A microcatheter rotational velocity measurement device, system, and method, apparatus, medium

Abstract

The application provides a micro catheter rotating speed measuring device, system and method, equipment and medium, the device comprises a rotating speed sensor and a non-uniform measuring component, the rotating speed sensor is fixed at the end of the basic sensor in the micro catheter, and the emission and receiving direction of the rotating speed sensor is perpendicular to the axial direction of the micro catheter; wherein the rotating speed sensor is used for emitting and collecting rotating speed sensing signals for the calculation of rotating speed; the non-uniform measuring component has non-uniform thickness along the circumferential direction, and has penetrating characteristics for the basic sensing signals emitted by the basic sensor and reflecting characteristics for the rotating speed sensing signals emitted by the rotating speed sensor. The application adds the measuring component with non-uniform thickness and the rotating speed sensor in the conventional catheter, and the rotation angle and rotating speed of the sensor are calculated according to the time delay of the sensing echo signals. This scheme can not only improve the accuracy of the rotating speed measurement of the sensor in the micro catheter, but also can be used for measuring the rotating speed and rotation angle of the micro catheter without shaft driving.

Description

Technical Field

[0001] This invention relates to the field of microcatheter rotation speed measurement technology, and particularly to a microcatheter rotation speed measurement device, system, method, equipment, and medium. Background Technology

[0002] Catheter-type sensors have wide applications in inspecting the morphology and structure of narrow tubes. For example, ultrasonic catheters are used to examine the human respiratory tract and esophagus, and intravascular ultrasonic catheters are used to detect coronary arteries. Similar applications exist in industrial settings. Due to limitations in catheter radius and size, overly complex sensors cannot be integrated; therefore, a single rotating sensor is often used to expand the scanning angle and range. Figure 1 As shown, to achieve sensor rotation, a drive shaft is typically installed inside the tubing. An encoder is usually attached to the rotary motor; by capturing the high and low level signals output by the encoder, the rotational speed and angle of the motor and the sensor at the end of the tubing are calculated. When scanning a highly curved tubing, the drive shaft will rub against and collide with the tubing wall. This resistance causes the drive shaft to twist, ultimately resulting in a difference between the rotary motor's speed V0 and the sensor's speed V1. During image reconstruction, the rotation angle is usually derived from the rotation time T and the rotary motor's speed V0. The difference in rotational speed between the motor and the sensor at the end of the tubing can lead to errors in the calculation of the rotation angle, resulting in artifacts such as motion blur in the image and affecting the imaging quality.

[0003] Furthermore, in the absence of shaft drive, the rotational speed V1 of the catheter tip sensor cannot be estimated from the motor speed, making it difficult to measure the rotation angle and rotational speed. To achieve accurate measurement of rotational speed and rotational angle within a microcatheter, this invention proposes a microcatheter rotational speed measuring device, system, and method, comprising: a catheter tip rotational speed measuring device and a corresponding rotational speed measurement method.

[0004] Currently, solutions to address non-uniform rotation of sensors within catheters include: 1) Image processing, utilizing information such as cross-correlation between scan lines at different angles to achieve image reconstruction. Its limitation is that the effectiveness decreases under severe non-uniform rotation, and the generated image does not reflect the true signal. 2) Improving sensor configuration, such as designing two or more sensors to scan images within a certain angular range; if non-uniform distortion occurs, the overlapping image portion is used for replacement. Its limitation is that the overlapping replacement portion may differ from the actual image. 3) Adding an external rotation sensor, such as using electromagnetic induction, to capture the rotational speed of the sensor within the catheter. Its limitation is that implementation is complex, requires additional auxiliary equipment, and is subject to limitations imposed by the operating environment and conditions. Summary of the Invention

[0005] To achieve the above-mentioned objectives and other advantages of the present invention, a first objective of the present invention is to provide a microcatheter rotation speed measuring device, comprising a rotation speed sensor and a non-uniform measurement component, wherein the rotation speed sensor is fixed at the end of the microcatheter where the basic sensor is located, and the transmission and reception directions of the rotation speed sensor are perpendicular to the axis of the microcatheter; wherein...

[0006] The speed sensor is used to transmit and acquire speed sensing signals for speed calculation.

[0007] The non-uniform measurement component has a non-uniform thickness along the circumferential direction, and has penetration characteristics for the basic sensing signal emitted by the basic sensor, and reflection characteristics for the speed sensing signal emitted by the speed sensor.

[0008] Furthermore, the signal transmission energy of the speed sensor is within the range of the non-uniform measurement component.

[0009] Furthermore, the non-uniform measurement component is configured as a microcatheter wall with a uniform inner contour and a non-uniformly distributed thickness, and a measurement medium disposed on the outside of the microcatheter wall.

[0010] Furthermore, the non-uniform measurement component is configured as a microcatheter wall with uniform thickness and a measurement medium with non-uniform thickness disposed on the inner or outer side of the microcatheter wall.

[0011] A second objective of this invention is to provide a method for measuring the rotational speed of a microcatheter, based on the aforementioned apparatus, comprising the following steps:

[0012] During the rotational scanning process of the speed sensor, the time interval between the speed sensor transmitting a signal and receiving an echo signal is calculated;

[0013] The current angle of the speed sensor is calculated using the time interval.

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

[0015] Furthermore, the formula for calculating the current angle of the speed sensor based on 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 rotational speed sensing signal, and T t Let d be the time interval from the transmission of the rotational speed sensing signal to the receipt of the echo signal at time t.t The distance is from the rotation speed sensor to the reflective interface.

[0019] Furthermore, the formula for calculating the rotational speed by analyzing the changes in the time interval is:

[0020] ω n =θ / (t) n -t m )

[0021] Where θ is from t m Time to t n The angle of rotation of the speed sensor at any given time.

[0022] Furthermore, it also includes the following steps:

[0023] The location of the transducer can be determined based on the changing angle of the speed sensor.

[0024] A third objective of this invention is to provide a microcatheter rotation speed measurement system that implements the above-mentioned method, comprising the aforementioned microcatheter rotation speed measurement device and measurement module. The measurement module is used to collect and analyze the echo signal of the rotation speed sensor in the microcatheter rotation speed measurement device to calculate the rotation angle and rotation speed corresponding to the rotation speed sensor.

[0025] Furthermore, when the basic sensor and the speed sensor inside the microcatheter emit signals of the same mode, there is a difference between the signals emitted by the basic sensor and the speed sensor.

[0026] Furthermore, when the basic sensor and the speed sensor inside the microcatheter emit signals of different modes, the signals emitted by the basic sensor and the speed sensor do not interfere with each other.

[0027] A fourth objective of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

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

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

[0030] This invention presents a device, method, and system for measuring the rotational speed and angle of a sensor within a microcatheter using signals from optical or acoustic modalities. A non-uniform thickness measuring component and a rotational speed sensor are added to a conventional catheter. The rotational angle and speed of the sensor are calculated based on the time delay of the sensor echo signal. This approach not only improves the accuracy of rotational speed measurement within microcatheters but also enables the measurement of the rotational speed and angle of shaftless microcatheters.

[0031] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0033] Figure 1 This is a schematic diagram of miniature catheter rotation speed measurement in related technologies;

[0034] Figure 2 Side view of a microcatheter in-catheter sensor rotation speed measurement device with different designs;

[0035] Figure 3 Cross-sectional views of micro-catheter in-catheter sensor rotation speed measurement devices with different designs;

[0036] Figure 4 This is a schematic diagram of rotational speed measurement based on the echo delay of sensor signals.

[0037] Figure 5 Flowchart of the method for measuring the rotational speed of a microcatheter;

[0038] Figure 6 This is a schematic diagram of the optical sensor signal rotation speed measurement principle.

[0039] Figure 7 A schematic diagram of computer equipment;

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

[0041] In the diagram: 1. Sleeve; 2. Basic sensor; 3. Drive shaft; 4. Speed ​​sensor; 5. Measuring medium. Detailed Implementation

[0042] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0043] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0044] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0046] Example 1

[0047] A miniature catheter rotation speed measuring device is used for the detection and analysis of the rotation speed of devices such as shafts and sensors inside a miniature cannula, involving methods for optical signal transmission and analysis, and ultrasonic signal transmission and analysis. Figure 2 As shown, the device includes a speed sensor 4 and a non-uniform measurement component. The speed sensor 4 is fixed at the end of the basic sensor 2 inside the microcatheter. Specifically, the basic sensor 2 is placed inside the sleeve 1 of the microcatheter. The transmission and reception directions of the speed sensor 4 are perpendicular to the axis of the microcatheter.

[0048] The speed sensor 4 is used to transmit and collect speed sensing signals for speed calculation.

[0049] The non-uniform measurement component has a non-uniform thickness along the circumferential direction, and has penetration characteristics for the basic sensing signal emitted by the basic sensor 2, and reflection characteristics for the speed sensing signal emitted by the speed sensor 4.

[0050] In some embodiments, the non-uniform measurement component is configured as a microcatheter wall with a uniform circular inner contour and a non-uniformly distributed thickness, and a measurement medium disposed on the outside of the microcatheter wall. Figure 2 In the middle (a), there is a traditional catheter without the improved speed measuring device designed in this invention. Figure 2 The device shown in (b) alters the catheter thickness. This embodiment provides a non-uniform measurement component based on changes in catheter thickness and the measurement medium. Figure 2As shown in (b), the thickness of the conduit is no longer uniform but varies. The inner contour of the conduit wall is a uniform circle, while the wall thickness is non-uniformly distributed according to a certain pattern. When the speed sensor S′ (hereinafter referred to as S′) performs a rotational scan, the wall thickness varies at different times corresponding to different angles. A thin layer of measuring medium is placed on the outside of the conduit wall. The characteristics of this medium are as described above, and it is attached to the outer wall by brushing or pasting. The speed sensing signal is emitted by S′, penetrates the conduit wall, and is reflected by the measuring medium on the outer wall, which has strong reflective properties. Due to the different wall thicknesses during rotation, the time delay of the speed sensing echo signal collected at different rotation angles is different. Therefore, the time difference T between the transmission and reception of the S′ signal is calculated. d To calculate the current angle of the sensor, and by analyzing T d Calculate the rotational speed under changing conditions.

[0051] In other embodiments, the non-uniform measurement component is configured as a microcatheter wall of uniform thickness and a measurement medium of non-uniform thickness disposed on the inner or outer side of the microcatheter wall. Figure 2 The thickness of the conduit in the device shown in (c) remains constant, while a measuring medium with a non-uniform thickness along the circumference is placed inside the conduit. Figure 2 In the device shown in (d), the catheter thickness remains constant, while a measuring medium of non-uniform thickness along the circumferential direction is added to the outside of the catheter. This embodiment provides a non-uniform measurement component achieved by adding a measuring medium of non-uniform thickness along the circumferential direction while maintaining a constant catheter thickness. Figure 2 As shown in (c) and (d), without changing the thickness of the conduit, the conduit is a thin tube with a uniform thickness distribution. A measuring medium with varying thickness is added to the inner or outer side of the conduit to achieve rotational speed measurement. The cross-section of the measuring medium is non-uniformly arranged according to a certain pattern, resulting in different thicknesses at different rotation angles. During rotation, there is a time difference T between the transmission and reception of the S′ signal. d This is used to calculate the current angle of the sensor, and by analyzing T... d The rotational speed is calculated based on the changing conditions. The calculation method will be explained in the following examples of the microcatheter rotational speed measurement method, and will not be repeated here.

[0052] Combined with the aforementioned microcatheter rotation speed measuring device, such as Figure 2 , Figure 3 As shown, the microcatheter includes a basic sensor S0, a drive shaft 3, a sleeve 1, a speed sensor S′, and a measuring medium 5. Among these,

[0053] The basic sensor S0 is a module originally present in the microcatheter, used to realize the original functions of the catheter, such as ultrasound imaging, optical imaging, infrared imaging, and ultrasound therapy. The basic sensor S0 can transmit and receive signals perpendicular to the catheter direction, performing a circumferential scan, or it can be parallel to the catheter in a forward-looking manner; the specific implementation method is not limited.

[0054] With a shaft guide tube, drive shaft 3 connects the motor and the sensor, enabling the motor to drive the sensor to rotate. Cables are installed inside the drive shaft for signal and power transmission. Without a shaft guide tube (e.g., for rotation driven by an external magnetic field), the drive shaft is a non-essential module and is replaced by cables.

[0055] Sleeve 1 is a module originally provided by the conduit. It is used to protect the sensor, provide rigid support for the conduit feed, and has good penetration characteristics (such as acoustic transmission and light transmission) to reduce the loss of sensor signals during transmission and reception.

[0056] The speed sensor S′ is used to transmit and acquire speed sensing signals for speed calculation. The transmission and reception direction of the speed sensing signal is perpendicular to the conduit, ensuring that the signal transmission energy is within the range of the measurement medium.

[0057] The measuring medium 5 provides the measuring target for the speed sensor S′. This medium has good penetration characteristics for the basic sensing signal. For example, if the basic sensor S0 is an ultrasonic sensor, then the measuring medium has good acoustic penetration. Conversely, this medium has strong reflection characteristics for the speed sensor signal, and the reflected speed sensor signal is used to calculate the speed.

[0058] This embodiment provides a device for measuring rotational speed and angle using signals of optical or acoustic modes. This device can not only improve the accuracy of rotational speed measurement of sensors inside microcatheters, but also be used to measure the rotational speed and rotational angle of shaftless microcatheters.

[0059] Example 2

[0060] A method for measuring the rotational speed of a miniature catheter, based on the aforementioned device, calculates the rotational speed and angle by measuring the time delay of the echo signal reflected back to S′ through the interface. A detailed description of the device can be found in the corresponding description in the above-described device embodiments, and will not be repeated here. This method is used for the detection and analysis of the rotational speed of devices such as shafts and sensors within miniature catheters, and involves optical signal transmission and analysis, ultrasonic signal transmission and analysis methods, etc. Figure 5 As shown, it includes the following steps:

[0061] S1. During the rotational scanning process of the speed sensor, calculate the time interval between the speed sensor transmitting a signal and receiving an echo signal;

[0062] S2. Calculate the current angle of the speed sensor based on 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 rotational speed sensing signal, and T t Let d be the time interval from the transmission of the rotational speed sensing signal to the receipt of the echo signal at time t. t The distance is from the rotation speed sensor to the reflective interface.

[0066] S3. Calculate the rotational speed by analyzing the changes in the time interval. The specific formula is as follows:

[0067] ω n =θ / (t) n -t m )

[0068] Where θ is from t m Time to t n The angle of rotation of the speed sensor at any given time.

[0069] The specific principle is as follows: Figure 4 As shown, the sensor's motion curve is circular with a radius of R. i The reflective interface is circular with a radius of R. o Assuming the propagation speed of the rotational speed sensing signal is v0, at time t... m The time interval from the transmission of the sensing signal at time S′ to the receipt of the echo signal is T. m , in t n The time interval from the transmission of the sensing signal at time S′ to the receipt of the echo signal is T. n From t m to t n The sensor rotates by an angle θ. At t m At time t, the distance from S′ to the reflecting interface is

[0070] d m =v0×T m / 2

[0071] Similarly, in t n At time t, the distance from S′ to the reflecting interface is

[0072] d n =v0×T n / 2

[0073] The distance from the sensor's motion curve to the reflecting interface is distributed as a fixed function with respect to the angle of the sensor's motion.

[0074] d t =δ(θ) t )

[0075] By d m and d n Substitute δ(θ) t This allows us to determine the angle of the sensor at that moment. Furthermore, the angular velocity ω of the sensor's rotation can be calculated. n =θ / (t) n -t m ).

[0076] In the presence of a geometrically symmetrical structure, to further determine the location of the sensor's rotation angle, according to d... t The increasing or decreasing trend of the change can be used to determine whether the transducer is located in the upper or lower half of the region.

[0077] This embodiment provides a method for measuring rotational speed and angle using signals of optical or acoustic modes. This method can not only improve the accuracy of rotational speed measurement of sensors inside microcatheters, but also be used to measure the rotational speed and rotation angle of shaftless microcatheters.

[0078] Example 3

[0079] A microcatheter rotation speed measurement system implements the above-described method. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here. This system is used for the rotation speed detection and analysis of devices such as shafts and sensors within a microcatheter, involving optical signal transmission and analysis, ultrasonic signal transmission and analysis methods, etc. It includes the aforementioned microcatheter rotation speed measurement device and measurement module. For a detailed description of the microcatheter rotation speed measurement device, please refer to the corresponding description in the above device embodiments, which will not be repeated here. The measurement module is used to collect and analyze the echo signal from the rotation speed sensor in the microcatheter rotation speed measurement device to calculate the rotation angle and rotation speed corresponding to the rotation speed sensor.

[0080] Since the basic sensor S0 for imaging requires good penetration of the conduit wall and the measuring medium to maintain imaging performance, while the speed sensor S′ requires strong reflection characteristics for accurate speed information extraction, the design will focus on whether the S0 and S′ signals are of the same mode.

[0081] When the S0 and S′ signals are of the same modality, a certain difference is required between the two sensing signals excited by the system. Taking ultrasonic signals as an example, the reflection characteristics of different frequencies differ in the same medium. Unlike the S0 signal, the S′ signal can use a higher frequency, thus being reflected by the measured medium. The system calculates the rotational speed by acquiring and analyzing the S′ echo signal. Furthermore, using a higher frequency S′ sensor allows for a smaller sensor size, improving the integrability of the catheter. The design of the signal excitation system should consider the characteristics of the measured medium, ensuring a good match between the two.

[0082] When the S0 and S′ signals are of different modes, the two sensing signals excited by the system do not interfere with each other. The following example, using an ultrasonic signal (S0) and an optical signal (S′), provides an illustration of optical sensor rotation speed measurement. Figure 6 As shown, the catheter wall and measuring medium must be made of materials with good acoustic permeability to ensure the basic functions of the catheter are realized. The excitation system for the S0 signal is an ultrasonic excitation and echo acquisition and analysis system. For the S′ signal, a beam splitting interferometry measurement system can be set up to measure the thickness of the medium using beam splitting interferometry. First, the light source emits a wide wavelength band of light, which is transmitted through optical fiber and passes through the rotation sensor S′ to illuminate the measuring medium. Part of the light is reflected on the surface of the thin medium layer, while the other part passes through the medium and is reflected back into S′. These two reflected beams interfere at each wavelength and then return to the beam splitting unit. Then, the beam splitter subdivides the interference light according to different wavelengths, thereby converting the spectral distribution into a light intensity distribution. By using a CCD (charge-coupled device) to receive these light waveforms, the intensity spectral distribution of the light can be obtained. Finally, by performing waveform analysis processing such as FFT (Fast Fourier Transform) on the obtained spectrum, the thickness of the medium layer corresponding to the rotation angle of S′ can be calculated. Based on the cross-sectional model of the measuring medium, the corresponding rotation angle can be calculated, and the rotation speed can be further calculated. The specific calculation method can be referred to the corresponding description in the above method embodiment, and will not be repeated here.

[0083] In addition, it is important to note that the pulse repetition frequency of the speed sensing signal must meet the actual requirements. 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 in this invention uses optical or acoustic sensors for measurement, eliminating the need for additional measuring equipment besides the catheter itself. Furthermore, it can perform accurate angle measurements before image generation, resulting in more realistic reconstructed images. This invention first designs a catheter tip rotation speed measuring device, proposing a real-time rotation speed measurement device based on optical or acoustic signals; secondly, it designs a corresponding rotation speed measurement calculation method and system, calculating the rotation speed based on the acquired optical or acoustic signals.

[0085] Example 4

[0086] A computer device 600, such as Figure 7 As shown, the system 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, it implements the steps of a method for measuring the rotational speed of a microcatheter. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it 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, which, when executed by a processor, implements the steps of a method for measuring the rotational speed of a microcatheter. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0089] Example 6

[0090] A computer program product includes a computer program that, when executed by a processor, implements the steps of a method for measuring the rotational speed of a microcatheter. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0091] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

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

[0093] The apparatus, computer device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. 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 will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

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

[0096] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0097] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0098] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0100] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

[0102] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0103] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A miniature catheter rotation speed measuring device, characterized in that: The device includes a speed sensor and a non-uniform measurement component. The speed sensor is fixed at the end of the microcatheter where the basic sensor is located, and the transmission and reception directions of the speed sensor are perpendicular to the axis of the microcatheter. The speed sensor is used to transmit and acquire speed sensing signals for speed calculation. The non-uniform measurement component has a non-uniform thickness along the circumferential direction, and has the characteristic of penetrating the basic sensing signal emitted by the basic sensor, and the characteristic of reflecting the speed sensing signal emitted by the speed sensor. The signal transmission energy of the speed sensor is within the range of the non-uniform measurement component; The non-uniform measurement component is configured to include a microcatheter wall with a uniform circular inner contour and a non-uniform thickness, and a measurement medium disposed on the outside of the microcatheter wall. Alternatively, the non-uniform measurement component may be configured to include a microcatheter wall of uniform thickness and a measurement medium of non-uniform thickness disposed on the inner or outer side of the microcatheter wall.

2. A method for measuring the rotational speed of a microcatheter, based on the device as described in claim 1, characterized in that, Includes the following steps: During the rotational scanning process of the speed sensor, the time interval between the speed sensor transmitting a signal and receiving an echo signal is calculated; The current angle of the speed sensor is calculated using the time interval. The rotational speed is calculated by analyzing the changes in the time interval. The formula for calculating the current angle of the speed sensor based on the time interval is: in, The propagation speed of the rotation speed sensing signal. Let be the time interval from the transmission of the rotational speed sensing signal to the receipt of the echo signal at time t. The distance from the rotation speed sensor to the reflective interface; It also includes the following steps: The location of the transducer can be determined based on the changing angle of the speed sensor.

3. The method for measuring the rotational speed of a microcatheter as described in claim 2, characterized in that: The formula for calculating the rotational speed by analyzing the changes in the time interval is: in, From Time's up The angle of rotation of the speed sensor at any given time.

4. A microcatheter rotation speed measurement system, implementing the method as described in any one of claims 2 to 3, characterized in that: The device includes the microcatheter rotation speed measuring device and the measuring module as described in claim 1. The measuring module is used to collect and analyze the echo signal of the rotation speed sensor in the microcatheter rotation speed measuring device to calculate the rotation angle and rotation speed corresponding to the rotation speed sensor.

5. The microcatheter rotation speed measurement system as described in claim 4, characterized in that: When the basic sensor and the speed sensor inside the microcatheter emit signals of the same mode, there is a difference between the signals emitted by the basic sensor and the speed sensor.

6. The microcatheter rotation speed measurement system as described in claim 4, characterized in that: When the basic sensor and the speed sensor inside the microcatheter emit signals of different modes, the signals emitted by the basic sensor and the speed sensor do not interfere with each other.

7. 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, it implements the steps of the method as described in any one of claims 2 to 3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 2 to 3.

Images