Precise catheter tip positioning method and system based on electrocardiogram guidance

Abstract

The invention provides a catheter tip accurate positioning method and system based on electrocardiogram guidance. The method is applied to a control module of a catheter tip accurate positioning device. The method comprises the following steps: acquiring a standard electrocardiogram corresponding to a to-be-positioned patient, and constructing P-wave baseline features of the patient according to the standard electrocardiogram; when the catheter is inserted into a preset area of a patient, electrocardiogram detection information sent by an electrocardiogram sensing module of the device is obtained and analyzed, and waveform information of P waves is obtained; obtaining first change information and second change information according to the P-wave baseline characteristics and the waveform information so as to obtain first position information corresponding to the catheter; if it is confirmed that the P wave is obviously increased when the catheter is inserted according to the P wave variability information and it is confirmed that the distance between the catheter and the right atrium is smaller than the preset distance according to the first position information, pushing of the catheter is stopped, and accurate positioning of the catheter tip is completed. The accuracy of catheterization is improved through electrocardiogram guidance, and the safety and accuracy of overall operation are improved.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, which is applied in the medical field, and in particular to a method and system for accurately positioning the tip of a catheter based on electrocardiogram guidance. Background Art

[0002] Peripherally Inserted Central Catheter (PICC) refers to inserting a thin catheter into the patient's arm vein and then sending it to the large vein near the heart. The thin catheter is placed into the core vein through the Seldinger puncture method (or its modified version). Because it avoids repeated puncture of the epidermis, reduces the retention of chemotherapy drugs in the dermis, and eliminates the need for nurses and caregivers to flush the chemotherapy drug reservoir, it is particularly suitable for continuous administration of chemotherapy patients of certain types. At the same time, due to the fast blood flow rate in the core vein, drug molecules can be quickly delivered to the whole body system, ensuring that the pharmacokinetic performance of the drug design can be fully realized.

[0003] There are several risks in implementing PICC, the first of which is the "positioning problem": the tip of the catheter may not accurately enter the vein after penetrating the body surface. Whether it is mistakenly penetrating the artery, venous puncture, vascular sheath or venous valve, or thrombus, there is a risk that chemotherapy drugs will enter the surrounding tissues. Therefore, it is generally recommended to perform PICC operation under the guidance of electrocardiogram, but it is difficult to quickly read the high-pointed P wave when the catheter tip enters the right atrium.

[0004] Therefore, it is urgent to design a technical solution to solve at least one of the above technical problems. Summary of the invention

[0005] The present application provides a method and system for accurately positioning the catheter tip based on electrocardiogram guidance, aiming to solve several risks faced in the implementation of PICC, the first of which is the "positioning problem": the tip of the catheter may not be able to accurately enter the vein after penetrating the body surface. Whether it is mistakenly piercing an artery, venous puncture, vascular sheath or venous valve, or thrombus, there is a risk that chemotherapy drugs may enter the surrounding tissues. Therefore, it is generally recommended to perform PICC operations under electrocardiogram guidance. However, there is a great difficulty in quickly reading the high-pointed P wave when the catheter tip enters the right atrium.

[0006] In a first aspect, the present application provides a method for accurately positioning a catheter tip based on electrocardiogram guidance, the method being applied to a control module of a device for accurately positioning a catheter tip, the device further comprising a catheter and an electrocardiogram sensing module, the electrocardiogram sensing module being embedded in a catheter wall of the catheter; the method comprising:

[0007] Obtaining a standard electrocardiogram corresponding to the patient to be located, and constructing a P wave baseline feature of the patient according to the standard electrocardiogram; the P wave baseline feature includes an amplitude baseline and a corresponding morphology baseline;

[0008] When the catheter is inserted into a preset area of ​​the patient, obtaining electrocardiogram detection information sent by the electrocardiogram sensing module;

[0009] Parsing the electrocardiogram detection information to obtain waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information;

[0010] Acquire first change information according to the amplitude baseline and the amplitude information, and acquire second change information according to the morphology baseline and the morphology information;

[0011] Acquire first position information corresponding to the catheter according to the first change information and the second change information;

[0012] If it is confirmed based on the P wave variability information that the P wave significantly increases when the catheter is inserted, and if it is determined based on the first position information that the distance to the right atrium is less than the preset distance, the advancement of the catheter is stopped to complete the precise positioning of the catheter tip based on electrocardiogram guidance.

[0013] In some embodiments, the device for precisely positioning the catheter tip also includes an ultrasound module; after stopping the advancement of the catheter, it also includes: obtaining image information of the patient acquired by the ultrasound module; obtaining second position information corresponding to the catheter based on the image information; obtaining difference information corresponding to the second position information and the first position information; generating position adjustment information based on the difference information; adjusting the position of the catheter based on the position adjustment information, and again completing the precise positioning of the catheter tip based on electrocardiogram guidance.

[0014] Exemplarily, the position adjustment information includes direction adjustment information; generating the position adjustment information according to the difference information includes: obtaining disease information corresponding to the patient and the area type corresponding to the preset area; the area type includes at least one of a cardiac catheter and a central venous catheter; determining movement weight information corresponding to the patient according to the disease information and the area type; the movement weight information includes a first weight, a second weight, and a third weight; calculating vector information corresponding to the direction adjustment information according to the movement weight information and the difference information; the expression of the vector information includes:

[0015]

[0016] Wherein, A is the vector information, w x is the first weight, w y is the second weight, wz is the third weight, the difference information includes a first difference value, a second difference value and a third difference value, the first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0017] It should be noted that, in some embodiments, the position adjustment information also includes depth adjustment information; the generating of the position adjustment information according to the difference information includes: obtaining the physiological state information of the patient; determining the physiological factor coefficient corresponding to the patient according to the physiological state information and disease information; obtaining the inertia information corresponding to the catheter insertion; obtaining the time factor according to the inertia information; obtaining the depth adjustment information according to the physiological factor coefficient, the time factor, and the difference information; the expression corresponding to the depth adjustment information includes:

[0018]

[0019] Among them, S is the physiological factor coefficient, T is the time factor, and the difference information includes a first difference value, a second difference value and a third difference value. The first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0020] In some embodiments, the parsing of the ECG detection information to obtain the waveform information of the P wave after the catheter insertion includes: filtering the ECG detection information to remove high-frequency noise and baseline drift of the ECG detection information; amplifying the filtered ECG detection information; obtaining the starting point information of the cardiac cycle in the amplified ECG detection information, and determining the R wave position information according to the starting point information of the cardiac cycle; identifying the starting position and the ending position of the P wave in the ECG detection information according to the R wave position information and preset P wave morphological features based on a preset automatic detection algorithm; and obtaining the waveform information of the P wave in the ECG detection information according to the starting position and the ending position.

[0021] In some embodiments, the obtaining of the first change information based on the amplitude baseline and the amplitude information, and the obtaining of the second change information based on the morphology baseline and the morphology information, includes: obtaining the amplitude change ratio of the amplitude information corresponding to the baseline amplitude; obtaining waveform width change information and peak position change information based on the morphology baseline and the morphology information; generating the first change information based on the amplitude change ratio, and generating the second change information based on the waveform width change information and the peak position change information.

[0022] In some embodiments, obtaining the first position information corresponding to the catheter based on the first change information and the second change information includes: obtaining physiological state information and disease information corresponding to the patient; generating a P wave influencing factor corresponding to each heart region of the patient based on the physiological state information and disease information; and obtaining the first position information corresponding to the catheter based on the P wave influencing factor, the first change information and the second change information.

[0023] Exemplarily, the physiological state information includes age, gender, weight and height; the generating of the P wave influencing factors corresponding to each heart region of the patient according to the physiological state information and the disease information includes: generating the heart abnormality type of the patient according to the physiological state information and the disease information; the heart abnormality type includes at least any one of arrhythmia, atrial hypertrophy and pericardial effusion. The physiological state information and the heart abnormality type are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factors.

[0024] It should be noted that, in some embodiments, the physiological state information and the type of cardiac abnormality are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor, including: obtaining relevant disease information corresponding to the patient according to the disease information; the relevant disease information is disease information that may affect the P wave, including at least any one of hypertension, diabetes and chronic obstructive pulmonary disease; the physiological state information, the type of cardiac abnormality and the relevant disease information are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

[0025] In a second aspect, an embodiment of the present application provides a catheter tip precise positioning system based on electrocardiogram guidance, the provided system is applied to a control module of a catheter tip precise positioning device, the catheter tip precise positioning device also includes a catheter and an electrocardiogram sensing module, the electrocardiogram sensing module is embedded in the catheter wall of the catheter; including:

[0026] A baseline construction unit, used for obtaining a standard electrocardiogram corresponding to the patient to be located, and constructing a P wave baseline feature of the patient according to the standard electrocardiogram; the P wave baseline feature includes an amplitude baseline and a corresponding morphology baseline;

[0027] a detection acquisition unit, configured to acquire electrocardiogram detection information sent by the electrocardiogram sensing module when the catheter is inserted into a preset area of ​​the patient;

[0028] An ECG analysis unit, used to analyze the ECG detection information and obtain waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information;

[0029] a change acquisition unit, configured to acquire first change information according to the amplitude baseline and the amplitude information, and acquire second change information according to the morphology baseline and the morphology information;

[0030] A position acquisition unit, configured to acquire first position information corresponding to the catheter according to the first change information and the second change information;

[0031] The positioning completion unit is used to stop the advancement of the catheter and complete the precise positioning of the catheter tip based on electrocardiogram guidance if it is confirmed that the P wave significantly increases when the catheter is inserted according to the P wave variability information, and if it is determined that the distance to the right atrium is less than a preset distance according to the first position information.

[0032] In a third aspect, the present application further provides a control module, comprising a processor and a memory, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, the method for precise positioning of the catheter tip based on electrocardiogram guidance as described in the first aspect is implemented.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for precise positioning of the catheter tip based on electrocardiogram guidance as described in the first aspect.

[0034] The present application provides a method and system for accurately positioning the tip of a catheter based on electrocardiogram guidance. The method and system are both applied to a control module of a device for accurately positioning the tip of a catheter. The device for accurately positioning the tip of a catheter also includes a catheter and an electrocardiogram sensing module, and the electrocardiogram sensing module is embedded in the catheter wall of the catheter. The method obtains the patient's standard electrocardiogram data before the operation begins, constructs a P wave baseline feature including an amplitude baseline and a morphology baseline, and provides a reference for subsequent positioning. During the catheter insertion process, real-time electrocardiogram detection information is obtained through the electrocardiogram sensing module, and the information is parsed to extract the P wave waveform after the catheter insertion, including amplitude and morphology. The real-time acquired P wave waveform information is compared with the preset baseline feature to obtain the first change information and the second change information of the amplitude and morphology. The P wave change information (especially the significantly increased information) is used to evaluate the relative position of the catheter tip and the right atrium. When it is detected that the P wave is significantly increased and the distance between the catheter and the right atrium is less than the preset distance, the catheter advancement is automatically stopped to ensure accurate positioning. The provided method not only improves the accuracy of catheterization through electrocardiogram guidance, but also effectively reduces the cognitive burden of the operator and improves the safety and accuracy of the overall operation.

[0035] At the same time, the provided method also has the following beneficial effects:

[0036] 1. Improve positioning accuracy: Real-time ECG monitoring combined with P wave feature comparison significantly improves the accuracy of the catheter tip entering the target vein.

[0037] 2. Reduce operational risks: effectively avoid the risk of accidentally entering the artery, vascular sheath, venous valve or thrombosis, thereby reducing the possibility of drug extravasation into surrounding tissues.

[0038] 3. Enhanced safety and reliability: The automated catheter advancement stop mechanism plays an important role in reducing human judgment errors and improving the safety and reliability of the operation.

[0039] 4. Strong adaptability: Based on the construction of individual standard ECG baseline, this method is applicable to different patients and is not affected by differences in their cardiac electrophysiological characteristics.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 This is a schematic block diagram of the structure of the device for accurately positioning the tip of a catheter shown in an embodiment of the present application;

[0043] Figure 2 This is a schematic flow chart of the flow steps of the method for accurate positioning of the catheter tip based on electrocardiogram guidance according to an embodiment of the present application;

[0044] Figure 3 A schematic diagram of the structure of the system shown in the embodiment of the present application;

[0045] Figure 4 This is a schematic block diagram of the structure of a catheter tip precise positioning system based on electrocardiogram guidance shown in an embodiment of the present application.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0047] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, systems, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0048] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0049] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0050] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0051] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0052] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0053] The technical solution of the embodiment of the present application is introduced below.

[0054] Peripherally Inserted Central Catheter (PICC) refers to inserting a thin catheter into the patient's arm vein and then sending it to the large vein near the heart. The thin catheter is placed into the core vein through the Seldinger puncture method (or its modified version). Because it avoids repeated puncture of the epidermis, reduces the retention of chemotherapy drugs in the dermis, and eliminates the need for nurses and caregivers to flush the chemotherapy drug reservoir, it is particularly suitable for continuous administration of chemotherapy patients of certain types. At the same time, due to the fast blood flow rate in the core vein, drug molecules can be quickly delivered to the whole body system, ensuring that the pharmacokinetic performance of the drug design can be fully realized.

[0055] There are several risks in implementing PICC, the first of which is the "positioning problem": the tip of the catheter may not accurately enter the vein after penetrating the body surface. Whether it is mistakenly penetrating the artery, venous puncture, vascular sheath or venous valve, or thrombus, there is a risk that chemotherapy drugs will enter the surrounding tissues. Therefore, it is generally recommended to perform PICC operation under the guidance of electrocardiogram, but it is difficult to quickly read the high-pointed P wave when the catheter tip enters the right atrium.

[0056] Therefore, it is urgent to design a technical solution to solve at least one of the above technical problems.

[0057] Please refer to Figure 1 , Figure 1 This is a schematic block diagram of the structure of a catheter tip precision positioning device 10 provided in an embodiment of the present application. Figure 1 As shown, the catheter tip precise positioning device 10 comprises a catheter 11, an electrocardiographic sensor module 12 and a control module 13, wherein the electrocardiographic sensor module 12 is embedded in the catheter wall of the catheter 11. The control module 13 is provided to implement the catheter tip precise positioning method provided in any embodiment of the present application.

[0058] Specifically, the catheter 11 is a flexible tubular structure for inserting into a patient's blood vessel, and its purpose is to implant components of other modules into the human body to achieve the delivery of drugs or other liquids. The catheter wall is embedded with an ECG sensor module, and its flexibility ensures that the inner wall of the blood vessel is not easily damaged during the insertion process.

[0059] The ECG sensor module 12 is composed of a plurality of microelectrodes, which detect and record the electrical activity of the heart near the tip of the catheter. The electrodes are connected to the control module for transmitting signals. The ECG sensor module 12 monitors the ECG signals at the insertion site in real time, especially the changes in the P wave. The design embedded in the catheter wall enables it to accurately reflect the real-time position of the catheter tip and assist in positioning by sensing the electrical activity of the heart.

[0060] The control module 13 is composed of a set of microcontrollers or processing units, combined with signal processing circuits for real-time data analysis and feedback control. The control module 13 collects the patient's standard electrocardiogram data before inserting the catheter 11 to build a P wave baseline feature library, which includes amplitude and morphological baselines. When the catheter 11 is inserted into the patient's preset body area, the electrocardiogram signal transmitted by the electrocardiogram sensor module 12 is acquired in real time; these signals are analyzed to obtain the current P wave amplitude and morphological information. By comparing with the baseline characteristics, the actual signal amplitude and morphological change information are calculated; the specific position information of the catheter 11 is determined. Analyze whether the distance between the tip of the catheter 11 and the right atrium is less than the preset distance; if the P wave is significantly increased, it is determined that the tip of the catheter 11 has reached the ideal position. Once it is determined that the catheter 11 has reached the target position, the control module 13 stops advancing according to the setting, thereby completing the precise positioning of the tip.

[0061] Furthermore, the device provided can embed the ECG sensor module 12 into the catheter 11, and the control module 13 can adjust the catheter position in real time according to the electrophysiological characteristics to ensure the precise positioning of the tip. The uncertainty of misinsertion of the catheter in the human body is reduced, and the risk of complications is reduced. The automatic monitoring of P wave changes and the intelligent control of the advancement of the catheter 11 are realized through linkage, which reduces the burden on the operator.

[0062] In some embodiments, the control module 13 is a microcontroller unit (MCU), and any embodiment corresponding to the method provided in the present application can be implemented by the MCU.

[0063] In some embodiments, Figure 1As shown, the control module 13 is connected to the ECG sensing module 12 for communication. The communication connection can be a wireless communication connection based on a preset protocol, or a wired communication connection. In the case of a wired communication connection, the ECG signal collected by the ECG sensing module 12 needs to be transmitted to the control module 13 through a cable or other transmission medium inside the catheter 11. This connection requires that the catheter be structurally designed to accommodate the signal transmission medium and maintain flexibility and durability. The ECG sensing module 12 converts the collected bioelectric signals into electrical signals and transmits them to the control module 13 through wires. In order to improve transmission efficiency and signal integrity, shielded cables may be used to reduce electromagnetic interference. At the same time, after the control module 13 receives the electrical signal from the ECG sensing module 12, it first performs signal amplification and filtering processing to remove noise and useless signals and enhance signal clarity. The preliminarily processed electrical signal is converted into a digital signal by an analog-to-digital converter (A / D converter) in the control module 13. Then, the control module 13 performs further data analysis on these digital signals, especially extracting amplitude and morphological information related to the P wave. If the control module 13 detects conditions determined according to the algorithm (such as a significant increase in the P wave and the distance between the catheter and the right atrium being less than a preset distance), it will provide feedback to the operator, possibly by way of sound alarms, display prompts, etc., to inform the operator that the current position of the catheter 11 has reached the desired precise position, thereby guiding the operator to stop advancing the catheter 11.

[0064] Please refer to Figure 2 , Figure 2 The present application provides a method for accurately locating the tip of a catheter based on electrocardiogram guidance. ... method can be applied to a control module of a device for accurately locating the tip of a catheter provided in any embodiment of the present application. The control module can be an MCU. Figure 2 As shown, the method for accurately positioning the tip of the catheter based on electrocardiogram guidance in this embodiment includes steps S101 to S106, which are described in detail as follows:

[0065] Step S101, obtaining a standard electrocardiogram corresponding to the patient to be located, and constructing the patient's P wave baseline characteristics according to the standard electrocardiogram; the P wave baseline characteristics include an amplitude baseline and a corresponding morphology baseline.

[0066] Specifically, by obtaining the patient's standard electrocardiogram before intubation, it is used to construct the patient's individualized P-wave baseline characteristics. The baseline characteristics include the amplitude baseline and morphological baseline of the P wave. For example, a standard electrocardiogram device is used to record the patient's cardiac electrical activity, with particular attention paid to the voltage amplitude and morphological characteristics of the P wave segment. The data is stored in the electronic database within the control module for subsequent comparison and analysis. Furthermore, by creating individualized baseline characteristics, it helps to improve the accuracy of catheter positioning because it takes into account the patient's unique cardiac electrophysiological characteristics and reduces errors caused by individual differences.

[0067] Step S102, when the catheter is inserted into a preset area of ​​the patient, obtaining electrocardiogram detection information sent by the electrocardiogram sensor module.

[0068] Specifically, when the catheter is inserted into the preset area, the ECG sensing module sends ECG detection information in real time to capture the current ECG activity. For example, the advancement of the catheter is accompanied by active monitoring of the embedded electrodes in the ECG sensing module, which transmit ECG signals to the external control module for recording through connecting wires. ECG information is collected in a timely manner, providing input data for immediate analysis and positioning, and quickly reflecting the real-time position of the catheter.

[0069] Step S103, analyzing the ECG detection information to obtain the waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information.

[0070] Specifically, by analyzing the real-time ECG detection information, the actual P-wave waveform information after the catheter is inserted is extracted, and the data includes the amplitude and morphological characteristics of the current P-wave. For example, the ECG signal sent by the ECG sensor module is analyzed and decoded using digital processing technology to extract the characteristic information of the relevant paragraphs (such as the P-wave interval). By providing real-time data for analyzing the position of the catheter tip, it is ensured that the information obtained accurately reflects the current cardiac electrical activity.

[0071] Step S104, obtaining first change information according to the amplitude baseline and the amplitude information, and obtaining second change information according to the morphology baseline and the morphology information.

[0072] Specifically, by comparing the actual waveform information obtained with the baseline characteristics, the amplitude change (first change information) and morphology change (second change information) are obtained. For example, the deviation of amplitude and morphology is analyzed by the algorithm built into the control module to quantify the degree and direction of the deviation of the catheter tip. By indirectly evaluating the spatial position change of the catheter, it helps to identify whether the catheter has deviated from the expected path or has approached the target position.

[0073] Step S105: acquiring first position information corresponding to the catheter according to the first change information and the second change information.

[0074] Specifically, based on the obtained change information, the position information of the catheter tip, i.e., the first position information, is inferred, which includes the distance from a specific area of ​​the heart. For example, the control module calculates the position of the catheter tip relative to the atrium, and determines the current area by comparing the change amount with a preset threshold. By providing instant position information judgment, the user can determine that the catheter position is close to the right atrium, which provides an important basis for timely stopping.

[0075] Step S106, if it is confirmed based on the P wave variability information that the P wave significantly increases when the catheter is inserted, and it is determined based on the first position information that the distance to the right atrium is less than the preset distance, the advancement of the catheter is stopped to complete the precise positioning of the catheter tip based on electrocardiogram guidance.

[0076] Specifically, if the P wave increases significantly and the distance between the catheter and the right atrium is less than a preset value, the method stops the catheter from being pushed forward and completes precise positioning. For example, the control module sends a stop signal to the display screen in the PICC or sets an alarm device. When it is determined that the catheter has entered the predetermined position, the operator is prompted to manually stop pushing in any form. By preventing the catheter from being over-inserted into the atrium and causing potential dangers, the catheter is ensured to terminate at the ideal position, thereby improving operational safety and success rate. The method provided uses this precise positioning scheme, and each step is guaranteed by the design algorithm and real-time feedback of the hardware, so that it can adapt to the individual needs of different patients and ensure the accurate and safe insertion of the PICC catheter.

[0077] In some embodiments, the device for precisely positioning the catheter tip also includes an ultrasound module; after stopping the advancement of the catheter, it also includes: obtaining image information of the patient acquired by the ultrasound module; obtaining second position information corresponding to the catheter based on the image information; obtaining difference information corresponding to the second position information and the first position information; generating position adjustment information based on the difference information; adjusting the position of the catheter based on the position adjustment information, and again completing the precise positioning of the catheter tip based on electrocardiogram guidance.

[0078] By adding an ultrasound module to the precise positioning device at the tip of the catheter, real-time image information of the patient is collected during the PICC process. After stopping the advancement of the catheter, the ultrasound module is used to obtain the patient's image information to further confirm the position of the catheter. The catheter position information (second position information) obtained from the ultrasound image information is compared with the first position information obtained based on the electrocardiogram. The difference information between the two is calculated, and the position adjustment information is generated based on the difference to adjust the catheter position to achieve more accurate positioning. By combining imaging technology (such as ultrasound) to verify and correct the electrocardiogram positioning, the accuracy and reliability of positioning are enhanced. Providing a double verification mechanism helps to avoid errors during catheter positioning, especially to improve operational safety in complex patient anatomical structures.

[0079] Exemplarily, the position adjustment information includes direction adjustment information; generating the position adjustment information according to the difference information includes: obtaining disease information corresponding to the patient and the area type corresponding to the preset area; the area type includes at least one of a cardiac catheter and a central venous catheter; determining movement weight information corresponding to the patient according to the disease information and the area type; the movement weight information includes a first weight, a second weight, and a third weight; calculating vector information corresponding to the direction adjustment information according to the movement weight information and the difference information; the expression of the vector information includes:

[0080]

[0081] Wherein, A is the vector information, w x is the first weight, w y is the second weight, w z is the third weight, the difference information includes a first difference value, a second difference value and a third difference value, the first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0082] (dx, dy, dz) can be obtained by subtracting the three-dimensional coordinates corresponding to the first position information and the second position information. Direction adjustment information is included when generating position adjustment information. The movement weight information, that is, the priority of direction adjustment, is determined using the patient's disease information and the type of area where the catheter is inserted (such as a cardiac catheter or a central venous catheter). The movement weight information includes the first, second, and third weights, which act on the direction component (dx, dy, dz) in the difference information, respectively. By using weights and vector information to guide the direction adjustment of the catheter in a complex environment, especially in different anatomical sites and pathological conditions, the catheter orientation is adaptively adjusted to optimize accuracy. The provided method allows direction adjustment based on specific clinical conditions rather than fixed standards, providing a more personalized treatment plan.

[0083] It should be noted that, in some embodiments, the position adjustment information also includes depth adjustment information; the generating of the position adjustment information according to the difference information includes: obtaining the physiological state information of the patient; determining the physiological factor coefficient corresponding to the patient according to the physiological state information and disease information; obtaining the inertia information corresponding to the catheter insertion; obtaining the time factor according to the inertia information; obtaining the depth adjustment information according to the physiological factor coefficient, the time factor, and the difference information; the expression corresponding to the depth adjustment information includes:

[0084]

[0085] Among them, S is the physiological factor coefficient, T is the time factor, and the difference information includes a first difference value, a second difference value and a third difference value. The first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0086] The position adjustment information also includes depth adjustment information. The corresponding physiological factor coefficient is determined by combining the patient's physiological state information with the disease information. The inertia information of the catheter insertion is considered to calculate the time factor. Through a multi-dimensional adjustment strategy including depth control, the depth of the catheter insertion can be adjusted more accurately, especially to compensate for the deviation caused by the physiological characteristics of different patients and the inertia of the catheter. The overall control accuracy and safety are enhanced, making the catheter insertion process more flexible and safe.

[0087] In summary, the above-mentioned embodiments and their corresponding examples provide a more comprehensive, accurate and safe catheter tip positioning method by combining electrocardiogram and ultrasound guidance technology and utilizing personalized data (such as disease information and physiological status), which helps to improve the success rate of clinical operations and patient safety.

[0088] In some embodiments, the parsing of the ECG detection information to obtain the waveform information of the P wave after the catheter insertion includes: filtering the ECG detection information to remove high-frequency noise and baseline drift of the ECG detection information; amplifying the filtered ECG detection information; obtaining the starting point information of the cardiac cycle in the amplified ECG detection information, and determining the R wave position information according to the starting point information of the cardiac cycle; identifying the starting position and the ending position of the P wave in the ECG detection information according to the R wave position information and preset P wave morphological features based on a preset automatic detection algorithm; and obtaining the waveform information of the P wave in the ECG detection information according to the starting position and the ending position.

[0089] By processing the ECG detection information, filters are used to remove high-frequency noise and baseline drift. Filtering can apply techniques such as low-pass filtering and band-stop filtering to ensure the clarity and accuracy of the ECG signal. The filtered ECG detection signal is amplified to improve the signal's recognizability and detail presentation, ensuring that the subsequent feature extraction process is more accurate. In the amplified signal, the starting point information of the cardiac cycle is identified and obtained, which usually involves calibrating the cardiac cycle by detecting the R wave. Determine the position of the R wave, which is the basis for subsequent P wave identification, because the R wave is the most obvious feature point in the cardiac cycle. Use the preset automatic detection algorithm to identify the start and end positions of the P wave based on the R wave position information and the preset P wave morphological features. This involves the algorithm's accurate identification of the P wave morphological features to ensure that the identified P wave segment is accurate. According to the determined start and end positions of the P wave, the specific waveform information of the P wave is extracted from the ECG detection information, including its amplitude, duration and morphology.

[0090] Then, through filtering and amplification steps, the quality of ECG signals is significantly improved, the influence of noise and drift on signal recognition is reduced, and ECG signals are made more stable and reliable. Through automatic detection algorithms and cardiac cycle recognition technology, accurate capture of feature points in ECG signals is achieved, especially accurate positioning of P wave segments, which helps to improve the positioning accuracy after catheter insertion. Accurate feature recognition in complex ECG signals greatly improves positioning efficiency, makes real-time monitoring and adjustment of catheters possible, and improves the accuracy and safety of operations. At the same time, automated signal processing and feature recognition effectively reduce errors caused by manual interpretation and improve the intelligence of the overall system.

[0091] The above embodiments demonstrate the key role of ECG signal processing in catheter positioning. Through a series of signal processing and automatic recognition technologies, the accuracy of catheter positioning is ensured and individual differences of different patients are covered.

[0092] In some embodiments, the obtaining of the first change information based on the amplitude baseline and the amplitude information, and the obtaining of the second change information based on the morphology baseline and the morphology information, includes: obtaining the amplitude change ratio of the amplitude information corresponding to the baseline amplitude; obtaining waveform width change information and peak position change information based on the morphology baseline and the morphology information; generating the first change information based on the amplitude change ratio, and generating the second change information based on the waveform width change information and the peak position change information.

[0093] By obtaining the amplitude information of the real-time ECG signal and comparing it with the preset amplitude baseline. By comparing the real-time amplitude with the baseline amplitude, the amplitude change ratio is calculated. This step is used to determine the relative degree of change in the signal amplitude. The width change information of characteristic frequency bands such as P waves, QRS complexes or T waves in the ECG signal is obtained according to the morphological baseline. This involves measuring the duration changes of these bands in the real-time signal. Detect the time position changes of the characteristic peaks of the ECG signal (such as P wave peaks, T wave peaks, etc.) and compare them with the baseline to measure the offset of their positions. Generate the first change information based on the amplitude change ratio to quantify the dynamic changes in the amplitude. Generate the second change information in combination with the changes in the waveform width and peak position. This reflects the dynamic change characteristics of the signal morphology.

[0094] Furthermore, through detailed analysis of the two dimensions of amplitude and morphology, it is possible to more comprehensively understand the changes in ECG signals, especially in the signal analysis after catheter insertion, which helps to capture small but important changes. The generation and analysis of change information can greatly improve the accuracy of catheter positioning, because this information can be used to adjust the position of the catheter to meet the individual physiological characteristics of the patient. At the same time, the obtained change information is applied to the patient's cardiac current distribution characteristics to support personalized medical decisions and improve the accuracy of diagnosis and the effectiveness of treatment. Because of the use of comparative analysis of real-time data and baselines, such a system can dynamically respond to changes in the patient's state and improve its applicability to different physiological and pathological states. The above embodiments promote the intelligent operation of medical equipment by providing an accurate method for catheter positioning and adjustment based on changes in ECG signal characteristics.

[0095] In some embodiments, obtaining the first position information corresponding to the catheter based on the first change information and the second change information includes: obtaining physiological state information and disease information corresponding to the patient; generating a P wave influencing factor corresponding to each heart region of the patient based on the physiological state information and disease information; and obtaining the first position information corresponding to the catheter based on the P wave influencing factor, the first change information and the second change information.

[0096] By collecting the patient's physiological status information (such as heart rate, blood pressure, etc.) and disease information (such as arrhythmia, cardiomyopathy and other underlying disease information of the patient, etc.). This information helps to personalize the analysis of cardiac electrical activity. According to the patient's physiological state and disease information, the specific influencing factors of each heart area on the P wave are calculated. These factors may include anatomical differences in heart structure, changes in electrical conduction pathways under the influence of disease, etc. Using the first change information (dynamic changes in amplitude) and the second change information (dynamic changes in morphology), combined with the above-mentioned P-wave influencing factors, the specific position information of the catheter in the heart is derived. This step relies on building a mathematical model or using a machine learning algorithm to match the association between the change information and a specific location inside the heart.

[0097] Furthermore, by combining patient-specific physiological status and disease background information, the positioning system can more carefully adapt to the unique cardiac characteristics of each patient, significantly improving the accuracy of catheter positioning. Using detailed patient information (physiological status and disease background), the system can provide personalized treatment plans and diagnostic recommendations to improve the scientificity and effectiveness of medical decision-making. At the same time, by adjusting the adaptability to different patients, it can more effectively handle changes in ECG signals caused by individual differences and enhance the applicability of the system in different clinical environments. Combined with intelligent algorithms for data processing and analysis, real-time interpretation under complex data conditions can be achieved, thereby improving the intelligence level of medical equipment and reducing errors caused by human factors.

[0098] By combining physiological and biochemical factors with ECG change information, the design of the above embodiment can effectively bridge the relationship between ECG characteristic changes and precise catheter positioning, providing more effective and personalized medical services.

[0099] Exemplarily, the physiological state information includes age, gender, weight and height; the generating of the P wave influencing factors corresponding to each heart region of the patient according to the physiological state information and the disease information includes: generating the heart abnormality type of the patient according to the physiological state information and the disease information; the heart abnormality type includes at least any one of arrhythmia, atrial hypertrophy and pericardial effusion. The physiological state information and the heart abnormality type are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factors.

[0100] By obtaining the patient's basic physiological information, such as age, gender, weight and height. These factors are the basic influencing factors of cardiac electrophysiological activity and signal characteristics. Combined with the patient's physiological status information and existing disease records, infer and identify the type of cardiac abnormality. Specific abnormalities may include arrhythmias (such as atrial fibrillation), atrial hypertrophy, and pericardial effusion. This step usually requires the use of the patient's medical history and diagnostic report images. Use a pre-trained influencing factor prediction model that can combine the input physiological status information and cardiac abnormality type to output P-wave influencing factors in various areas of the heart. This model may be based on a machine learning algorithm and trained with a large amount of data to identify the impact of specific physiological and abnormal conditions on P-wave morphology and amplitude.

[0101] By refining the physiological information and the injection of abnormality types, the system can provide more specific and personalized analysis of cardiac electrical activity. This improves the accuracy of diagnosis and the pertinence of treatment plans. The use of the influencing factor prediction model enables the system to accurately predict the changes in P wave morphology under different abnormality types and improve the understanding of the patient's pathophysiological state, which is an important advancement in current ECG diagnosis. The P wave influencing factors obtained from the prediction model can help guide doctors to adjust the catheter insertion location and strategy, and improve the efficiency and safety of clinical intervention.

[0102] This example demonstrates the use of multidimensional data across basic physiological data and disease information, which helps improve the level of artificial intelligence application in the diagnosis and treatment of heart diseases. By combining individual health data with abnormal type identification and using predictive models to refine ECG signal feature analysis, personalized and intelligent cardiac medical services are further promoted. This not only improves the accuracy of catheter positioning, but also provides strong support for comprehensive and accurate cardiac monitoring and diagnosis.

[0103] It should be noted that, in some embodiments, the physiological state information and the type of cardiac abnormality are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor, including: obtaining relevant disease information corresponding to the patient according to the disease information; the relevant disease information is disease information that may affect the P wave, including at least any one of hypertension, diabetes and chronic obstructive pulmonary disease; the physiological state information, the type of cardiac abnormality and the relevant disease information are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

[0104] On the basis of obtaining physiological status information and cardiac abnormality types, further relevant disease information is obtained. This information should pay special attention to diseases that may affect the electrophysiological activity of the heart, including at least hypertension, diabetes, and chronic obstructive pulmonary disease (COPD). These diseases may indirectly affect the electrical activity of the heart by affecting blood pressure, blood sugar levels, or respiratory function. By inputting physiological status information, cardiac abnormality types, and related disease information into the preset influencing factor prediction model. After training with a large amount of data, the model can handle complex and multi-dimensional inputs and infer the influencing factors of P waves in each heart area. The prediction model comprehensively evaluates the input information and outputs specific P wave influencing factors. These factors reflect the potential impact of different physiological and pathological conditions on the amplitude, morphology, and dynamic changes of the P wave.

[0105] Furthermore, by considering a wide range of disease factors, the method can accurately evaluate changes in cardiac electrical activity under more diverse pathological conditions, improving the adaptability of the analysis model in complex clinical environments. Combining multiple health data points, such as the mutual influence of chronic diseases and cardiac abnormalities, the model can provide more detailed analysis results to help doctors make more accurate diagnoses in complex clinical cases. At the same time, by incorporating a variety of factors that may affect the electrical activity of the heart, the system can achieve comprehensive and detailed health status monitoring of patients, which helps to identify potential heart problems early. By automating the analysis of individual health and pathological information, the system helps to provide personalized medical advice and treatment plans, and improve the accuracy of medical services.

[0106] The above-mentioned embodiments enhance the comprehensiveness and reliability of the prediction model by integrating relevant systemic disease factors other than specific cardiac abnormalities, and significantly improve the accuracy and practicality of the evaluation of P-wave influencing factors, thereby better supporting the clinical application of electrocardiograms.

[0107] The provided method obtains the patient's standard electrocardiogram data before the operation begins, constructs a P wave baseline feature including an amplitude baseline and a morphology baseline, and provides a reference for subsequent positioning. During the catheter insertion process, real-time electrocardiogram detection information is obtained through the electrocardiogram sensing module, and the information is parsed to extract the P wave waveform after the catheter insertion, including the amplitude and morphology. The real-time acquired P wave waveform information is compared with the preset baseline feature to obtain the first change information and the second change information of the amplitude and morphology. The P wave change information (especially the significantly increased information) is used to evaluate the relative position of the catheter tip and the right atrium. When it is detected that the P wave is significantly increased and the distance between the catheter and the right atrium is less than the preset distance, the catheter advancement is automatically stopped to ensure precise positioning. The provided method not only improves the accuracy of catheterization through electrocardiogram guidance, but also effectively reduces the cognitive burden of the operator and improves the safety and accuracy of the overall operation.

[0108] At the same time, the provided method also has the following beneficial effects:

[0109] 1. Improve positioning accuracy: Real-time ECG monitoring combined with P wave feature comparison significantly improves the accuracy of the catheter tip entering the target vein.

[0110] 2. Reduce operational risks: effectively avoid the risk of accidentally entering the artery, vascular sheath, venous valve or thrombosis, thereby reducing the possibility of drug extravasation into surrounding tissues.

[0111] 3. Enhanced safety and reliability: The automated catheter advancement stop mechanism plays an important role in reducing human judgment errors and improving the safety and reliability of the operation.

[0112] 4. Strong adaptability: Based on the construction of individual standard ECG baseline, this method is applicable to different patients and is not affected by differences in their cardiac electrophysiological characteristics.

[0113] In order to implement the electrocardiogram-guided catheter tip precise positioning method corresponding to the above method embodiment, so as to achieve the corresponding functions and technical effects. Figure 3 , Figure 3 The structural block diagram of a catheter tip precise positioning system 200 based on electrocardiogram guidance provided in an embodiment of the present application is shown. The system is applied to a control module of a catheter tip precise positioning device provided in any embodiment of the present application. For ease of description, only the parts related to the present embodiment are shown. The catheter tip precise positioning system 200 based on electrocardiogram guidance provided in an embodiment of the present application includes:

[0114] A baseline construction unit 201 is used to obtain a standard electrocardiogram corresponding to the patient to be located, and to construct a P wave baseline feature of the patient according to the standard electrocardiogram; the P wave baseline feature includes an amplitude baseline and a corresponding morphology baseline;

[0115] A detection acquisition unit 202, configured to acquire electrocardiogram detection information sent by the electrocardiogram sensing module when the catheter is inserted into a preset area of ​​the patient;

[0116] The ECG analysis unit 203 is used to analyze the ECG detection information and obtain the waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information;

[0117] a change acquisition unit 204, configured to acquire first change information according to the amplitude baseline and the amplitude information, and acquire second change information according to the morphology baseline and the morphology information;

[0118] A position acquisition unit 205, configured to acquire first position information corresponding to the catheter according to the first change information and the second change information;

[0119] The positioning completion unit 206 is used to stop the advancement of the catheter and complete the precise positioning of the catheter tip based on electrocardiogram guidance if it is confirmed that the P wave significantly increases when the catheter is inserted according to the P wave variability information, and if it is determined that the distance to the right atrium is less than a preset distance according to the first position information.

[0120] In some embodiments, the catheter tip precise positioning device also includes an ultrasound module; after stopping the advancement of the catheter, it also includes a re-positioning unit for obtaining image information of the patient collected by the ultrasound module; obtaining second position information corresponding to the catheter based on the image information; obtaining difference information corresponding to the second position information and the first position information; generating position adjustment information based on the difference information; adjusting the position of the catheter based on the position adjustment information, and completing the precise positioning of the catheter tip based on the electrocardiogram guidance again.

[0121] Exemplarily, the position adjustment information includes direction adjustment information; the re-positioning unit is further used to: obtain disease information corresponding to the patient and the area type corresponding to the preset area; the area type includes at least one of a cardiac catheter and a central venous catheter; determine the movement weight information corresponding to the patient according to the disease information and the area type; the movement weight information includes a first weight, a second weight and a third weight; calculate the vector information corresponding to the direction adjustment information according to the movement weight information and the difference information; the expression of the vector information includes:

[0122]

[0123] Wherein, A is the vector information, w x is the first weight, w y is the second weight, w zis the third weight, the difference information includes a first difference value, a second difference value and a third difference value, the first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0124] It should be noted that, in some embodiments, the position adjustment information also includes depth adjustment information; the repositioning unit is further used to: obtain the physiological state information of the patient; determine the physiological factor coefficient corresponding to the patient according to the physiological state information and disease information; obtain the inertia information corresponding to the catheter insertion; obtain the time factor according to the inertia information; obtain the depth adjustment information according to the physiological factor coefficient, the time factor, and the difference information; the expression corresponding to the depth adjustment information includes:

[0125]

[0126] Among them, S is the physiological factor coefficient, T is the time factor, and the difference information includes a first difference value, a second difference value and a third difference value. The first difference value is dx, the second difference value is dy, and the third difference value is dz.

[0127] In some embodiments, the ECG analysis unit 203 is further used to: filter the ECG detection information to remove high-frequency noise and baseline drift of the ECG detection information; amplify the filtered ECG detection information; obtain the starting point information of the cardiac cycle in the amplified ECG detection information, and determine the R wave position information according to the starting point information of the cardiac cycle; identify the starting position and ending position of the P wave in the ECG detection information according to the R wave position information and preset P wave morphology characteristics based on a preset automatic detection algorithm; and obtain the waveform information of the P wave in the ECG detection information according to the starting position and the ending position.

[0128] In some embodiments, the change acquisition unit 204 is also used to: obtain the amplitude change ratio of the amplitude information corresponding to the baseline amplitude; obtain waveform width change information and peak position change information based on the morphological baseline and morphological information; generate the first change information based on the amplitude change ratio, and generate the second change information based on the waveform width change information and peak position change information.

[0129] In some embodiments, the position acquisition unit 206 is also used to: acquire physiological status information and disease information corresponding to the patient; generate a P wave influencing factor corresponding to each heart region of the patient according to the physiological status information and disease information; and acquire first position information corresponding to the catheter according to the P wave influencing factor, the first change information and the second change information.

[0130] Exemplarily, the physiological state information includes age, gender, weight and height; the position acquisition unit 206 is further used to: generate the patient's heart abnormality type according to the physiological state information and the disease information; the heart abnormality type includes at least one of arrhythmia, atrial hypertrophy and pericardial effusion. The physiological state information and the heart abnormality type are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

[0131] It should be noted that, in some embodiments, the position acquisition unit 206 is also used to: obtain relevant disease information corresponding to the patient based on the disease information; the relevant disease information is disease information that may affect the P wave, including at least any one of hypertension, diabetes and chronic obstructive pulmonary disease; input the physiological state information, heart abnormality type and related disease information into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

[0132] The above-mentioned system 200 for accurate positioning of the catheter tip based on electrocardiogram guidance can implement the method for accurate positioning of the catheter tip based on electrocardiogram guidance of the above-mentioned method embodiment. The options in the above-mentioned method embodiment are also applicable to this embodiment and will not be described in detail here. The rest of the contents of the embodiment of this application can refer to the contents of the above-mentioned method embodiment, and will not be repeated in this embodiment.

[0133] Figure 4 This is a schematic diagram of the structure of a control module provided in one embodiment of the present application. Figure 4 As shown, the control module 13 of this embodiment includes: at least one processor 130 ( Figure 4 Only one is shown in the figure), a memory 131, and a computer program 132 stored in the memory 131 and executable on the at least one processor 130, wherein the processor 130 implements the steps of any of the above method embodiments when executing the computer program 132.

[0134] The control module 13 may be a microcontroller mounted on a smart phone, a tablet computer, a desktop computer, or a cloud server. The control module may include, but is not limited to, a processor 130 and a memory 131. Those skilled in the art will appreciate that Figure 4 This is only an example of the control module 13 and does not constitute a limitation on the control module 13 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, may also include input and output devices, network access devices, etc.

[0135] The processor 130 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0136] In some embodiments, the memory 131 may be an internal storage unit of the control module 13, such as a hard disk or memory of the control module 13. In other embodiments, the memory 131 may also be an external storage device of the control module 13, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control module 13. Further, the memory 131 may also include both an internal storage unit of the control module 13 and an external storage device. The memory 131 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 131 may also be used to temporarily store data that has been output or is to be output.

[0137] In addition, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0138] An embodiment of the present application provides a computer program product. When the computer program product runs on a control module, the control module implements the steps in the above-mentioned method embodiments when executed.

[0139] In several embodiments provided in the present application, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0140] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a control module to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0141] The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the scope of protection of the present application. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for accurately positioning the tip of a catheter based on electrocardiogram guidance, characterized in that: The provided method is applied to a control module of a catheter tip precision positioning device, wherein the catheter tip precision positioning device further comprises a catheter and an electrocardiographic sensing module, wherein the electrocardiographic sensing module is embedded in a catheter wall of the catheter; the method comprises: Obtaining a standard electrocardiogram corresponding to the patient to be located, and constructing a P wave baseline feature of the patient according to the standard electrocardiogram; the P wave baseline feature includes an amplitude baseline and a corresponding morphology baseline; When the catheter is inserted into a preset area of ​​the patient, obtaining electrocardiogram detection information sent by the electrocardiogram sensing module; Parsing the electrocardiogram detection information to obtain waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information; Acquire first change information according to the amplitude baseline and the amplitude information, and acquire second change information according to the morphology baseline and the morphology information; Acquire first position information corresponding to the catheter according to the first change information and the second change information; If it is confirmed based on the P wave variability information that the P wave significantly increases when the catheter is inserted, and if it is determined based on the first position information that the distance to the right atrium is less than the preset distance, the advancement of the catheter is stopped to complete the precise positioning of the catheter tip based on electrocardiogram guidance.

2. The method according to claim 1, characterized in that The catheter tip precise positioning device further includes an ultrasound module; after stopping the advancement of the catheter, it also includes: Acquire the image information of the patient collected by the ultrasound module; Acquire second position information corresponding to the catheter according to the image information; Obtaining difference information corresponding to the second location information and the first location information; generating position adjustment information according to the difference information; The position of the catheter is adjusted according to the position adjustment information, and the precise positioning of the catheter tip based on electrocardiogram guidance is completed again.

3. The method according to claim 2, characterized in that The position adjustment information includes direction adjustment information; and generating the position adjustment information according to the difference information includes: Acquire disease information corresponding to the patient and a region type corresponding to the preset region; the region type includes at least one of a cardiac catheter and a central venous catheter; Determine the movement weight information corresponding to the patient according to the disease information and the area type; the movement weight information includes a first weight, a second weight and a third weight; The vector information corresponding to the direction adjustment information is calculated according to the movement weight information and the difference information; the expression of the vector information includes: Where A is the vector information, w x is the first weight, w y is the second weight, w z is the third weight, the difference information includes a first difference value, a second difference value and a third difference value, the first difference value is dx, the second difference value is dy, and the third difference value is dz.

4. The method according to claim 3, characterized in that The position adjustment information also includes depth adjustment information; and generating the position adjustment information according to the difference information includes: Acquiring physiological status information of the patient; Determine the physiological factor coefficient corresponding to the patient according to the physiological state information and disease information; Acquiring inertial information corresponding to the insertion of the catheter; Acquire a time factor according to the inertial information; The depth adjustment information is obtained according to the physiological factor coefficient, the time factor, and the difference information; the expression corresponding to the depth adjustment information includes: Among them, S is the physiological factor coefficient, T is the time factor, and the difference information includes a first difference value, a second difference value and a third difference value. The first difference value is dx, the second difference value is dy, and the third difference value is dz.

5. The method according to claim 1, characterized in that The step of analyzing the electrocardiogram detection information to obtain waveform information of the P wave after the catheter is inserted includes: Filtering the electrocardiogram detection information to remove high-frequency noise and baseline drift of the electrocardiogram detection information; amplifying the filtered ECG detection information; Acquire the starting point information of the cardiac cycle from the amplified electrocardiogram detection information, and determine the R wave position information according to the starting point information of the cardiac cycle; Based on a preset automatic detection algorithm, identifying the start position and end position of the P wave in the electrocardiogram detection information according to the R wave position information and preset P wave morphology characteristics; The waveform information of the P wave is obtained in the electrocardiogram detection information according to the start position and the end position.

6. The method according to claim 1, characterized in that The acquiring the first change information according to the amplitude baseline and the amplitude information, and acquiring the second change information according to the morphology baseline and the morphology information, includes: Acquire the amplitude change ratio of the amplitude information corresponding to the baseline amplitude; Acquire waveform width change information and peak position change information according to the morphological baseline and morphological information; The first change information is generated according to the amplitude change ratio, and the second change information is generated according to the waveform width change information and the peak position change information.

7. The method according to claim 1, characterized in that The acquiring first position information corresponding to the catheter according to the first change information and the second change information includes: Acquiring physiological status information and disease information corresponding to the patient; Generate a P wave influencing factor corresponding to each heart region corresponding to the patient according to the physiological state information and the disease information; The first position information corresponding to the catheter is acquired according to the P wave influencing factor, the first change information and the second change information.

8. The method according to claim 7, characterized in that The physiological state information includes age, gender, weight and height; the P wave influencing factors corresponding to each heart area corresponding to the patient are generated according to the physiological state information and disease information, including: Generate the patient's cardiac abnormality type according to the physiological state information and the disease information; the cardiac abnormality type includes at least one of arrhythmia, atrial hypertrophy and pericardial effusion; The physiological state information and the type of cardiac abnormality are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

9. The method according to claim 8, characterized in that The step of inputting the physiological state information and the cardiac abnormality type into a preset influencing factor prediction model, wherein the influencing factor prediction model outputs the P wave influencing factor, comprises: Acquire relevant disease information corresponding to the patient according to the disease information; the relevant disease information is disease information that may affect the P wave, including at least one of hypertension, diabetes and chronic obstructive pulmonary disease; The physiological state information, cardiac abnormality type and related disease information are input into a preset influencing factor prediction model, and the influencing factor prediction model outputs the P wave influencing factor.

10. A catheter tip precise positioning system based on electrocardiogram guidance, characterized in that: The provided system is applied to a control module of a catheter tip precision positioning device, wherein the catheter tip precision positioning device further comprises a catheter and an electrocardiographic sensing module, wherein the electrocardiographic sensing module is embedded in the catheter wall; and comprises: A baseline construction unit, used for obtaining a standard electrocardiogram corresponding to the patient to be located, and constructing a P wave baseline feature of the patient according to the standard electrocardiogram; the P wave baseline feature includes an amplitude baseline and a corresponding morphology baseline; a detection acquisition unit, configured to acquire electrocardiogram detection information sent by the electrocardiogram sensing module when the catheter is inserted into a preset area of ​​the patient; An ECG analysis unit, used to analyze the ECG detection information and obtain waveform information of the P wave after the catheter is inserted; the waveform information includes amplitude information and morphology information; a change acquisition unit, configured to acquire first change information according to the amplitude baseline and the amplitude information, and acquire second change information according to the morphology baseline and the morphology information; A position acquisition unit, configured to acquire first position information corresponding to the catheter according to the first change information and the second change information; The positioning completion unit is used to stop the advancement of the catheter and complete the precise positioning of the catheter tip based on electrocardiogram guidance if it is confirmed that the P wave significantly increases when the catheter is inserted according to the P wave variability information, and if it is determined that the distance to the right atrium is less than a preset distance according to the first position information.

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