Miniature conduit rotating speed measuring device, system and method, equipment and medium

Abstract

The invention provides a device, a system, a method, equipment and a medium for measuring the rotating speed of a miniature conduit, the device comprises a rotating speed sensor and a non-uniform measuring assembly, the rotating speed sensor is fixed at the tail end of a basic sensor in the miniature conduit, and the transmitting and receiving directions of the rotating speed sensor are perpendicular to the axial direction of the miniature conduit; wherein the rotating speed sensor is used for transmitting and collecting a rotating speed sensing signal for calculating the rotating speed; the non-uniform measuring assembly has a non-uniform thickness in the circumferential direction, has a penetration characteristic for a basic sensing signal emitted by the basic sensor, and has a reflection characteristic for a rotating speed sensing signal emitted by the rotating speed sensor. A non-uniform thickness measuring assembly and a rotating speed sensor are additionally arranged in a conventional conduit, and the rotating angle and the rotating speed of the sensor are calculated according to the time delay of a sensing echo signal. According to the scheme, the rotating speed measurement accuracy of the sensor in the miniature catheter can be improved, and the rotating speed and the rotating angle of the shaftless driven miniature catheter can be measured.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-catheter rotation speed measurement, and in particular to a micro-catheter rotation speed measurement device, system and method, equipment and medium. Background Art

[0002] Catheter sensors have a wide range of applications when inspecting the morphological structure of narrow and long lumens. For example, ultrasound catheters are used to inspect the human respiratory tract and esophagus, and intravascular ultrasound catheters are used to detect human coronary arteries. There are also several similar applications in industrial scenarios. Due to the limitations of catheter radius and size, it is impossible to integrate overly complex sensors, and a single sensor is often rotated to expand the scanning angle and range. Figure 1 As shown, in order to realize the rotation of the sensor, a driving shaft is usually set in the casing. Usually, an encoder is attached to the rotating motor, and the rotation speed and angle of the motor and the sensor at the end of the catheter are calculated by capturing the high and low level signals output by the encoder. When scanning a lumen with a large degree of curvature, the driving shaft will rub and collide with the casing wall, and its resistance will cause the driving shaft to twist, which is ultimately reflected as a difference between the rotation speed V0 of the rotating motor and the sensor speed V1. In the image reconstruction process, it is usually necessary to deduce the rotation angle based on the rotation time T and the rotation speed V0 of the rotating motor. The difference in the rotation speed of the motor and the sensor at the end of the catheter will lead to errors in the calculation of the rotation angle, resulting in defects such as smear in the image, affecting the imaging effect.

[0003] In addition, in the absence of shaft drive, the rotation speed V1 of the catheter end sensor cannot be estimated by the motor speed, so it is difficult to measure the rotation angle and rotation speed. In order to accurately measure the rotation speed and rotation angle in a micro-catheter, the present invention proposes a micro-catheter rotation speed measurement device, system and method, which include: a catheter end rotation speed measurement device and a corresponding rotation speed measurement method.

[0004] At present, the solutions to the non-uniform rotation of sensors in catheters include: 1) Image-based processing, using information such as the cross-correlation between scan lines at different angles to achieve image restoration. Its limitation is that the effect decreases in the case of severe non-uniform rotation, and the generated image is not a real signal. 2) Improve the sensor configuration, such as designing two or more sensors to scan images within a certain angle range respectively. If non-uniform distortion occurs, the overlapping image parts are replaced. Its limitation is that the overlapping replacement parts may differ from the actual image. 3) Add an external rotation speed sensor, such as using electromagnetic induction and other methods to capture the rotation speed of the sensor in the catheter. Its limitation is that the implementation is complex, requires additional auxiliary equipment, and is limited by the operating environment and conditions. Summary of the invention

[0005] In order to achieve the above-mentioned purpose and other advantages of the present invention, the first purpose of the present invention is to provide a micro-catheter rotation speed measuring device, including a rotation speed sensor and a non-uniform measurement component, wherein the rotation speed sensor is fixed to the end of the micro-catheter where the basic sensor is located, and the transmitting and receiving directions of the rotation speed sensor are perpendicular to the axial direction of the micro-catheter; wherein,

[0006] The rotation speed sensor is used to transmit and collect rotation speed sensing signals for calculating the rotation speed;

[0007] The non-uniform measurement component has a non-uniform thickness along the circumferential direction, and has a penetrating property for the basic sensing signal emitted by the basic sensor, and has a reflecting property for the rotation speed sensing signal emitted by the rotation speed sensor.

[0008] Furthermore, the signal emission of the rotation speed sensor can be within the range of the non-uniform measurement component.

[0009] Furthermore, the non-uniform measurement component is configured as a micro-catheter wall having a uniform circular inner contour and a non-uniformly arranged thickness, and a layer of measurement medium disposed on the outer side of the micro-catheter wall.

[0010] Further, the non-uniform measurement component is configured as a micro-catheter wall with a uniform thickness, and a measurement medium with a non-uniform thickness arranged on the inner side or the outer side of the micro-catheter wall.

[0011] The second object of the present invention is to provide a method for measuring the rotation speed of a micro-catheter, based on the above-mentioned device, comprising the following steps:

[0012] During the rotation scanning process of the rotation speed sensor, the time interval from the transmission of the rotation speed sensor to the reception of the echo signal is calculated;

[0013] Calculate the current angle of the rotation speed sensor through the time interval;

[0014] The rotation speed is calculated by analyzing the changes in the time interval.

[0015] Furthermore, the formula for calculating the current angle of the rotation speed sensor through the time interval is:

[0016] d t =δ(θ t )

[0017] d t =v0×T t / 2

[0018] Where, v0 is the propagation speed of the speed sensor signal, T t is the time interval from the transmission of the speed sensor signal to the reception of the echo signal at time t, dt is the distance from the speed sensor to the reflection interface.

[0019] Furthermore, the formula for calculating the rotation speed by analyzing the change of the time interval is:

[0020] ω n =θ / (t n -t m )

[0021] Among them, θ is the m Time to t n The rotation angle of the speed sensor at that moment.

[0022] Furthermore, the method further comprises the steps of:

[0023] The area where the transducer is located is determined based on the angle change trend of the speed sensor.

[0024] The third object of the present invention is to provide a micro-catheter speed measurement system to implement the above-mentioned method, including the above-mentioned micro-catheter speed measurement device and a measurement module, wherein the measurement module is used to collect and analyze the echo signal of the speed sensor in the micro-catheter speed measurement device to calculate the rotation angle and rotation speed corresponding to the speed sensor.

[0025] Furthermore, when the basic sensor and the rotation speed sensor in the micro-catheter transmit signals of the same mode, there is a difference between the signals transmitted by the basic sensor and the rotation speed sensor.

[0026] Furthermore, when the basic sensor and the rotation speed sensor in the micro-catheter transmit signals of different modes, the signals transmitted by the basic sensor and the rotation speed sensor do not interfere with each other.

[0027] A fourth object of the present invention is to provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0028] A fifth object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0029] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0030] The present invention designs a device, method and system for measuring the rotation speed and angle of a sensor in a micro-catheter using signals in optical or acoustic modes. A measurement component with non-uniform thickness and a rotation speed sensor are added to a conventional catheter, and the rotation angle and rotation speed of the sensor are calculated based on the time delay of the sensor echo signal. This solution can not only improve the accuracy of the rotation speed measurement of the sensor in the micro-catheter, but also be used to measure the rotation speed and rotation angle of a micro-catheter without a shaft drive.

[0031] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 It is a schematic diagram of the rotation speed measurement of a micro-catheter in the related art;

[0034] Figure 2 The side view of the sensor rotation speed measurement device in the micro-catheter with different designs;

[0035] Figure 3 The cross-sectional diagrams of the sensor rotation speed measurement devices in micro-catheter with different designs;

[0036] Figure 4 It is a schematic diagram of rotation speed measurement based on the echo delay of the sensor signal;

[0037] Figure 5 It is a flow chart of the micro-catheter rotation speed measurement method;

[0038] Figure 6 This is the principle diagram of optical sensor signal speed measurement;

[0039] Figure 7 It is a schematic diagram of computer equipment;

[0040] Figure 8 A schematic diagram of a computer-readable storage medium.

[0041] In the figure: 1. casing; 2. basic sensor; 3. driving shaft; 4. speed sensor; 5. measuring medium. DETAILED DESCRIPTION

[0042] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. It should be noted that, under the premise of no conflict, the embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0043] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0044] The figure numbers in this application are only used to distinguish the various steps in the scheme, and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0046] Example 1

[0047] A micro-catheter speed measuring device is used for speed detection and analysis of the rotation of the rotating shaft, sensor and other devices in the micro-cannula, involving optical signal transmission and analysis, ultrasonic signal transmission and analysis methods, etc. Figure 2 As shown, the device includes a rotation speed sensor 4 and a non-uniform measurement component. The rotation speed sensor 4 is fixed to the end of the basic sensor 2 in the micro-catheter. Specifically, the basic sensor 2 is placed in the sleeve 1 of the micro-catheter. The transmitting and receiving directions of the rotation speed sensor 4 are perpendicular to the axial direction of the micro-catheter.

[0048] The speed sensor 4 is used to transmit and collect speed sensing signals for calculating the speed;

[0049] The non-uniform measuring component has a non-uniform thickness along the circumferential direction, and has a penetrating characteristic for the basic sensing signal emitted by the basic sensor 2 , and has a reflecting characteristic for the rotation speed sensing signal emitted by the rotation speed sensor 4 .

[0050] In some embodiments, the non-uniform measurement component is configured as a micro-catheter wall having a uniform circular inner contour and a non-uniformly arranged thickness, and a layer of measurement medium disposed on the outer side of the micro-catheter wall. Figure 2 (a) is a conventional catheter without the improvement of the rotation speed measuring device designed by the present invention. Figure 2 The device shown in (b) changes the thickness of the catheter. This embodiment provides a non-uniform measurement component based on the change of the catheter thickness and the measurement medium. Figure 2As shown in (b), the thickness of the catheter is no longer uniform, but there is a certain variation. The inner contour of the catheter wall is a uniform circle, and the wall thickness is a non-uniform arrangement designed according to a certain rule. When the speed sensor S′ (hereinafter referred to as S′) is rotating and scanning, the wall thickness at the corresponding angle at different times is different. On the outside of the catheter wall, a thin layer of measuring medium is set. The characteristics of the medium are as described above, and it is attached to the outer wall of the tube by brushing or pasting. The speed sensing signal is emitted by S′, penetrates the catheter wall, and is reflected by the measuring medium with strong reflective characteristics on the outer wall of the tube. Due to the different wall thickness during the rotation process, the speed sensing echo signal delay collected at different rotation angles is different. Therefore, the time difference T between the emission and reception of the S′ signal is calculated. d To calculate the current angle of the sensor, and by analyzing T d Calculate the rotation speed according to the changing situation.

[0051] In other embodiments, the non-uniform measurement component is configured as a micro-catheter wall with a uniform thickness, and a measurement medium with a non-uniform thickness disposed on the inner side or the outer side of the micro-catheter wall. Figure 2 The thickness of the catheter of the device shown in (c) remains unchanged, but a measuring medium with non-uniform thickness along the circumferential direction is arranged inside the catheter. Figure 2 The device shown in (d) has a constant thickness of the conduit, and a measuring medium with a non-uniform thickness along the circumferential direction is added to the outside of the conduit. This embodiment provides a non-uniform measurement component based on the constant thickness of the conduit and the addition of a measuring medium with a non-uniform thickness along the circumferential direction. Figure 2 As shown in (c) and (d), without changing the thickness of the catheter, the catheter is a thin tube with uniform thickness distribution. A measuring medium with varying thickness is attached to the inside or outside of the catheter to achieve rotational speed measurement. The cross section of the measuring medium is designed to be non-uniformly arranged according to a certain rule, so that it has different thicknesses at different rotation angles. During the rotation process, there is a time difference T between the transmission and reception of the S′ signal d , used to calculate the current angle of the sensor, and by analyzing T d The calculation method will be described in the following micro-catheter rotation speed measurement method embodiment, and will not be described in detail here.

[0052] Combined with the above-mentioned micro-catheter speed measuring device, such as Figure 2 , Figure 3 As shown, the micro catheter includes a basic sensor S0, a drive shaft 3, a sleeve 1, a rotation speed sensor S', and a measuring medium 5.

[0053] The basic sensor S0 is a module originally possessed by the micro-catheter, and is used to realize the functions originally possessed by the catheter, such as ultrasound imaging, optical imaging, infrared imaging, ultrasound therapy, etc. The signal transmission and reception direction of the basic sensor S0 can be perpendicular to the direction of the catheter, in a circular scanning, or can be parallel to the catheter in a forward-looking state, and the specific implementation method is not limited.

[0054] In the case of an axial conduit, the drive shaft 3 is used to connect the motor and the sensor so that the motor drives the sensor to rotate. Cables are arranged inside the drive shaft for signal and power transmission. In the case of no axial conduit (such as external magnetic field driven rotation, etc.), the drive shaft is a non-essential module and is replaced by cables.

[0055] The sleeve 1 is a module originally provided by the catheter, which is used to protect the sensor and provide rigid support for the catheter feeding. It has good penetration properties (such as sound permeability, light permeability, etc.) and can reduce the loss of sensor signals during the transmission and reception process.

[0056] The speed sensor S' is used to transmit and collect the speed sensing signal for calculating the speed. The transmission and receiving direction of the speed sensing signal is perpendicular to the conduit, and its signal transmission can be ensured to be within the range of the measuring medium.

[0057] The measuring medium 5 provides a measuring target for the rotation speed sensor S′. The medium has good penetration characteristics for the basic sensor signal. For example, if the basic sensor S0 is an ultrasonic sensor, the measuring medium has good acoustic permeability. On the contrary, the medium has a strong reflection characteristic for the rotation speed sensor signal, and the reflected rotation speed sensor signal is used to calculate the rotation speed.

[0058] This embodiment provides a device for measuring rotation speed and angle using signals in optical or acoustic modes, which can not only improve the accuracy of rotation speed measurement of sensors in micro-catheters, but also be used to measure the rotation speed and rotation angle of micro-catheters without shaft drives.

[0059] Example 2

[0060] A method for measuring the rotation speed of a micro-catheter is based on the above device, and the rotation speed and angle are calculated by measuring the time delay of the echo signal reflected back to S' through the interface. For a detailed description of the device, reference can be made to the corresponding description in the above device embodiment, and no further description is given here. The method is used for detecting and analyzing the rotation speed of a rotating shaft, a sensor, and other devices in a micro-cannula when they rotate, and involves optical signal transmission, reception, and analysis, ultrasonic signal transmission, reception, and analysis methods, etc. Figure 5 As shown, the following steps are included:

[0061] S1. During the rotation scanning process of the speed sensor, calculating the time interval from the speed sensor transmitting a signal to receiving an echo signal;

[0062] S2. Calculate the current angle of the speed sensor through the time interval; the specific formula is:

[0063] d t =δ(θ t )

[0064] d t =v0×T t / 2

[0065] Where, v0 is the propagation speed of the speed sensor signal, T t is the time interval from the transmission of the speed sensor signal to the reception of the echo signal at time t, d t is the distance from the speed sensor to the reflection interface.

[0066] S3. Calculate the rotation speed by analyzing the change of the time interval. The specific formula is:

[0067] ω n =θ / (t n -t m )

[0068] Among them, θ is the m Time to t n The rotation angle of the speed sensor at that moment.

[0069] The specific principle is as follows Figure 4 As shown, the sensor motion curve is circular with a radius of R i , the reflection interface is circular with a radius of R o Assuming that the propagation speed of the speed sensor signal is v0, at t m The time interval from the time when the sensor signal is transmitted to the time when the echo signal is received is T m , at t n The time interval from the time when the sensor signal is transmitted to the time when the echo signal is received is T n , from t m to n The sensor rotates by an angle of θ. m At time , the distance from S' to the reflection interface is

[0070] d m =v0×T m / 2

[0071] Similarly, in t n At time , the distance from S' to the reflection interface is

[0072] d n =v0×T n / 2

[0073] The distance from the sensor motion curve to the reflective interface and the angle of the sensor motion are distributed as a fixed function, that is,

[0074] d t =δ(θ t )

[0075] By placing d m and d n Substituting δ(θ t ) can be used to get the angle of the sensor at that moment. Further, the angular velocity ω of the sensor rotation can be calculated n =θ / (t n -t m ).

[0076] In the case of a geometrically symmetrical structure, in order to further distinguish the position of the sensor rotation angle, according to d t The increasing or decreasing trend of the change can determine whether the transducer is in the upper or lower half.

[0077] This embodiment provides a method for measuring rotation speed and angle using signals in optical or acoustic modes, which can not only improve the accuracy of rotation speed measurement of sensors in micro-catheters, but also be used to measure the rotation speed and rotation angle of micro-catheters without shaft drives.

[0078] Example 3

[0079] A micro-catheter speed measurement system implements the above-mentioned method. For a detailed description of the method, reference can be made to the corresponding description in the above-mentioned method embodiment, which will not be repeated here. The system is used for speed detection and analysis of the rotation of the rotating shaft, sensor and other devices in the micro-cannula, involving optical signal transmission and analysis, ultrasonic signal transmission and analysis methods, etc., including the above-mentioned micro-catheter speed measurement device and measurement module. For a detailed description of the micro-catheter speed measurement device, reference can be made to the corresponding description in the above-mentioned device embodiment, which will not be repeated here. The measurement module is used to collect and analyze the echo signal of the speed sensor in the micro-catheter speed measurement device to calculate the rotation angle and rotation speed corresponding to the speed sensor.

[0080] Since the basic sensor S0 such as imaging requires good penetration of the catheter wall and the measuring medium, the imaging and other functional effects are not reduced. The speed sensor S' signal requires strong reflection characteristics to achieve accurate extraction of speed information. Therefore, the design is carried out from two aspects: whether the S0 signal and the S' signal are the same mode.

[0081] When the S0 signal and the S′ signal are homomodal signals, it is required that there is a certain difference between the two sensing signals excited by the system. Taking the ultrasonic signal as an example, there are differences in the reflection characteristics of different frequencies in the same medium. Different from the S0 signal, the S′ signal can use a higher frequency, so that it is reflected by the measured medium. The system calculates the rotation speed by collecting and analyzing the S′ echo signal. In addition, the size of the S′ sensor with a higher frequency can be reduced, which can improve the integrability of the catheter. The design of the signal excitation system should take into account the characteristics of the measured medium, and the two should match each other.

[0082] When the S0 signal and the S' signal are signals of different modes, the two sensing signals excited by the system do not interfere with each other. The following example provides an example of optical sensor speed measurement, taking the S0 signal as an ultrasonic signal and the S' signal as an optical signal as an example. Figure 6 As shown, at this time, the catheter wall and the measuring medium need to be made of materials with good acoustic permeability to ensure the realization of the basic functions of the catheter. The excitation system of the S0 signal is an ultrasonic excitation and echo acquisition and analysis system. For the S′ signal, a spectroscopic interference measurement system can be set up, and the spectroscopic interference method can be used to measure the thickness of the medium. First, the light source will emit light with a wide wavelength band, which is transmitted through the optical fiber and irradiated onto the measuring medium through the speed sensor S′. Part of the light will be reflected on the surface of the thin layer of the medium, while the other part of the light will pass through the medium and reflect on its back and return to S′. The two beams of reflected light will interfere at each wavelength and then return to the spectroscopic unit. Then, the spectrometer will subdivide the interference light according to different wavelengths, thereby converting the spectral distribution into the distribution of light intensity. By using CCD (charge coupled device) to receive these light waveforms, the intensity spectral distribution of light can be obtained. Finally, the acquired spectrum is subjected to waveform analysis processing such as FFT (fast Fourier transform), and the thickness of the medium layer corresponding to the rotation angle of S′ can be calculated. According to the cross-sectional model of the measuring medium, the corresponding rotation angle can be deduced, and the rotation speed can be further calculated. The specific calculation method can refer to the corresponding description in the above method embodiment, which will not be repeated here.

[0083] On this basis, it should be noted that the pulse repetition frequency of the speed sensor signal must meet actual needs. The higher the speed, the higher the required pulse repetition frequency, and increasing the pulse repetition frequency can improve the accuracy of speed calculation.

[0084] The system designed by the present invention uses optical or acoustic sensors for measurement, and does not require the addition of measurement equipment other than the catheter itself, and can complete accurate angle measurement before generating an image, making the reconstructed image more realistic. The present invention first designs a rotation speed measurement device at the end of the catheter, and proposes a real-time rotation speed measurement device based on optical or acoustic signals; secondly, a corresponding rotation speed measurement calculation method and system are designed to calculate the rotation speed based on the collected optical or acoustic signals.

[0085] Example 4

[0086] A computer device 600, such as Figure 7 As shown, it includes a memory 610, a processor 620, and a computer program 630 stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a micro-catheter rotation speed measurement method are implemented. For a detailed description of the method, reference can be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0087] Example 5

[0088] A computer readable storage medium such as Figure 8 As shown, a computer program is stored thereon, and when the computer program is executed by the processor, the steps of a micro-catheter rotation speed measurement method are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0089] Example 6

[0090] A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the steps of a micro-catheter rotation speed measurement method. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0091] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0092] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0093] The apparatus, computer device, non-volatile computer storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, computer device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device and non-volatile computer storage medium will not be repeated here.

[0094] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software units for implementing the method and structures within the hardware component.

[0095] The systems, devices or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions in various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or more software and / or hardware.

[0096] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may be in the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of this specification may be in the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0097] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0100] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0101] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program units. Generally, program units include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program units may be located in local and remote computer storage media, including storage devices.

[0102] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0103] The above description is only an embodiment of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of one or more embodiments of this specification.

Claims

1. A micro-catheter rotation speed measuring device, characterized in that: It includes a rotation speed sensor and a non-uniform measurement component. The rotation speed sensor is fixed at the end of the micro-catheter where the basic sensor is located. The transmitting and receiving directions of the rotation speed sensor are perpendicular to the axial direction of the micro-catheter. The rotation speed sensor is used to transmit and collect rotation speed sensing signals for calculating the rotation speed; The non-uniform measurement component has a non-uniform thickness along the circumferential direction, and has a penetrating property for the basic sensing signal emitted by the basic sensor, and has a reflecting property for the rotation speed sensing signal emitted by the rotation speed sensor.

2. A micro-catheter rotation speed measuring device as claimed in claim 1, characterized in that: The signal emission of the rotational speed sensor can be within the range of the inhomogeneous measuring component.

3. A micro-catheter rotation speed measuring device as claimed in claim 1, characterized in that: The non-uniform measurement component is configured as a micro-catheter wall having a uniform circular inner contour and a non-uniformly arranged thickness, and a layer of measurement medium arranged on the outer side of the micro-catheter wall.

4. A micro-catheter rotation speed measuring device as claimed in claim 1, characterized in that: The non-uniform measurement component is configured as a micro-catheter wall with a uniform thickness and a measurement medium with a non-uniform thickness arranged on the inner side or the outer side of the micro-catheter wall.

5. A method for measuring the rotation speed of a micro-catheter, based on the device according to any one of claims 1 to 4, characterized in that: The following steps are involved: During the rotation scanning process of the rotation speed sensor, the time interval from the transmission of the rotation speed sensor to the reception of the echo signal is calculated; Calculate the current angle of the rotation speed sensor through the time interval; The rotation speed is calculated by analyzing the changes in the time interval.

6. A micro-catheter rotation speed measurement method as claimed in claim 5, characterized in that: The formula for calculating the current angle of the rotation speed sensor through the time interval is: d t =δ(θ t ) d t =v0×T t / 2 Where, v0 is the propagation speed of the speed sensor signal, T t is the time interval from the transmission of the speed sensor signal to the reception of the echo signal at time t, d t is the distance from the speed sensor to the reflection interface.

7. A micro-catheter rotation speed measurement method as claimed in claim 6, characterized in that: The formula for calculating the rotation speed by analyzing the change of the time interval is: oh n =θ / (t n -t m ) Among them, θ is the m Time to t n The rotation angle of the speed sensor at that moment.

8. A micro-catheter rotation speed measurement method as claimed in claim 5, characterized in that: Also includes the steps: The area where the transducer is located is determined based on the angle change trend of the speed sensor.

9. A micro-catheter rotation speed measurement system, implementing the method according to any one of claims 5 to 8, characterized in that: It comprises a micro-catheter rotation speed measuring device as described in any one of claims 1 to 4, and a measuring module, wherein the measuring module is used to collect and analyze the echo signal of the rotation speed sensor in the micro-catheter rotation speed measuring device to calculate the rotation angle and rotation speed corresponding to the rotation speed sensor.

10. A micro-catheter rotation speed measurement system as claimed in claim 9, characterized in that: When the basic sensor and the rotation speed sensor in the micro-catheter transmit signals of the same mode, there is a difference between the signals transmitted by the basic sensor and the rotation speed sensor.

11. A micro-catheter rotation speed measurement system as claimed in claim 9, characterized in that: When the basic sensor and the rotation speed sensor in the micro-catheter transmit signals of different modes, the signals transmitted by the basic sensor and the rotation speed sensor do not interfere with each other.

12. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 5 to 8 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 8 are implemented.

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