Method, device, equipment and medium for obtaining rotational deformation noise of rotatable catheter

Abstract

Embodiments of the present invention disclose a method, apparatus, device, and medium for obtaining rotational deformation noise from a rotatable catheter. The method comprises: when the rotatable catheter is operating in a test environment, a drive device receives a rotation speed signal, and the drive device rotates the catheter core based on the received rotation speed signal; real-time acquisition of a first rotational speed of the catheter core near one end of the drive device and a second rotational speed away from the drive device; obtaining a regularized cross-correlation coefficient based on the acquired first and second rotational speeds; and using the regularized cross-correlation coefficient to measure the rotational deformation noise of the rotatable catheter. This method can accurately obtain the Nurd noise of the rotatable catheter, and the measurement equipment is low-cost.

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 in clinical practice, used in applications such as intravascular ultrasound (IVUS), ICE, and optical coherence imaging (OCT). They often integrate a microsensor at the distal end of the catheter. A proximal motor located outside the body drives a torque spring, which in turn rotates the distal sensor uniformly for imaging. However, while the rotation of the proximal motor is often programmable, the torque transmitted to the distal sensor via the spring coil inside the catheter is often affected by friction from the catheter, making uniform rotation difficult and leading to image reconstruction errors. A detailed explanation is provided below.

[0003] like Figure 1 FIG. 1 is a schematic diagram of the structure of a rotatable catheter provided by an embodiment of the present invention. The rotatable catheter includes an outer sheath 101, a core 102, and a drive device 103. The outer sheath 101 is sleeved over the core 102, and one end of the core 102 extending from the outer sheath 101 is connected to the drive device 103. During clinical use, the outer sheath 101 is inserted into the target area of ​​the subject, and the drive device 103 drives the core 102 to rotate uniformly in one or two directions within the outer sheath 101. While rotating, the core 102 collects optical or acoustic echo signals, and image reconstruction is performed based on the optical or acoustic echo signals collected by the core 102.

[0004] To facilitate the entry of the rotatable catheter into the subject during clinical use, the core 102 and the outer sheath 101 are usually in a bent state. One end of the core 102 is provided with an imaging sensor, and the other end is connected to the drive device 103. In clinical use, the torque between the end of the core 102 close to the drive device 103 and the end of the core 102 away from the drive 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 core 102 is used to reconstruct the image, the angular error of the sensor will form image distortion noise, namely 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, during the image reconstruction process, image distortion comes not only from NURD noise, but also from other factors such as the image reconstruction algorithm. Therefore, the existing method of judging whether a 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 includes an outer sheath, a tube core, and a drive device, wherein the outer sheath is arranged around the outer periphery of the tube core, and one end of the tube core extending from the outer sheath is connected to the drive device, and the drive device is used to drive the tube core to rotate relative to the outer sheath; the method includes:

[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 rotational speed of the tube core close to an end of the driving device and a second rotational speed of the tube core away from an end of the driving device when the tube core rotates;

[0009] Obtaining a regularized cross-correlation coefficient based on 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] Furthermore, the acquiring a regularized correlation coefficient based on the collected first rotation speed and the second rotation speed includes:

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

[0013] performing a second calculation on all of the first rotational speeds to obtain a second calculated value;

[0014] performing a second calculation on all of the second rotational 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] Furthermore, performing a first calculation on all the collected first rotational speeds and the second rotational speeds to obtain a first calculated value is specifically:

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

[0019] Performing mean processing on the multiplication results 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] Furthermore, the factor of determining the rotational deformation of the rotatable catheter according to the second rotation speed is specifically:

[0029] If the second rotational 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] An embodiment of the present invention further provides a device for acquiring rotational deformation noise of a rotatable catheter, wherein the rotatable catheter includes an outer sheath, a tube core, and a drive device, wherein the outer sheath is arranged around the outer periphery of the tube core, and one end of the tube core extending from the outer sheath is connected to the drive device, and the drive device is used to drive the tube core to rotate relative to the outer sheath; the device includes:

[0032] a receiving module, configured to receive a rotation speed signal from a driving device when the rotatable catheter is placed in an environment to be inspected, and drive the tube core to rotate according to the received rotation speed signal;

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

[0034] a processing module, configured to obtain a regularized cross-correlation coefficient based on the collected first rotation speed and the second rotation speed;

[0035] An output module is configured to measure the rotational deformation noise of the rotatable conduit using the regularized cross-correlation coefficient.

[0036] An embodiment of the present invention further provides a device for obtaining rotational deformation noise of a rotatable catheter, the device comprising: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected via a circuit;

[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 rotational speed of the tube core close to an end of the driving device and a second rotational speed of the tube core away from an end of the driving device when the tube core rotates;

[0040] Obtaining a regularized cross-correlation coefficient based on 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] An embodiment of the present invention further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium. 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 rotational speed of the tube core close to an end of the driving device and a second rotational speed of the tube core away from an end of the driving device when the tube core rotates;

[0045] Obtaining a regularized cross-correlation coefficient based on 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 conduit.

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

[0048] An embodiment of the present invention provides a method for acquiring the rotational deformation noise of a rotatable catheter. When the rotatable catheter is placed in a test environment, a drive device rotates the catheter core based on a received rotational speed signal. A first rotational speed of the catheter core near the drive device and a second rotational speed away from the drive device are collected in real time. A correlation coefficient is generated based on the first and second rotational speeds to obtain the rotational deformation noise of the rotatable catheter. This method accurately acquires the NURD noise of the rotatable catheter with low measurement cost. A device, apparatus, and storage medium for acquiring the rotational deformation noise of a rotatable catheter provided by an embodiment of the present invention also achieve the aforementioned 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any 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 system for acquiring rotational deformation noise of 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 regularized cross-correlation coefficients according to an embodiment of the present invention;

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

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

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

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] like Figure 2 As shown in FIG, a network architecture diagram of a rotation deformation noise acquisition system for a rotatable catheter provided by an embodiment of the present invention. 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, 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 smartphone, tablet computer, laptop computer, desktop computer, 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 wireless network uses standard communication technologies and / or protocols. The network may be the Internet or any other network, including but not limited to a wide area network, a metropolitan area network, a regional area network, mobile communications based on the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), and Worldwide Interoperability for Microwave Access (WiMAX), or computer network communications based on the TCP / IP protocol suite (TCP / IP) and the User Datagram Protocol (UDP).

[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 rotate uniformly in one direction or two directions at high speed 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 provided 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 end and the second rotation speed away from the driving device 103 end when the tube core 102 rotates are collected; optionally, when the tube core 102 is close to the driving device 1 A first sensor 104 is provided at one end of the tube core 103 for collecting a first rotational speed close to an end of the driving device 103. A second sensor (not shown in the figure) is provided at an end of the tube core 102 away from the driving device 103 for collecting a second rotational speed away from the end of the driving device 103. The first sensor 104 and the second sensor (not shown in the figure) send the collected first rotational speed and the second rotational speed to the server 210. The server 210 obtains a cross-correlation coefficient based on the collected first rotational speed and the second rotational speed corresponding to the first rotational speed, where the second rotational speed corresponding to the first rotational speed is the second rotational speed collected at a second moment, and the second moment is the first moment at which the first rotational speed is collected plus the moment corresponding to the rotation delay time. The cross-correlation coefficient is determined as the rotational 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, the method comprising:

[0064] Step S301: When the rotatable catheter is placed in an environment to be inspected, a driving device receives a rotation speed signal, and the driving device drives the catheter core to rotate according to the received rotation speed signal;

[0065] Specifically, in this embodiment, during clinical use, the rotatable catheter is positioned at the subject's target location. A drive unit 103 then rotates the core tube 102 at a set rotational speed. The rotatable catheter is used for interventional imaging and is a rotatable, flexible endoscopic catheter. The outer sheath 101 is typically a biocompatible, adjustable, bendable sheath.

[0066] It should be noted that in this embodiment, the drive device 103 includes a motor, a power supply, and a motor driver. When setting the rotational speed on the drive device 103, selection buttons corresponding to different rotational speeds can be set on the drive device 103. The user can directly select the corresponding speed on the drive device 103 according to actual needs. Alternatively, the user can directly input or select the desired rotational speed on the user interface of the electronic device where the server 210 is located, and the server 210 will then send the rotational speed to the drive device 103.

[0067] Step S302, collecting in real time a first rotational speed of an end of the tube core close to the driving device and a second rotational speed of an end of the tube core 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 rotational speed and the second rotational speed, a speed acquisition device can be provided 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 providing a first sensor 104 at the end of the tube core 102 close to the driving device 103 and providing 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 can be directly provided in the inner cavity of the outer sheath 101 to collect the first rotational speed of the end of the tube core 102 close to the driving device 103 and the second rotational speed of the end away from the driving device 103 when the tube core 102 rotates.

[0070] It should be noted that a first encoder can be provided in the rotatable drive device corresponding to the first sensor 104, and a second encoder can be provided corresponding to the second sensor (not shown in the figure). 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, which is sent to the data acquisition system. The rotational speeds corresponding to the two ends are obtained by taking the time derivative of the angular displacement signal. The data acquisition system counts the electrical pulse signals and performs analog-to-digital conversion (ADC) to achieve real-time acquisition of the first rotational speed at one end near the drive device 103 and the second rotational speed at the end away from 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 speed of any position of the tube die 102, or the rotation speed of multiple positions of the tube die 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 cross-correlation coefficient based on the collected first rotation speed and second rotation speed;

[0073] Specifically, in this 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 away 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 end of the driving device 103 and the second rotation speed of the end away 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 of the driving device 103 .

[0075] In step S304 , the rotational deformation noise of the rotatable catheter is measured using a regularized cross-correlation coefficient.

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

[0077] This embodiment provides a method for acquiring the rotational deformation noise of a rotatable catheter. When the rotatable catheter is placed in a test environment, a drive mechanism rotates the catheter core based on a received rotational speed signal. A first rotational speed of the catheter core near the drive mechanism and a second rotational speed away from the drive mechanism are measured in real time. A regularized cross-correlation coefficient is derived from the first and second rotational speeds to obtain the rotational deformation noise of the rotatable catheter. This method accurately acquires the Nurd noise of the rotatable catheter with low measurement cost.

[0078] In some embodiments, as Figure 4 FIG. 5 is a flow chart of obtaining regularized cross-correlation coefficients according to an embodiment of the present invention, wherein step S303 includes:

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

[0080] Preferably, step S3031 is specifically as follows:

[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] Perform mean processing on the multiplication results 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 rotational speeds corresponding to all first rotational speeds to obtain a third calculated 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 cross-correlation coefficient.

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

[0090]

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

[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 high immediacy of torque transmission, and a larger torque transmission delay coefficient indicates low immediacy of torque transmission.

[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, thereby obtaining the NURD noise of the rotatable conduit at different rotation speeds.

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

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

[0103] Preferably, the factors causing the rotational deformation of the rotatable conduit 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 non-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 determined based on the presence of NURD noise. If v2 in the acquired 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 structural diagram 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 driving the rotatable catheter to receive a rotation speed signal when the rotatable catheter is placed in an environment to be inspected, and the driving device drives the catheter 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 the end close to the driving device and a second rotation speed of the end away from the driving device when the tube core rotates;

[0110] A processing module 503 is configured to obtain a regularized cross-correlation coefficient based on 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 catheter 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 rotational speeds and the second rotational speeds within a collection time period to obtain a first calculated value;

[0114] performing a second calculation on all of the first rotational speeds to obtain a second calculated value;

[0115] performing a second calculation on all of the second rotational 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 rotational speeds and the second rotational speeds corresponding to the first rotational speeds to obtain a multiplication result;

[0120] Performing mean processing on the multiplication results 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 configured to determine a 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 rotational speed exhibits periodic variation, 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 the modules in the device for obtaining rotational deformation noise of a rotatable catheter implement the above technical solution, please refer to the description of the method for obtaining rotational deformation noise of a rotatable catheter provided above, which will not be repeated here.

[0133] In some embodiments, as Figure 6 FIG. 1 is a schematic diagram of the structure of a device for acquiring rotational deformation noise of a rotatable catheter provided by an embodiment of the present invention. The device 600 for acquiring rotational deformation noise of a rotatable catheter may vary greatly due to different configurations or performances, and may include one or more processors (central processing units, CPUs) 601 (e.g., one or more processors) and a memory 602, and one or more storage media 603 (e.g., one or more mass storage devices) storing application programs 6031 or data 6032. The memory 602 and the storage medium 603 may be temporary storage or permanent storage. The program stored in the storage medium 603 may include one or more modules (not shown), each of which may include a series of instruction operations in the device 600 for acquiring rotational deformation noise of a rotatable catheter. Furthermore, the processor 601 may be configured to communicate with the storage medium 603 to execute a series of instruction operations in the storage medium 603 on the device 600 for acquiring rotational deformation noise of a rotatable catheter to implement the following steps:

[0134] 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 catheter core to rotate according to the received rotation speed signal;

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

[0136] Obtain the 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 obtaining rotational deformation noise of a rotatable catheter implements the above technical solution, please refer to the description of the method for obtaining rotational deformation noise of a rotatable catheter provided above, which will not be repeated here.

[0139] The rotational deformation noise acquisition device 600 of a rotatable catheter may further 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 Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be understood by those skilled in the art 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 fewer 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 FIG. 1 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present invention, wherein the storage medium stores a readable computer program 701; wherein the computer program 701 may be stored in the storage medium in the form of a software product, and includes a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the following steps:

[0141] 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 catheter core to rotate according to the received rotation speed signal;

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

[0143] Obtaining a regularized cross-correlation coefficient based on the acquired 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: USB flash drives, mobile hard drives, magnetic disks or optical disks, ROM (Read-Only Memory), RAM (Random Access Memory), and other media that can store program codes, or terminal devices such as computers, service machines, mobile phones, and tablets.

[0146] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of 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 can 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 merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for obtaining rotational deformation noise of a rotatable catheter, wherein: The rotatable catheter comprises an outer sheath, a core tube and a driving device, wherein the outer sheath is arranged on the periphery of the core tube, and one end of the core tube extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the core tube to rotate relative to the outer sheath; the method is characterized in that: 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 rotational speed of the tube core close to an end of the driving device and a second rotational speed of the tube core away from an end of the driving device when the tube core rotates; Obtaining a regularized cross-correlation coefficient based on 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 cross-correlation coefficient according to the collected first rotation speed and the collected second rotation speed includes: performing a first calculation on all the first rotational speeds and the second rotational speeds within a collection time period to obtain a first calculated value; performing a second calculation on all of the first rotational speeds to obtain a second calculated value; performing a second calculation on all of the second rotational 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 rotational speeds and the second rotational speeds to obtain a first calculated value, specifically: multiplying the first rotation speed and the second rotation speed at each moment in the acquisition time period to obtain a multiplication result; Performing mean processing on the multiplication results 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 rotational 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 core tube and a driving device, wherein the outer sheath is sleeved around the core tube, and one end of the core tube extending out of the outer sheath is connected to the driving device, and the driving device is used to drive the core tube to rotate relative to the outer sheath; the device is characterized in that the device comprises: a receiving module, configured to receive a rotation speed signal from a driving device when the rotatable catheter is placed in an environment to be inspected, and drive the tube core to rotate according to the received rotation speed signal; A collection module, configured to collect in real time a first rotation speed of the tube core close to an end of the driving device and a second rotation speed of the tube core away from an end of the driving device when the tube core rotates; a processing module, configured to obtain a regularized cross-correlation coefficient based on the collected first rotation speed and the second rotation speed; An output module is configured to measure the rotational deformation noise of the rotatable conduit 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 includes: a memory and at least one processor, wherein instructions are stored in the memory, 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 device for acquiring rotational deformation noise of a rotatable catheter to perform the steps of the method for acquiring rotational deformation noise of a rotatable catheter according to any one of claims 1 to 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 obtaining rotational deformation noise of a rotatable catheter according to any one of claims 1 to 7 are implemented.

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