sides of the contact area between the V2 chest lead and the chest wall are bone tissue, and whether the right side is soft tissue. If not, adjust the position of the V2 lead through the robotic arm, and re-determine based on the vibration signal whether the left, upper and lower sides of the contact area are all bone tissue, and whether the right side is soft tissue. If so, the placement of the V2 lead is completed.

5. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 4, characterized in that: The chest leads also include a V4 lead. The controller drives the robotic arm to drive the V4 lead to the calculated projection coordinates (x4, y4) of the 5th intercostal space on the midclavicular line above the examination bed plane, and contacts the chest wall in a direction perpendicular to the examination bed plane, applies pressure and maintains it; based on the vibration signal collected by the vibration sensor, calculate whether the upper and lower sides of the contact area between the V4 chest lead and the chest wall are bone tissue, and whether the left and right sides are soft tissue. If not, adjust the position of the V4 lead through the robotic arm, and re-judge based on the vibration signal whether the upper and lower sides of the contact area are both bone tissue, and whether the left and right sides are soft tissue. If so, the placement of the V4 lead is completed.

6. The electrocardiogram chest lead placement system based on vibration signal analysis according to claim 1, characterized in that: The controller extracts the cardiac vibration signal based on the vibration signal collected by the vibration sensor, calculates the propagation speed, vibration transmission rate and vibration attenuation rate of the cardiac vibration in each direction of the contact area between the chest lead and the chest wall based on the amplitude, frequency, period and phase of the cardiac vibration signal, compares the propagation speed, vibration transmission rate and vibration attenuation rate of the cardiac vibration in each direction, and thus calculates the properties of the adjacent tissues in each direction of the contact area between the chest lead and the chest wall.

Images