Method, device and equipment for acquiring rotational deformation noise of rotatable conduit and medium

Abstract

The embodiment of the invention discloses a rotational deformation noise obtaining method, device and equipment for a rotatable conduit and a medium, and the method comprises the steps that when the rotatable conduit works in a detected environment, a driving device receives a rotating speed signal, and the driving device drives a tube core to rotate according to the received rotating speed signal; acquiring a first rotating speed close to one end of the driving device and a second rotating speed away from one end of the driving device in real time when the tube core rotates; according to the collected first rotation speed and the second rotation speed, a regularization cross correlation coefficient is obtained; the regularized cross correlation coefficient is used to measure rotational deformation noise of the rotatable conduit. According to the method, the NURD noise of the rotatable conduit can be accurately obtained, and the cost of measurement equipment is low.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a method, device, equipment and medium for obtaining rotational deformation noise of a rotatable catheter. Background Art

[0002] Rotatable catheters are common catheters in clinical practice, such as those used in intravascular ultrasound (IVUS), ICE, and optical coherence imaging (OCT). They often integrate micro sensors at the distal end of the catheter, and the proximal motor located outside the body drives the torque spring to rotate, thereby driving the sensor at the distal end of the catheter to rotate uniformly for imaging. However, the rotation of the proximal motor can often be controlled by programming. When the torque is transmitted to the distal sensor through the spring coil located in the catheter, it is often affected by the friction of the catheter and is difficult to rotate uniformly, thus causing errors in image reconstruction. The following is a detailed description.

[0003] like Figure 1 As shown, it is a schematic diagram of the structure of a rotatable catheter provided by an embodiment of the present invention, and the rotatable catheter includes an outer sheath 101, a tube core 102 and a driving device 103. The outer sheath 101 is sleeved on the tube core 102, and one end of the tube core 102 extending out of the outer sheath 101 is connected to the driving device 103. When used clinically, the outer sheath 101 enters the target part of the subject, and the driving device 103 drives the tube core 102 to rotate uniformly in one direction or two directions in the outer sheath 101. While rotating, the tube core 102 collects optical or acoustic echo signals, and image reconstruction is performed through the optical or acoustic echo signals collected by the tube core 102.

[0004] In order to facilitate the rotatable catheter to enter the subject in clinical use, the tube core 102 and the outer sheath 101 are usually in a bent state. An imaging sensor is provided at one end of the tube core 102, and the other end is connected to the driving device 103. In clinical use, the torque between the end of the tube core 102 close to the driving device 103 and the end of the tube core 102 far from the driving device 103 cannot reach 1:1 due to the non-uniform friction force of the catheter circumference. Therefore, when the optical or acoustic echo signal collected by the tube core 102 is used for image reconstruction, the angular error of the sensor will form image distortion noise, that is, non-uniform rotational deformation (NURD) noise. The existing method of obtaining NURD noise is to judge whether the final reconstructed image is distorted by the naked eye and experience, that is, the greater the image distortion, the stronger the NURD noise. However, in the image reconstruction process, the image distortion comes not only from NURD noise, but also from other factors such as image reconstruction algorithm. Therefore, the existing method of judging whether the rotatable catheter has NURD noise based on the final image has multiple interference factors and inaccurate results. Summary of the invention

[0005] The embodiments of the present invention provide a method, device, equipment and medium for obtaining rotational deformation noise of a rotatable catheter, which solves the problem of inaccuracy in the existing method of obtaining whether a rotatable catheter has NURD noise.

[0006] An embodiment of the present invention provides a method for obtaining rotational deformation noise of a rotatable catheter, wherein the rotatable catheter comprises an outer sheath, a tube core and a driving device, the outer sheath is sleeved on the outer periphery of the tube core, one end of the tube core extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the tube core to rotate relative to the outer sheath; the method comprises:

[0007] When the rotatable catheter is placed in an environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0008] collecting in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates;

[0009] Obtaining a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed;

[0010] The regularized cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

[0011] Further, the acquiring a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed includes:

[0012] Performing a first calculation on all the first rotation speeds and the second rotation speeds within a collection time period to obtain a first calculated value;

[0013] Performing a second calculation on all the first rotation speeds to obtain a second calculated value;

[0014] performing a second calculation on all the second rotation speeds to obtain a third calculated value;

[0015] Obtain a fourth calculated value by multiplying the second calculated value by the third calculated value;

[0016] The first calculated value is divided by the fourth calculated value to obtain a cross-correlation coefficient.

[0017] Further, performing a first calculation on all the collected first rotation speeds and the second rotation speeds to obtain a first calculated value is specifically:

[0018] Multiplying the first rotation speed and the second rotation speed at each moment in a collection time period to obtain a multiplication result;

[0019] Performing mean processing on the multiplication result to obtain a first calculated value;

[0020] The second calculation is to perform variance calculation.

[0021] Furthermore, after using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable catheter, the method further includes:

[0022] obtaining a torque transmission delay coefficient according to the first rotation speed and the second rotation speed;

[0023] The immediacy of torque transmission is obtained according to the torque transmission delay coefficient.

[0024] Furthermore, after using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable catheter, the method further includes:

[0025] Different speed signals are set, the speed of the driving device is adjusted using the speed signals, and the rotational deformation under different speed conditions is tested.

[0026] Furthermore, after using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable catheter, the method further includes:

[0027] A factor causing rotational deformation of the rotatable catheter is determined according to the second rotational speed.

[0028] Further, the factor of determining the rotational deformation of the rotatable catheter according to the second rotation speed is specifically:

[0029] If the second rotation speed changes over time, the lumen of the outer sheath is non-uniform;

[0030] If the third calculated value exceeds a preset threshold, friction exists in the inner cavity of the outer sheath.

[0031] The embodiment of the present invention further provides a rotational deformation noise acquisition device for a rotatable catheter, wherein the rotatable catheter comprises an outer sheath, a tube core and a driving device, wherein the outer sheath is sleeved around the tube core, and one end of the tube core extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the tube core to rotate relative to the outer sheath; the device comprises:

[0032] A receiving module, used for when the rotatable catheter is placed in the inspection environment, the driving device receives the rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0033] A collection module, used for collecting in real time a first rotation speed close to one end of the driving device and a second rotation speed away from one end of the driving device when the tube core rotates;

[0034] A processing module, configured to obtain a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed;

[0035] An output module is used to measure the rotation deformation noise of the rotatable catheter using the regularized cross-correlation coefficient.

[0036] An embodiment of the present invention further provides a rotational deformation noise acquisition device for a rotatable catheter, the rotational deformation noise acquisition device for a rotatable catheter comprising: a memory and at least one processor, the memory storing instructions, the memory and the at least one processor being interconnected via a line;

[0037] The at least one processor calls the instructions in the memory to enable the rotation deformation noise acquisition device of the rotatable catheter to perform the following steps:

[0038] When the rotatable catheter is placed in an environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0039] collecting in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates;

[0040] Obtaining a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed;

[0041] The regularized cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

[0042] The embodiment of the present invention further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the following steps are implemented:

[0043] When the rotatable catheter is placed in an environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0044] collecting in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates;

[0045] Obtaining a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed;

[0046] The forward cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

[0047] The embodiments of the present invention have the following beneficial effects:

[0048] The embodiment of the present invention provides a method for obtaining the rotational deformation noise of a rotatable catheter. When the rotatable catheter is placed in an environment to be inspected, the driving device drives the tube core to rotate according to the received rotation speed signal, and collects the first rotation speed of the tube core close to one end of the driving device and the second rotation speed away from one end of the driving device in real time; the mutual correlation coefficient is obtained according to the first rotation speed and the second rotation speed, and then the rotational deformation noise of the rotatable catheter is obtained. This method can accurately obtain the NURD noise of the rotatable catheter, and the measurement cost is low. A rotational deformation noise obtaining device, equipment and storage medium of a rotatable catheter provided by the embodiment of the present invention can also achieve the above technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] in:

[0051] Figure 1 A schematic structural diagram of a rotatable catheter provided by an embodiment of the present invention;

[0052] Figure 2 A network architecture diagram of a rotational deformation noise acquisition system for a rotatable catheter provided by an embodiment of the present invention;

[0053] Figure 3 A schematic flow chart of a method for obtaining rotational deformation noise of a rotatable catheter provided by an embodiment of the present invention;

[0054] Figure 4 A schematic diagram of a process for obtaining a regularized cross-correlation coefficient provided by an embodiment of the present invention;

[0055] Figure 5 A schematic structural diagram of a rotational deformation noise acquisition device for a rotatable catheter provided by an embodiment of the present invention;

[0056] Figure 6 A schematic diagram of the structure of a rotational deformation noise acquisition device for a rotatable catheter provided by an embodiment of the present invention;

[0057] Figure 7 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] like Figure 2 As shown in FIG. 1 , a network architecture diagram of a rotation deformation noise acquisition system of a rotatable catheter provided by an embodiment of the present invention is shown. Figure 2 As shown, the network architecture may include a server 210 and a terminal device 220. The terminal device 220 may be Figure 1 The rotatable catheter shown in ; Figure 1 As shown, the terminal device 220 is connected to the server 210 via the network 230 , so that the terminal device 220 can perform data exchange with the server 210 via the network 230 .

[0060] like Figure 2 The server 210 shown can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The terminal device can be a smart terminal such as a smart phone, a tablet computer, a laptop, a desktop computer, a smart TV, etc.

[0061] The network 230 may be a wired network or a wireless network. In some embodiments of the present invention, the wired network or the wireless network uses standard communication technology and / or protocols. The network may be the Internet or any network, including but not limited to a wide area network, a metropolitan area network, a regional network, a mobile communication of the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), Worldwide Interoperability for Microwave Access (WiMAX), or a computer network communication based on the TCP / IP Protocol Suite (TCP / IP), the User Datagram Protocol (UDP), etc.

[0062] In clinical use, see Figure 1 and Figure 2, the outer sheath 101 enters the target part of the subject, the rotation speed of the driving device 103 is set in the server 210, the server 210 generates a rotation speed signal according to the set rotation speed, and sends the generated rotation speed signal to the driving device 103; the driving device 103 receives the rotation speed signal, and according to the rotation speed in the rotation speed signal, the driving device 103 drives the tube core 102 to perform unidirectional or bidirectional high-speed uniform rotation in the outer sheath 101, wherein the tube core 102 includes a sensor and a spring coil, the sensor is an imaging sensor, the imaging sensor is arranged at one end of the tube core 102, and the other end extends out of the outer sheath 101 and is connected to the driving device 103, and the first rotation speed of the tube core 102 close to the driving device 103 and the second rotation speed of the tube core 102 away from the driving device 103 when rotating; optionally, when the tube core 102 is close to the driving device 1 A first sensor 104 is set at one end of the tube core 103 to collect a first rotation speed close to one end of the driving device 103, and a second sensor (not shown in the figure) is set at one end of the tube core 102 away from the driving device 103 to collect a second rotation speed away from one end of the driving device 103. The first sensor 104 and the second sensor (not shown in the figure) send the collected first rotation speed and the second rotation speed to the server 210. The server 210 obtains a mutual correlation coefficient according to the collected first rotation speed and the second rotation speed corresponding to the first rotation speed, wherein the second rotation speed corresponding to the first rotation speed is the second rotation speed collected at a second moment, and the second moment is the first moment of collecting the first rotation speed plus the moment corresponding to the rotation delay time; the mutual correlation coefficient is determined as the rotation deformation noise of the rotatable catheter.

[0063] like Figure 3 FIG. 1 is a flow chart of a method for obtaining rotational deformation noise of a rotatable catheter provided by an embodiment of the present invention, and the method includes:

[0064] Step S301, when the rotatable catheter is placed in the inspection environment, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0065] Specifically, in this embodiment, when the rotatable catheter is used clinically, the outer sheath 101 of the rotatable catheter is placed at the target position of the subject, and then the driving device 103 rotates the tube core 102 according to the set rotation speed. The rotatable catheter is used for interventional imaging and is a rotatable flexible endoscopic catheter. The outer sheath 101 is usually a biocompatible adjustable curved sheath tube.

[0066] It should be noted that, in this embodiment, the driving device 103 includes a motor, a power supply, and a motor driver, etc. When setting the rotation speed on the driving device 103, selection buttons corresponding to different rotation speeds can be set on the driving device 103, and the user directly selects the speed corresponding to the demand on the driving device 103 according to actual needs. Alternatively, the user directly inputs or selects the required rotation speed on the user interaction interface of the electronic device where the server 210 is located, and then the server 210 sends the rotation speed to the driving device 103.

[0067] Step S302, collecting in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates;

[0068] Specifically, in this embodiment, a first rotation speed of the tube core 102 at one end close to the driving device 103 and a second rotation speed at one end away from the driving device 103 during the rotation process are collected in real time.

[0069] It should be noted that when collecting the first rotation speed and the second rotation speed, a speed acquisition device can be set at the end of the tube core 102 close to the driving device 103 and the end away from the driving device 103, such as setting a first sensor 104 at the end of the tube core 102 close to the driving device 103, and setting a second sensor (not shown in the figure) at the end of the tube core 102 away from the driving device 103. Alternatively, a speed acquisition device is directly set in the inner cavity of the outer sheath 101, and the first rotation speed of the end close to the driving device 103 and the second rotation speed of the end away from the driving device 103 when the tube core 102 rotates are collected by the speed acquisition device.

[0070] It should be noted that a first encoder may be provided in the rotatable drive device corresponding to the first sensor 104, a second encoder may be provided corresponding to the second sensor (not shown in the figure), and a data acquisition system is provided in the server 201. The first sensor sends the collected first angular displacement signal to the first encoder, and the second sensor sends the collected second angular displacement signal to the second encoder. The first encoder and the second encoder respectively encode the received first angular displacement signal and the second angular displacement signal. If the first encoder and the second encoder are photoelectric encoders, the photoelectric encoder converts the received angular displacement signal into an electrical pulse signal, and the photoelectric encoder sends the electrical pulse signal to the data acquisition system. The rotation speed corresponding to the two ends is obtained by time-deriving the angular displacement signal. The data acquisition system counts the electrical pulse signal and performs analog-to-digital conversion (ADC) to achieve real-time acquisition of the first rotation speed close to one end of the drive device 103 and the second rotation speed away from one end of the drive device 103.

[0071] It should be noted that, in this embodiment, the first rotation speed and the second rotation speed can be the rotation speeds at any position of the tube core 102, or the rotation speeds at multiple positions of the tube core 102 can be tested. In this embodiment, there is no specific limitation on the number of rotation speeds collected.

[0072] Step S303, obtaining a regularized mutual correlation coefficient according to the collected first rotation speed and second rotation speed;

[0073] Specifically, in the present embodiment, the driving device 103 drives the tube core 102 close to one end of the driving device 103 to rotate, and the tube core 102 close to the driving device 103 drives the tube core 102 from the end close to the driving device 103 to the end far from the driving device 103 to rotate in turn; the regularized correlation coefficient is obtained through the first rotation speed of the tube core 102 close to the driving device 103 and the second rotation speed of the end far from the driving device 103 during the rotation process.

[0074] It should be noted that, in this embodiment, the first rotation speed can be directly taken as the rotation speed in the driving device 103 .

[0075] Step S304: using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable catheter.

[0076] Specifically, in this embodiment, the obtained regularized cross-correlation coefficient is determined as the rotational deformation noise of the rotatable catheter at the rotation speed.

[0077] This embodiment provides a method for obtaining rotational deformation noise of a rotatable catheter. When the rotatable catheter is placed in an environment to be inspected, a driving device drives the tube core to rotate according to a received rotation speed signal, and collects a first rotation speed of the tube core close to one end of the driving device and a second rotation speed away from one end of the driving device in real time; a regularized mutual correlation coefficient is obtained according to the first rotation speed and the second rotation speed, and then the rotational deformation noise of the rotatable catheter is obtained. This method can accurately obtain the NURD noise of the rotatable catheter, and the measurement cost is low.

[0078] In some embodiments, Figure 4 FIG. 4 is a flow chart of obtaining the regularized mutual correlation coefficient provided by an embodiment of the present invention, wherein step S303 includes:

[0079] Step S3031, performing a first calculation on all first rotation speeds and second rotation speeds corresponding to the first rotation speeds within a collection time period to obtain a first calculation value;

[0080] Preferably, step S3031 is specifically:

[0081] Multiplying the first rotation speed and the second rotation speed at each moment in the acquisition time period to obtain a multiplication result;

[0082] The multiplication result is averaged to obtain a first calculated value.

[0083] Step S3032, performing a second calculation on all first rotation speeds to obtain a second calculated value;

[0084] Preferably, the second calculation is to perform variance calculation

[0085] Step S3033, performing a second calculation on the second rotation speeds corresponding to all the first rotation speeds to obtain a third calculation value;

[0086] Preferably, the second calculation is to perform variance calculation

[0087] Step S3034, obtaining a fourth calculated value by multiplying the second calculated value by the third calculated value;

[0088] Step S3035: Divide the first calculated value by the fourth calculated value to obtain a mutual correlation coefficient.

[0089] Specifically, in this embodiment, after obtaining the first rotation speed of the rotatable catheter in the clinical process, the regularized cross-correlation coefficient ρ is calculated. The regularized cross-correlation coefficient ρ is calculated as follows:

[0090]

[0091] Among them, v1 is the first rotation speed collected at a certain moment, v2 is the second rotation speed at the same moment, * is the multiplication process, E(v1*v2) is the mean of the multiplication results of the first rotation speed and the second rotation speed within the collection time period; σ(v1) is the variance of all first rotation speeds within the collection time period, and σ(v2) is the variance of all second rotation speeds within the collection time period.

[0092] In some embodiments, after step S304, the method further includes:

[0093] According to the first rotation speed and the second rotation speed, the torque transmission delay coefficient is obtained, and the calculation formula is:

[0094]

[0095] That is, the value of the torque transmission delay coefficient τ is such that after a certain time shift of v1, the second norm with v2 is as small as possible, where ω represents the time shift value to be searched, and t is the time of acquiring the signal.

[0096] The immediacy of torque transmission is obtained according to the torque transmission delay coefficient.

[0097] Specifically, in this embodiment, the torque transmission delay coefficient is obtained by collecting the first rotation speed and the second rotation speed within the time period. A smaller torque transmission delay coefficient indicates that the immediacy of the torque transmission is high, and a larger torque transmission delay coefficient indicates that the immediacy of the torque transmission is low.

[0098] In some embodiments, after step S304, the method further includes:

[0099] Set different speed signals and use the speed signals to adjust the speed of the drive device.

[0100] Specifically, in this embodiment, by setting different rotation speeds of the driving device 103, the correlation coefficient ρ of the rotatable conduit at different rotation speeds can be obtained, and then the NURD noise of the rotatable conduit at different rotation speeds can be obtained.

[0101] In some embodiments, after step S304, the method further includes:

[0102] A factor causing rotational deformation of the rotatable catheter is determined based on the second rotational speed.

[0103] Preferably, the factors causing the rotational deformation of the rotatable catheter are determined according to the second rotation speed, specifically:

[0104] If the second rotational speed changes over time, the lumen of the outer sheath is not uniform;

[0105] If the third calculated value exceeds the preset threshold, friction exists in the inner cavity of the outer sheath.

[0106] Specifically, in this embodiment, after obtaining the presence of NURD noise of the rotatable catheter, the current problem of the catheter can be judged based on the presence of NURD noise. If v2 in the collected data segment shows periodic changes, it means that the inner cavity of the outer sheath is uneven; if σ(v2) exceeds the preset threshold, it means that there is friction in the inner cavity of the outer sheath.

[0107] like Figure 5 FIG. 5 is a schematic diagram of a structure of a device for acquiring rotational deformation noise of a rotatable catheter provided by an embodiment of the present invention. The device 500 includes:

[0108] The receiving module 501 is used for the driving device to receive the rotation speed signal when the rotatable catheter is placed in the inspection environment, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0109] The acquisition module 502 is used to acquire in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates;

[0110] A processing module 503 is used to obtain a regularized cross-correlation coefficient according to the collected first rotation speed and second rotation speed;

[0111] The output module 504 is configured to measure the rotational deformation noise of the rotatable conduit according to the regularized cross-correlation coefficient.

[0112] In some embodiments, the processing module is further configured to:

[0113] Performing a first calculation on all the first rotation speeds and the second rotation speeds within a collection time period to obtain a first calculated value;

[0114] Performing a second calculation on all the first rotation speeds to obtain a second calculated value;

[0115] performing a second calculation on all the second rotation speeds to obtain a third calculated value;

[0116] Obtain a fourth calculated value by multiplying the second calculated value by the third calculated value;

[0117] The first calculated value is divided by the fourth calculated value to obtain a cross-correlation coefficient.

[0118] In some embodiments, the processing module is further configured to:

[0119] multiplying all the first rotation speeds and the second rotation speeds corresponding to the first rotation speeds to obtain a multiplication result;

[0120] Performing mean processing on the multiplication result to obtain a first calculated value;

[0121] The second calculation is to perform variance calculation

[0122] In some embodiments, the apparatus further comprises:

[0123] an acquisition module, configured to obtain a torque transmission delay coefficient according to the first rotation speed and the second rotation speed;

[0124] The immediacy of torque transmission is obtained according to the torque transmission delay coefficient.

[0125] In some embodiments, the apparatus further comprises:

[0126] The speed setting module is used to set different speed signals and use the speed signals to adjust the speed of the driving device.

[0127] In some embodiments, the apparatus further comprises:

[0128] The rotation deformation factor determination module is used to determine the factor causing the rotation deformation of the rotatable catheter according to the second rotation speed.

[0129] In some embodiments, the rotation deformation factor determination module is further configured to:

[0130] If the second rotation speed presents a periodic change, the inner cavity of the outer sheath is non-uniform;

[0131] If the third calculated value exceeds a preset threshold, friction exists in the inner cavity of the outer sheath.

[0132] For other details about how each module in the device for acquiring rotational deformation noise of a rotatable catheter implements the above technical solution, please refer to the description of the method for acquiring rotational deformation noise of a rotatable catheter provided above, which will not be repeated here.

[0133] In some embodiments, Figure 6 As shown, it is a schematic diagram of the structure of the rotational deformation noise acquisition device of a rotatable catheter provided by an embodiment of the present invention. The rotational deformation noise acquisition device 600 of a rotatable catheter may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 601 (for example, one or more processors) and a memory 602, and one or more storage media 603 (for example, one or more mass storage devices) storing application programs 6031 or data 6032. Among them, the memory 602 and the storage medium 603 can be temporary storage or permanent storage. The program stored in the storage medium 603 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the rotational deformation noise acquisition device 600 of the rotatable catheter. Furthermore, the processor 601 can be configured to communicate with the storage medium 603, and execute a series of instruction operations in the storage medium 603 on the rotational deformation noise acquisition device 600 of the rotatable catheter to implement the following steps:

[0134] When the rotatable catheter is placed in the environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0135] Real-time acquisition of a first rotation speed at one end close to the driving device and a second rotation speed at one end away from the driving device when the tube core rotates;

[0136] Obtain a regularized correlation coefficient based on the collected first rotation speed and the second rotation speed corresponding to the first rotation speed

[0137] The cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

[0138] For other details about how the processor 601 in the device for acquiring rotational deformation noise of a rotatable catheter implements the above technical solution, reference may be made to the description of the method for acquiring rotational deformation noise of a rotatable catheter provided above, which will not be described in detail here.

[0139] The rotation deformation noise acquisition device 600 of the rotatable catheter may also include one or more power supplies 604, one or more wired or wireless network interfaces 605, one or more input and output interfaces 606, and / or one or more operating systems 6033, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will appreciate that Figure 6 The structure of the rotational deformation noise acquisition device of a rotatable catheter shown does not constitute a limitation on the rotational deformation noise acquisition device of a rotatable catheter provided in the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0140] In some embodiments, in some embodiments, as Figure 7 As shown, it is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present invention, and a readable computer program 701 is stored on the storage medium; wherein the computer program 701 can be stored in the above storage medium in the form of a software product, and includes a number of instructions for causing a computer device (which can be a personal computer, a service machine, or a network device, etc.) or a processor to perform the following steps:

[0141] When the rotatable catheter is placed in the environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal;

[0142] Real-time acquisition of a first rotation speed at one end close to the driving device and a second rotation speed at one end away from the driving device when the tube core rotates;

[0143] Obtaining a regularized mutual correlation coefficient according to the collected first rotation speed and a second rotation speed corresponding to the first rotation speed;

[0144] The regularized cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

[0145] The aforementioned storage media include: U disk, mobile hard disk, magnetic disk or CD, ROM (Read-Only Memory), RAM (Random Access Memory) and other media that can store program code, or terminal devices such as computers, service machines, mobile phones, and tablets.

[0146] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0147] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for obtaining rotational deformation noise of a rotatable catheter, wherein: The rotatable catheter comprises an outer sheath, a tube core and a driving device, wherein the outer sheath is sleeved on the outer periphery of the tube core, one end of the tube core extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the tube core to rotate relative to the outer sheath; characterized in that the method comprises: When the rotatable catheter is placed in an environment to be inspected, the driving device receives a rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal; collecting in real time a first rotation speed of an end close to the driving device and a second rotation speed of an end away from the driving device when the tube core rotates; Obtaining a regularized cross-correlation coefficient according to the collected first rotation speed and second rotation speed; The regularized cross-correlation coefficient is used to measure the rotational deformation noise of the rotatable catheter.

2. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 1, characterized in that: The obtaining of a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed includes: Performing a first calculation on all the first rotation speeds and the second rotation speeds within a collection time period to obtain a first calculated value; Performing a second calculation on all the first rotation speeds to obtain a second calculated value; performing a second calculation on all the second rotation speeds to obtain a third calculated value; Obtain a fourth calculated value by multiplying the second calculated value by the third calculated value; The first calculated value is divided by the fourth calculated value to obtain a cross-correlation coefficient.

3. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 2, characterized in that: The first calculation is performed on all the collected first rotation speeds and the second rotation speeds to obtain a first calculation value, specifically: Multiplying the first rotation speed and the second rotation speed at each moment in a collection time period to obtain a multiplication result; Performing mean processing on the multiplication result to obtain a first calculated value; The second calculation is to perform variance calculation.

4. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 2, characterized in that: After using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable conduit, the method further includes: obtaining a torque transmission delay coefficient according to the first rotation speed and the second rotation speed; The immediacy of torque transmission is obtained according to the torque transmission delay coefficient.

5. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 1, characterized in that: After using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable conduit, the method further includes: Different speed signals are set, the speed of the driving device is adjusted using the speed signals, and the rotational deformation under different speed conditions is tested.

6. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 2, characterized in that: After using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable conduit, the method further includes: A factor causing rotational deformation of the rotatable catheter is determined according to the second rotational speed.

7. The method for obtaining rotational deformation noise of a rotatable catheter according to claim 6, characterized in that: The factor of determining the rotational deformation of the rotatable catheter according to the second rotation speed is specifically: If the second rotation speed changes over time, the lumen of the outer sheath is non-uniform; If the third calculated value exceeds a preset threshold, friction exists in the inner cavity of the outer sheath.

8. A device for acquiring rotational deformation noise of a rotatable catheter, wherein: The rotatable catheter comprises an outer sheath, a tube core and a driving device, wherein the outer sheath is sleeved on the outer periphery of the tube core, one end of the tube core extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the tube core to rotate relative to the outer sheath; the device is characterized in that: A receiving module, used for when the rotatable catheter is placed in the inspection environment, the driving device receives the rotation speed signal, and the driving device drives the tube core to rotate according to the received rotation speed signal; A collection module, used for collecting in real time a first rotation speed close to one end of the driving device and a second rotation speed away from one end of the driving device when the tube core rotates; A processing module, configured to obtain a regularized mutual correlation coefficient according to the collected first rotation speed and the second rotation speed; An output module is used to measure the rotation deformation noise of the rotatable catheter using the regularized cross-correlation coefficient.

9. A device for acquiring rotational deformation noise of a rotatable catheter, characterized in that: The rotation deformation noise acquisition device of the rotatable catheter comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the rotation deformation noise acquisition device of the rotatable catheter to perform the steps of the rotation deformation noise acquisition method of the rotatable catheter according to any one of claims 1-7.

10. 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 for acquiring rotational deformation noise of a rotatable catheter according to any one of claims 1 to 7 are implemented.

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