An interventional medical instrument positioning method

Abstract

The application provides an interventional medical instrument positioning method, comprising the following steps: inlaying a group of radio frequency electrodes for emitting radio frequency of different frequencies on the interventional medical instrument; arranging a group of receiving devices for receiving corresponding radio frequency; positioning the signal emission source after the radio frequency signal is received by the receiving device; after the ranging results of radio frequency signals of different frequency bands are obtained, the ranging results are analyzed and calibrated by using a radio frequency ranging algorithm to obtain the distance and spatial coordinates. The application has the advantages of no strong radiation, safety and high efficiency, high imaging integrity, wider application range, easier integration in various parts of medical instruments, and truly realizes visual operation.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a method for positioning interventional medical devices. Background Technology

[0002] Current radio frequency (RF) positioning technologies are significantly affected by environmental interference, have poor anti-interference capabilities, limited positioning distance, and low accuracy. For example, positioning methods based on RSS (Received Signal Strength) are limited by the large fluctuations in RSS itself and sensitivity to environmental interference, making it difficult to further improve accuracy. Positioning methods based on TOA (Time of Arrival) and TDOA (Time Difference of Arrival) require high precision in time measurement, but due to the low communication rate of passive RF systems, it is difficult to observe precise time. In summary, RF positioning technologies have a narrow range of applications, poor positioning accuracy, and few practical applications.

[0003] Current mainstream interventional surgeries employ positioning methods such as magnetic navigation and optical positioning. These systems can only determine the position and orientation of relevant instruments under limited circumstances. Furthermore, the sensors in existing systems cannot be miniaturized to accommodate the use of multiple sensors in interventional surgeries.

[0004] In interventional procedures, contrast-enhancing rings are generally used to position instruments, but they cannot provide precise location or three-dimensional morphological reconstruction of these instruments. Contrast-enhancing rings also require the use of fluoroscopic equipment, increasing the exposure time of both the surgeon and patient under radiation during the procedure. Furthermore, contrast-enhancing rings cannot be installed at arbitrary locations on the instruments, so some critical contour points of the instruments cannot be visualized through them.

[0005] Therefore, in interventional surgery, especially in scenarios where three-dimensional instrument positioning is highly demanding, existing positioning systems are unable to achieve a very good intuitive effect.

[0006] Therefore, in order to solve the problems of narrow applicability, poor positioning accuracy, inability to miniaturize, and inability to display key contour points in existing technologies, there is an urgent need to provide a positioning scheme that can accurately grasp the position and shape information of interventional medical devices, so that the three-dimensional position information of interventional medical devices can be reconfirmed after they move to the next predetermined position, thereby improving the safety of surgery. Summary of the Invention

[0007] The purpose of this invention is to solve the problems of weak anti-interference ability, narrow application range and poor positioning accuracy of existing methods, and to provide a positioning method for interventional medical devices, so as to accurately grasp the position and shape information of interventional medical devices during interventional treatment.

[0008] To achieve this objective, the present invention provides a method for positioning interventional medical devices, comprising the following steps:

[0009] A set of radio frequency electrodes for emitting radio frequencies of different frequencies are embedded in the interventional medical device; a set of receiving devices for receiving the corresponding radio frequency frequencies are arranged; after the receiving device receives the radio frequency signal, the signal emission source is located; after obtaining the ranging results of radio frequency signals of different frequency bands, the obtained ranging results are analyzed and calibrated using radio frequency ranging algorithms to obtain the distance and spatial coordinates.

[0010] Analyzing the ranging results using algorithms involves calculating the deviation between the ranging results of each frequency band radio frequency signal and other sets of data, identifying a set of results with relatively small deviations from the others, and then using this set of radio frequency signals as the frequency with the highest anti-interference capability and accuracy in this environment. The ranging results after position calibration based on the transmission matrix arrangement are then averaged to obtain the final positioning result.

[0011] Analyzing the ranging results using algorithms involves performing clustering algorithms on the ranging results generated by different radio frequency signals. In this context, the clustered groups are defined as accurate groups and severely interfered groups. The ranging data of the severely interfered groups are discarded, and the deviation of the accurate groups is analyzed to obtain the final selected ranging results. The average of these results yields the final ranging result.

[0012] Radio frequency (RF) electrodes can be tunable. Separating signal transmissions across different frequency bands refers to separating them in terms of timing. Precisely locating the signal transmitter can utilize a bilateral, bidirectional ranging algorithm. Accurately locating the spatial coordinates of this group of RF signals involves obtaining the real-time three-dimensional coordinates of the RF signal transmitter in the spatial coordinate system using a trilateration algorithm.

[0013] Interventional medical devices can be balloon catheters, with a set of electrodes arranged on the surface of the balloon. After the balloon is fully inflated, the actual degree of inflation of the balloon can be precisely matched based on the positioning of the electrodes.

[0014] The beneficial effects of this invention are that it is free of strong radiation, safe and efficient, and reduces the radiation exposure time of doctors and patients during surgery. The solution also has the advantages of high imaging integrity, wider application range, and easier integration into various parts of medical devices, and truly realizes visualized surgical operation.

[0015] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a positioning scheme according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of a positioning scheme according to an embodiment of the present invention;

[0019] Figure 3 This is a flowchart of a radio frequency tuning algorithm according to an embodiment of the present invention;

[0020] Figure 4 This is a flowchart of a radio frequency tuning algorithm according to another embodiment of the present invention;

[0021] Figure 5 This is a flowchart of the three-dimensional positioning and visualization scheme of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. 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 claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] The present invention will now be described in further detail so that those skilled in the art can implement it based on the description.

[0024] First, please refer to... Figure 1 , Figure 1 This is a schematic diagram of a positioning scheme according to an embodiment of the present invention. Figure 1 The diagram illustrates an embodiment of a catheter positioning scheme for interventional medical devices. The catheter 1 used in the interventional medical device has a hole 2 drilled in its wall, and electrodes 3 are attached inside the hole and sealed to increase safety. It is connected to the external system via wiring within the catheter, allowing for signal analysis, algorithm calculation, and real-time imaging. This invention can employ different electrode arrangements and radio frequency schemes to suit various types of interventional medical devices.

[0025] Then please refer to Figure 2 , Figure 2 This is a flowchart illustrating a positioning scheme according to an embodiment of the present invention. Figure 2 As shown, the positioning process begins first, and the signal is sent to the signal processor. After passing through the RF tuning algorithm, it is sent to the signal controller, then to the RF signal generator, then through the RF electrodes to the RF receiver, then through the high-precision ranging algorithm to the signal generator, and finally the result is output.

[0026] Then please refer to Figure 3 , Figure 3 This is a flowchart of a radio frequency tuning algorithm according to an embodiment of the present invention. Figure 3 As shown, the RF electrode group first includes RF electrode A, RF electrode B, and so on up to RF electrode N. The signal emitted by the RF electrodes is processed by the bilateral bidirectional ranging algorithm and then sent to the RF receiver. The ranging result is processed by the RF tuning algorithm to obtain the RF frequency band calculated after RF tuning, and then the accurate ranging result is obtained.

[0027] Then please refer to Figure 4 , Figure 4 This is a flowchart of a radio frequency (RF) tuning algorithm according to another embodiment of the present invention. In this embodiment, the RF electrode is an adjustable video electrode, which transmits RF bands A, B, and up to N. All RF bands are processed by a bilateral bidirectional ranging algorithm and then sent to the RF receiver. The ranging results are then processed by the RF tuning algorithm to obtain the RF bands after RF tuning, finally yielding an accurate ranging result.

[0028] pass Figure 3 and Figure 4 The demonstrated RF tuning algorithm dynamically adjusts the RF bandwidth and frequency band, and optimizes the timing logic of RF transmission to avoid interference and improve accuracy. Based on this, it calibrates the feedback of RF signals at different frequencies, performing algorithm calibration sequentially to calibrate the ranging results and achieve high-precision ranging.

[0029] Based on this, the real-time three-dimensional coordinates of the radio frequency signal transmitter in the spatial coordinate system are obtained through a trilateration algorithm. By locating multiple signal sources, a real-time three-dimensional reconstruction of the interventional device's morphology is constructed, achieving high-precision real-time three-dimensional positioning of the device.

[0030] Finally, please refer to... Figure 5 , Figure 5 This is a flowchart of the three-dimensional positioning and visualization solution of the present invention. Figure 5As shown, the signal emitted by the frequency-tunable electrode is precisely located by the electrode optimization algorithm, the precise radio frequency positioning and ranging algorithm, and the spatial trilateration algorithm. Then, the three-dimensional reconstruction of the medical device contour is obtained through feature point positioning, thereby realizing the visualization of the surgical procedure.

[0031] In some embodiments, when this positioning scheme is applied to balloon catheters, a set of electrodes can be arranged on the surface of the balloon. After the balloon is fully inflated, the actual degree of inflation of the balloon can be accurately matched based on the positioning of the electrodes. When this positioning scheme is applied to mapping electrodes, radio frequency transmitters are placed at various locations and positioned accordingly, so that the specific location of the mapping electrodes can be accurately obtained without the use of fluoroscopy.

[0032] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the present invention. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method for positioning interventional medical devices, characterized in that... Includes the following steps: A set of radio frequency (RF) electrodes for emitting different frequencies is embedded in an interventional medical device. Using tunable RF electrodes, the signal transmission of each frequency band is separated in terms of timing. A set of receiving devices for the corresponding RF frequencies is deployed. After the receiving devices receive the RF signals, the signal source is located. After obtaining the ranging results of different frequency band RF signals, the ranging results are analyzed and calibrated using an RF ranging algorithm. Algorithm analysis refers to performing a clustering algorithm on the ranging results after different RF signals generate ranging results. In this environment, the clustered results... The groups are defined as a precise group and a severely interfered group. The ranging data of the severely interfered group is discarded, and the deviation of the precise group is further analyzed. The radio frequency optimization algorithm dynamically adjusts the radio frequency bandwidth and frequency band, and optimizes the timing logic of radio frequency transmission to avoid interference and improve accuracy, so as to obtain distance and spatial coordinates and achieve real-time high-precision three-dimensional positioning of the device. The interventional medical device is a balloon catheter with a set of electrodes arranged on the surface of the balloon. After the balloon is fully inflated, the actual degree of inflation of the balloon is accurately matched according to the positioning of the electrodes.

2. The method for positioning interventional medical devices as described in claim 1, characterized in that... The positioning signal transmitter uses a bilateral two-way ranging algorithm.

3. The method for positioning interventional medical devices as described in claim 1, characterized in that... The spatial coordinates are obtained by using a trilateration algorithm to obtain the real-time three-dimensional coordinates of the radio frequency signal transmitter in the spatial coordinate system.

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