A magnetic navigation guided PICC catheter precise positioning device and method

Abstract

The application provides a magnetic navigation guiding PICC catheter precise positioning device and method, relates to the PICC catheter positioning technical field, and comprises a lying table, the inner side of the lying table is provided with a cavity, the inner side of the cavity is provided with a magnetic array trolley through a double-shaft driving assembly, a positioner is installed on the magnetic array trolley, the two sides of the lying table are provided with mounting ports, the inner side of the mounting port is provided with a guide rail, the outer side of the mounting port is provided with a first baffle, one end of the first baffle is connected with the guide rail through a sliding block, a touch computing controller is installed on the first baffle, the two sides of the lying table away from the mounting port are provided with second baffles, a fixing frame is arranged above the lying table, the two ends of the fixing frame are fixedly connected with the second baffles on the two sides, and an AR laser projector is installed on the fixing frame; the magnetic field generator is arranged in the area below the lying table, the AR projection is combined with the magnetic array trolley with adjustable position, and the precise positioning with high precision, real-time adjustment and reduced interference is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of PICC catheter positioning, in particular to a magnetic navigation guided PICC catheter precise positioning device and method. BACKGROUND

[0002] With the continuous development of medical technology, peripherally inserted central catheter (PICC) has become an important clinical operation method. PICC catheter is often used for long-term drug infusion, fluid supplementation and chemotherapy treatment. However, despite the widespread application of this technology, there are still many challenges, especially in the precise positioning of the catheter. Accurate catheter positioning not only helps to ensure treatment effectiveness, but also reduces the incidence of patient complications, improves the success rate and safety of one-time catheterization. The traditional PICC catheter positioning method has the following shortcomings, which affects the effect of clinical operation and the comfort of patients.

[0003] For example, X-ray positioning method, after PICC placement, the operator usually needs to observe the position of the catheter through X-ray, but the radiation risk of X-ray in medical application cannot be ignored. Especially for patients who need multiple punctures or repeated tube adjustment, long-term radiation may have adverse effects on physical health, especially potential harm to the immune system, hematopoietic system, etc. And X-ray positioning has a certain lag, and it cannot be positioned in real time during the operation. After catheterization, it still needs to be positioned in the radiology department or bedside.

[0004] For example, the ultrasonic positioning method is greatly influenced by the experience of the operator and the body type of the patient. For some patients with a larger body type or complex tissue structure, the ultrasonic image may be unclear, making it difficult to accurately determine the position of the catheter, and even causing positioning errors. Therefore, the present application proposes a magnetic navigation guided PICC catheter precise positioning device and method to solve the problems existing in the prior art. SUMMARY

[0005] In view of the above problems, the purpose of the present application is to propose a magnetic navigation guided PICC catheter precise positioning device and method, which realizes high-precision, real-time adjustment, and precise positioning with reduced interference. Not only does it improve the accuracy of positioning and the convenience of operation, but it also greatly improves the comfort of patients, avoids the radiation risk and compression feeling in traditional methods, and can solve the problems existing in the prior art.

[0006] In order to achieve the purpose of the present application, the present application realizes the technical scheme: a magnetic navigation guiding PICC catheter precise positioning device, comprising a lying table, the inner side of the lying table is provided with a cavity, the inner side of the cavity is provided with a magnetic array trolley through a double shaft driving assembly, the magnetic array trolley is provided with a positioner, the lying table is provided with an opening, and the opening is uniformly provided with a plurality of groups, the two sides of the lying table are provided with mounting ports, and the inner side of the mounting port is provided with a guide rail, the outer side of the mounting port is provided with a first baffle, and the cross section of the first baffle is L-shaped, one end of the first baffle is connected with the guide rail through a sliding block, and a touch computing controller is installed on the first baffle, the two sides of the lying table away from the mounting port are provided with a second baffle, the upper side of the lying table is provided with a fixing frame, the two ends of the fixing frame are fixedly connected with the second baffles on the two sides, and an AR laser projector is installed on the fixing frame.

[0007] Further improvement lies in that the lower end of the lying table is provided with mounting holes, and the mounting holes are uniformly provided with four groups, the inner side of the mounting hole is provided with a mounting seat through threads, and the inner side of the mounting seat is embedded with an NFC coil, the lower side of the mounting hole is provided with a supporting column, the upper end of the supporting column extends into the mounting hole and is connected with the mounting hole through threads.

[0008] Further improvement lies in that the double shaft driving assembly comprises X-axis linear modules and Y-axis linear modules, the X-axis linear modules are symmetrically provided with two groups and are fixedly connected with the lying table through bolts, and the Y-axis linear module is installed between the two groups of X-axis linear modules through a connecting block.

[0009] Further improvement lies in that the output end of the Y-axis linear module is provided with a fixed plate, and the fixed plate is provided with two groups of limit strips arranged symmetrically.

[0010] Further improvement lies in that the magnetic array trolley comprises a connecting seat, the connecting seat is provided in a hollow manner, a fixed platform is installed on the upper end of the connecting seat, an outer shell body is installed on the upper side of the fixed platform, and a magnetic field generator is installed on the inner side of the outer shell body.

[0011] Further improvement lies in that the upper side of the lying table is provided with a recess, and the shape of the recess is matched with the lying table, a closed loop wire is installed on the inner side of the recess, and the closed loop wire is electrically connected with an external power supply, and a protective rubber pad is installed on the inner side of the recess.

[0012] Further improvement lies in that a touch display screen is installed on the second baffle through a 360° cantilever support.

[0013] Further improvement lies in that the X-axis linear module and the Y-axis linear module are both provided with electromagnetic brakes.

[0014] A magnetic navigation guiding PICC catheter precise positioning method, comprising the following steps:

[0015] Step one: the patient lies on the lying platform;

[0016] Step two: the personnel adjust the position of the magnetic array trolley through the touch computing controller, and the AR laser projector projects the covered position of the magnetic array trolley to the patient's body surface;

[0017] Step three: adjust the position of the magnetic array trolley according to the projected position, and complete the fixation;

[0018] Step four: integrate a magnetic signal receiver in the PICC catheter to sense the magnetic field information at the location;

[0019] Step five: the magnetic signal receiver is connected to the touch computing controller through the micro-wire in the PICC catheter, and transmits the receiver signal to the touch computing controller;

[0020] Step six: the touch computing controller calculates the three-dimensional coordinates and direction of the PICC catheter in real time according to the received magnetic field data and the known magnetic field model, and completes the positioning.

[0021] The beneficial effects of the present application are:

[0022] (1) The position of the magnetic field generator is set in the lower area of the lying platform, which effectively avoids the interference of the magnetic field generator on the operator in the traditional design. Therefore, the operator can perform flexible operations above when performing patient puncture and catheterization operations, without being disturbed by the magnetic field generator below. At the same time, the contact area between the upper mechanical structure and the patient in the traditional design is reduced, avoiding discomfort or compression to the patient, and providing higher comfort.

[0023] (2) The present application combines AR projection technology with a position-adjustable magnetic array trolley. This design can be flexibly adapted to patients of different body types. AR projection can accurately project the magnetic field positioning point to the patient's body surface, thereby realizing intuitive display of the target position and helping doctors to accurately position during operation. At the same time, the remote adjustment function of the magnetic array trolley allows doctors to adjust the position of the trolley through simple operation, without the need for manual contact with the device, greatly improving the convenience and efficiency of operation, saving operation time, and reducing unnecessary interference during operation. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a front view schematic diagram of the present application.

[0025] Figure 2 is a side view schematic diagram of the present application.

[0026] Figure 3 is a schematic diagram of the magnetic array trolley installation of the present application.

[0027] Figure 4 Figure 6 is a top view of the mounting base and the fixed plate of the application.

[0028] Figure 5 Figure 5 is a front view of the magnetic array trolley of the application.

[0029] Figure 6 Figure 4 is a partial enlarged view of A of the application.

[0030] Wherein: 1, the lying platform; 2, the magnetic array trolley; 3, the opening; 4, the guide rail; 5, the first baffle; 6, the touch computing controller; 7, the second baffle; 8, the fixed frame; 9, the AR laser projector; 10, the mounting hole; 11, the mounting base; 12, the support column; 13, the X-axis linear module; 14, the Y-axis linear module; 15, the fixed plate; 16, the limiting strip; 17, the connecting seat; 18, the fixed platform; 19, the outer shell; 20, the notch; 21, the protective rubber pad; 22, the positioning ring. DETAILED DESCRIPTION

[0031] In order to deepen the understanding of the application, the application will be further described below in conjunction with the embodiments, which are only used to explain the application and do not constitute a limitation on the protection scope of the application.

[0032] According to Figures 1-6 As shown in the figure, the embodiment proposes a magnetic navigation guided PICC catheter precise positioning device, which comprises a lying platform 1 (a non-magnetic lying platform 1, for example, made of carbon fiber material), the inner side of the lying platform 1 is provided with a cavity, the inner side of the cavity is provided with a magnetic array trolley 2 through a double-shaft driving assembly, and a positioner is installed on the magnetic array trolley 2. Specifically, the magnetic array trolley 2 comprises a connecting seat 17, the connecting seat 17 is hollow to accommodate a wiring channel, and a fixed platform 18 is fixedly installed on the upper end of the connecting seat 17 through a bolt, an outer shell 19 is installed above the fixed platform 18, which is packaged with a non-magnetic metal material (such as aluminum alloy), a permanent magnet array type magnetic field generator is installed on the inner side of the outer shell 19 through a clamping groove, the magnetic field generator is composed of at least 3x3 groups of neodymium-iron-boron magnetic blocks arranged in a Halbach array, and is used to form a gradient magnetic field above the lying platform 1. For the positioner, it is integrated at the bottom of the fixed platform 18, which contains a three-axis Hall sensor, the detection end of the Hall sensor faces the permanent magnet array type magnetic field generator to monitor the magnetic field strength in real time, and is signal connected with the touch computing controller 6 through the wire penetrating in the hollow cavity of the connecting seat 17

[0033] The lying platform 1 is provided with openings 3, and the openings 3 are uniformly provided with a plurality of groups. The purpose of the openings 3 is to reduce the interference with the propagation of the magnetic field. The lying platform 1 is provided with mounting openings on both sides (left and right). The length of the mounting opening is matched with the lying platform 1. The inner side of the mounting opening is provided with a guide rail 4. The outer side of the mounting opening is provided with a first baffle 5, and the cross section of the first baffle 5 is in the shape of L. One end of the first baffle 5 is connected with the guide rail 4 through a sliding block (a T-shaped groove matched with the guide rail 4 is arranged on the sliding block to realize sliding limiting). A touch computing controller 6 is arranged on the first baffle 5. In the working process, the position of the first baffle 5 can be adjusted at will, and the adjustment range is the moving range of the sliding block on the guide rail 4. Then, when the doctor uses it, the position of the first baffle 5 can be adjusted to a range that does not affect the operation.

[0034] The lying platform 1 is provided with second baffles 7 on the two sides (front and back) away from the mounting openings (the second baffles 7 are connected with the lying platform 1 perpendicularly, and the perpendicularity tolerance is ≤0.1mm / m). The upper side of the lying platform 1 is provided with a fixing frame 8. The two ends of the fixing frame 8 are fixedly connected with the second baffles 7 on both sides. An AR laser projector 9 is arranged on the fixing frame 8. The AR laser projector 9 projects the coverage range of the magnetic array trolley 2 to the body surface of the patient. Specifically, an equipment coordinate system is established with the center point of the magnetic array trolley 2 as the origin. The installation position of the AR laser projector 9 is calibrated by a laser tracker and written into the touch computing controller 6. The touch computing controller 6 calculates the projection area boundary equation according to the real-time coordinates (X, Y) of the magnetic array trolley 2 and the preset magnetic field coverage radius R, and drives the AR laser projector 9 to project a ring-shaped mark circle (the line width is 3mm±0.2mm, and the actual magnetic field boundary error is ≤2mm) on the body surface of the patient.

[0035] The lower end of the lying platform 1 is provided with mounting holes 10, and the mounting holes 10 are uniformly provided with four groups. The inner side of the mounting hole 10 is provided with a mounting seat 11 through screwing. An NFC coil is embedded in the inner side of the mounting seat 11. A supporting column 12 is arranged below the mounting hole 10. The upper end of the supporting column 12 extends into the mounting hole 10 and is connected with the mounting hole 10 through screwing. After the connection, the upper end of the supporting column 12 is in contact with the lower end of the mounting seat 11. Correspondingly, a T-shaped groove is arranged on the lower end of the mounting seat 11. In the working process, the supporting column 12 plays a role in supporting the lying platform 1. A positioning ring 22 is arranged on the outer side of the supporting column 12. The upper end surface of the positioning ring 22 is in contact with the lying platform 1, so as to ensure the horizontal state of the lying platform 1 after being in contact with the ground (or a load-bearing device). As for the NFC coil, it is provided with four groups, and the physical center coordinates are (X1, Y1, Z1) to (X4, Y4, Z4). Then, in the assembly process, the three-coordinate measuring instrument is used for calibration, and the calibration is taken as the absolute coordinate system reference point of the equipment. Thus, the position of the magnetic array trolley 2 can be conveniently calibrated.

[0036] The double-axial driving assembly comprises an X-axis linear module 13 and a Y-axis linear module 14, the X-axis linear module 13 is symmetrically provided with two groups and is fixedly connected with the lying platform 1 through bolts, the Y-axis linear module 14 is installed between the two groups of X-axis linear modules 13 through a connecting block, specifically, the two groups of X-axis linear modules 13 are arranged in parallel in the long side direction of the lying platform 1, and the interval W is greater than 1.5 times the width of the magnetic array trolley 2; the Y-axis linear module 14 is connected to the two groups of X-axis sliders through the connecting block to form an H-shaped moving platform.

[0037] A fixing plate 15 is installed at the output end of the Y-axis linear module 14, two groups of limiting strips 16 are symmetrically installed on the fixing plate 15, further, limiting openings matched with the limiting strips 16 are arranged on both sides of the connecting seat 17, so that the positioning effect is facilitated during the installation of the connecting seat 17, and the connecting seat 17 is fixed through bolts after being connected. Correspondingly, the X-axis linear module 13 and the Y-axis linear module 14 are both installed with electromagnetic brakes, the electromagnetic brakes are designed in a normally closed mode, and the control logic is as follows:

[0038] X / Y-axis electromagnetic brake power-off release module motion reaches the target position brake power-on locking.

[0039] A recess 20 is arranged above the lying platform 1, the shape of the recess 20 is matched with the lying platform 1, a closed-loop wire is installed on the inner side of the recess 20, and the closed-loop wire is electrically connected with an external power supply (an external adjustable constant current source), and a protective rubber pad 21 is installed on the inner side of the recess 20. The closed-loop wire is arranged in a Helmholtz coil configuration in the recess 20, the coil spacing is half the radius of the coil, the number of turns is 5 turns, and the wire diameter is 1.5 mm 2 Oxygen-free copper (current capacity is greater than or equal to 10A), and a compensation current with the same frequency and opposite phase as the magnetic field generator is introduced, so that the lying platform 1 has the function of resisting eddy current interference.

[0040] A touch display screen is installed on the second baffle 7 through a 360° cantilever support, the touch display screen is connected with a touch computing controller 6 (a microcomputer) through a cable, and is used for display.

[0041] A magnetic navigation guided PICC catheter precise positioning method, comprising the following steps:

[0042] Step one: the patient lies on the lying platform 1, and ensures that the puncture area (such as the chest and arm) is fully exposed and convenient for operation, and the patient can be fixed in position according to the need;

[0043] Step two: the personnel adjust the position of the magnetic array car 2 by touching the computing controller 6, and the AR laser projector 9 projects the position of the magnetic array car 2 to the patient's body surface. The touch computing controller 6 is provided with a man-machine interface. The operator adjusts the position of the magnetic array car 2 by the remote control mode of the touch computing controller 6 according to the preset puncture plan, and the AR laser projector 9 projects a ring-shaped mark on the patient's body surface.

[0044] Step three: adjust the position of the magnetic array car 2 according to the projection position, and complete the fixation. The operator observes and compares whether the mark projected on the patient's body surface matches the expected puncture path or target area (such as the body surface projection point corresponding to the CAJ position). If not, fine-tune until the projection position reaches the ideal state. After confirming that there is no error, fix it through the electromagnetic brake on the X-axis linear module 13 and the Y-axis linear module 14 to ensure that the position of the magnetic field source is absolutely stable in subsequent operations.

[0045] Step four: integrate a magnetic signal receiver in the PICC catheter to sense the magnetic field information at the location, that is, use a specially designed PICC catheter, the tip of which is pre-integrated with a miniaturized magnetic signal receiver (such as an anisotropic magnetoresistance sensor AMR, a giant magnetoresistance sensor GMR, a tunnel magnetoresistance sensor TMR, or a small Hall sensor array). The receiver is designed to sense the strength, direction, and / or gradient information of the gradient distribution of the static / dynamic magnetic field generated by the magnetic array car 2 at its space position with high sensitivity and low noise. The PICC catheter is then punctured and inserted according to the standard clinical process.

[0046] Step five: the magnetic signal receiver is connected to the touch computing controller 6 through the micro-wire in the PICC catheter, and transmits the receiver signal to the touch computing controller 6. The touch computing controller 6 is equipped with a dedicated signal conditioning module (such as an amplifier, a filter, and an ADC converter) and a data acquisition interface, which is responsible for receiving and digitizing these signals.

[0047] Step six: the touch computing controller 6 calculates the three-dimensional coordinates and direction of the PICC catheter in real time according to the received magnetic field data and the known magnetic field model, and completes the positioning. That is, the digital magnetic field signal data and the known geometric parameters of the magnetic signal receiver on the catheter (such as the position relative to the catheter tip) are received, and the precise magnetic field space distribution model corresponding to the current fixed magnetic array car 2 space position and configuration (which describes the magnetic field vector or tensor characteristics of each point in space) is pre-calibrated and stored. The magnetic field inversion algorithm is used to solve the three-dimensional space coordinates (X, Y, Z) and direction vector / attitude angle (such as pitch angle, yaw angle) of the magnetic signal receiver (and then the catheter tip) in the coordinate system with the lying platform as the reference, thereby completing the positioning.

[0048] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the framework and scope of application of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A magnetic navigation guided PICC catheter precision positioning device, comprising a lying platform (1), characterized in that: The inner side of the lying platform (1) is provided with a cavity, the inner side of the cavity is provided with a magnetic array trolley (2) through a double-axis drive assembly, the magnetic array trolley (2) is provided with a positioner, the lying platform (1) is provided with an opening (3), and a plurality of groups of openings (3) are uniformly arranged, both sides of the lying platform (1) are provided with mounting openings, the inner side of the mounting opening is provided with a guide rail (4), the outer side of the mounting opening is provided with a first baffle (5), the cross section of the first baffle (5) is in the shape of L, one end of the first baffle (5) is connected with the guide rail (4) through a sliding block, and the first baffle (5) is provided with a touch computing controller (6), both sides of the lying platform (1) away from the mounting opening are provided with a second baffle (7), the upper side of the lying platform (1) is provided with a fixing frame (8), both ends of the fixing frame (8) are fixedly connected with the second baffles (7) on both sides, the fixing frame (8) is provided with an AR laser projector (9), the lower end of the lying platform (1) is provided with mounting holes (10), and four groups of mounting holes (10) are uniformly arranged, the inner side of the mounting hole (10) is provided with a mounting seat (11) through threads, and the inner side of the mounting seat (11) is embedded with an NFC coil, the lower side of the mounting hole (10) is provided with a supporting column (12), the upper end of the supporting column (12) extends into the mounting hole (10) and is connected with the mounting hole (10) through threads.

2. The magnetic navigation guided PICC catheter precise positioning device according to claim 1, wherein: The double-axis drive assembly comprises X-axis linear modules (13) and Y-axis linear modules (14), the X-axis linear modules (13) are symmetrically provided with two groups, and are fixedly connected with the lying platform (1) through bolts, and the Y-axis linear modules (14) are mounted between the two groups of X-axis linear modules (13) through connecting blocks.

3. The magnetic navigation guided PICC catheter precise positioning device according to claim 2, characterized in that: The output end of the Y-axis linear module (14) is provided with a fixed plate (15), and the fixed plate (15) is provided with two groups of limit strips (16) arranged symmetrically.

4. The magnetic navigation guided PICC catheter precise positioning device according to claim 1, wherein: The magnetic array trolley (2) comprises a connecting seat (17), the connecting seat (17) is provided in a hollow manner, and the upper end of the connecting seat (17) is provided with a fixed platform (18), the upper side of the fixed platform (18) is provided with an outer shell (19), and the inner side of the outer shell (19) is provided with a magnetic field generator.

5. The magnetic navigation guided PICC catheter precise positioning device according to claim 1, wherein: The upper side of the lying platform (1) is provided with a notch (20), and the shape of the notch (20) is matched with the lying platform (1), the inner side of the notch (20) is provided with a closed loop wire, and the closed loop wire is electrically connected with an external power supply, and the inner side of the notch (20) is provided with a protective rubber pad (21).

6. The magnetic navigation guided PICC catheter precise positioning device according to claim 1, wherein: The second baffle (7) is provided with a touch display screen through a 360° cantilever support.

7. The magnetic navigation guided PICC catheter precise positioning device according to claim 2, characterized in that: The X-axis linear module (13) and the Y-axis linear module (14) are both provided with an electromagnetic brake.

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