A gastric tube positioning system and device

Abstract

The application relates to a gastric tube positioning system and device, wherein the gastric tube positioning system comprises a construction module for constructing a geometric model according to three-dimensional data of human body anatomy, the geometric model comprising space constraints of a stomach and a trachea and path constraints of an esophageal path; a collection module for collecting magnetic field information of a gastric tube insertion end through an array type magnetic resistance sensor and preprocessing the magnetic field information to obtain a magnetic field vector; a positioning module for obtaining position information of the gastric tube insertion end according to the magnetic field vector, transmitting the position information to the geometric model, determining model position information of the position information in the geometric model based on the space constraints and the path constraints, and determining a running track of the gastric tube insertion end according to the model position information; and a display module for displaying a gastric region and a tracheal region and the running track of the gastric tube insertion end in a display terminal. Through the application, precise positioning of the gastric tube is realized.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a gastric tube positioning system and device. Background Technology

[0002] In clinical medicine, gastric tube insertion is commonly used to provide nutrition, administer medication, or perform gastrointestinal decompression for patients unable to eat. However, during the insertion process, issues arising from the patient's nasal or esophageal passages can affect the success of the insertion, leading to difficulties or even accidental insertion into the trachea. This is because medical staff cannot accurately determine the real-time position of the gastric tube; therefore, precise positioning of the gastric tube has become a pressing issue. Summary of the Invention

[0003] This application provides a gastric tube positioning system and apparatus to at least solve the problem of inaccurate positioning of gastric tubes in related technologies.

[0004] In a first aspect, embodiments of this application provide a gastric tube positioning system, which is applied to a gastric tube positioning device. The gastric tube positioning device includes a gastric tube with a permanent magnet at its insertion end, an array of magnetoresistive sensors, and a display terminal. The system includes:

[0005] A construction module is used to determine the stomach region, trachea region, and esophageal path based on three-dimensional data of human anatomy, and to construct a geometric model based on the stomach region, the trachea region, and the esophageal path. The geometric model includes spatial constraints of the stomach and trachea and path constraints of the esophageal path.

[0006] The acquisition module is used to acquire magnetic field information at the gastric tube insertion end through the array magnetoresistive sensor, and preprocess the magnetic field information to obtain the magnetic field vector;

[0007] The positioning module is used to obtain the position information of the gastric tube insertion end according to the magnetic field vector, transmit the position information to the geometric model, determine the model position information of the position information in the geometric model based on the spatial constraints and the path constraints, and determine the running trajectory of the gastric tube insertion end according to the model position information.

[0008] The display module is used to display the stomach area and trachea area, as well as the running trajectory of the gastric tube insertion end, on the display terminal.

[0009] In one embodiment, the three-dimensional data includes location information of the epiglottis, information about the stomach, and information about the esophagus, and the construction module includes:

[0010] A three-dimensional coordinate system module is used to construct a square with the root of the epiglottis as the origin of the three-dimensional coordinate system, the direction from the root to the right ear of the human body as the positive x-axis, the direction from the root to the face of the human body as the y-axis, and the direction from the root to the foot of the human body as the z-axis, to construct a three-dimensional coordinate system.

[0011] An esophageal pathway construction module is used to construct the esophageal pathway based on the esophageal information, within the range of the positive z-axis and negative y-axis of the three-dimensional coordinate system, with a first preset target coordinate as the starting point of the esophagus.

[0012] A stomach region module is constructed to determine the geometric center of the stomach based on the stomach location information, and to construct a spherical stomach region based on the coordinates of the geometric center and a first preset radius.

[0013] A tracheal region module is constructed to construct a spherical tracheal region within the square of the z-axis and the positive direction of the y-axis in the three-dimensional coordinate system, with the second preset target coordinate as the geometric center and the second preset radius as the radius, wherein the second preset radius is smaller than the first preset radius.

[0014] A geometric model construction module is used to determine the esophageal path equation based on the esophageal path, determine spatial constraint parameters based on the union of the stomach region and the tracheal region, construct the geometric model based on the esophageal path equation and spatial constraint parameters, and determine the spatial transition matrix of the geometric model based on the three-dimensional coordinate system.

[0015] In one embodiment, the acquisition module includes:

[0016] The preprocessing module is used to process the magnetic field information using wavelet transform to obtain processed data of the target frequency, and to determine the magnetic field vector of the processed data through the magnetic field gradient.

[0017] In one embodiment, the positioning module includes:

[0018] The initial positioning module is used to construct a least-squares objective function based on the magnetic field vector, the spatial constraint parameters, and the esophageal path equation. When the objective function satisfies a preset condition, the initial coordinates of the gastric tube insertion end are obtained.

[0019] The dynamic positioning module is used to construct an initial state vector based on the initial coordinates and the insertion speed of the gastric tube insertion end, and to update the initial state vector through the state transition matrix to obtain an intermediate state vector. The intermediate state vector is continuously updated until a preset convergence condition is met to obtain a predicted state vector. The position information in the predicted state vector is used to determine the position coordinates of the gastric tube insertion end in the geometric model.

[0020] In one embodiment, the display module includes:

[0021] The display identification module is used to mark the geometric center of the trachea region as the trachea early warning identification point and display it as a first color, mark the position of the geometric center of the gastric tube region offset by a first preset distance along the z-axis of the three-dimensional coordinate system as the gastric tube end point and display it as a second color, and use the position of the gastric tube insertion end as the running identification and display it as a third color, wherein the first color, the second color and the third color are different;

[0022] The trajectory display module is used to fit the position coordinates at each moment to obtain the insertion trajectory of the gastric tube insertion end, which is displayed in the fourth color.

[0023] In one embodiment, the gastric tube positioning system further includes:

[0024] The tracheal intrusion warning module is used to obtain a first distance between the position of the gastric tube insertion end and the geometric center of the tracheal region. When the first distance is less than or equal to the second preset radius, a first warning sign flashes on the display terminal.

[0025] The esophageal deviation warning module is used to obtain the axis between the end point of the gastric tube and the beginning point of the esophagus, and to obtain a second distance based on the position of the gastric tube insertion end and the axis. When the second distance is greater than or equal to a second preset distance and the time the second distance is maintained is greater than or equal to a preset duration, a second warning sign flashes on the display terminal.

[0026] The endpoint determination module is used to construct an endpoint region range based on the endpoint of the gastric tube as the geometric center and a third preset distance. When the gastric tube insertion end is located within the endpoint region range and the moving speed of the gastric tube insertion end is lower than the preset moving speed, a completion flag flashes on the display terminal.

[0027] Secondly, embodiments of this application provide a gastric tube positioning device, including: a gastric tube, a flexible patch, and a display terminal;

[0028] The gastric tube includes a tube body, which includes an insertion end and an external end. The insertion end is provided with a permanent magnet and a wire of a predetermined length. The wire is magnetically connected to the permanent magnet, and the wire and the permanent magnet are wrapped with a flexible material.

[0029] The flexible patch includes an array of magnetoresistive sensors, which are used to receive magnetic field information from the permanent magnet and transmit the magnetic field information to the display terminal.

[0030] The display terminal is electrically connected to the array magnetoresistive sensor to receive the magnetic field information and display the real-time position of the insertion end.

[0031] In one embodiment, the arrayed magnetoresistive sensor includes: a plurality of magnetoresistive sensing units;

[0032] The magnetoresistive sensing elements are distributed in the array-type magnetoresistive sensor according to a preset geometric pattern.

[0033] The gastric tube positioning system and device provided in this application have at least the following technical effects:

[0034] The gastric tube positioning device acquires magnetic field information from the insertion end of the gastric tube using a permanent magnet at the insertion point and an array of magnetoresistive sensors on a flexible patch. The positioning system then precisely locates the gastric tube. A geometric model is built using a construction module, including the stomach region, trachea region, and esophageal path, providing spatial and path constraints for precise tube positioning. The acquisition module collects the magnetic field information from the insertion end of the gastric tube and determines the magnetic field vector. The positioning module processes the magnetic field vector and, based on the spatial and path constraints, locates the insertion end of the gastric tube. The display module shows the insertion trajectory of the gastric tube on a display terminal, providing accurate visualization of the trajectory and ensuring precise control of the insertion by medical personnel.

[0035] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0037] Figure 1 This is a schematic diagram of a gastric tube according to an exemplary embodiment;

[0038] Figure 2 This is a schematic diagram of a flexible patch according to an exemplary embodiment;

[0039] Figure 3 This is a schematic diagram of a gastric tube positioning system according to an exemplary embodiment;

[0040] Figure 4 This is a schematic diagram of a gastric tube positioning device according to an exemplary embodiment.

[0041] In the above figures, the meanings of the reference numerals are as follows:

[0042] 100. Gastric tube; 200. Tube body; 300. Insertion end; 301. Permanent magnet; 302. Iron wire; 400. Flexible patch; 401. Arrayed magnetoresistive sensor; 600. Display terminal. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0044] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0045] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0046] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0047] Figure 1 This is a schematic diagram of a gastric tube according to an exemplary embodiment, such as... Figure 1 As shown, the gastric tube 100 includes a tube body 200, which includes an external end and an insertion end 300 for insertion into a patient's body. Inside the insertion end 300 are a permanent magnet 301 and an iron wire 302. The iron wire 302 is magnetically connected to the permanent magnet 301 to fix the permanent magnet 301 to the insertion end 300, allowing the gastric tube 100 to enter the patient's body upon insertion. Figure 2 This is a schematic diagram of a flexible patch according to an exemplary embodiment, such as... Figure 2 As shown, the flexible patch 400 includes an array of magnetoresistive sensors 401. When the permanent magnet 301 moves in the body, the array of magnetoresistive sensors 401 collects the magnetic field information of the permanent magnet 301 and transmits the magnetic field information to the gastric tube positioning system to obtain the precise positioning of the gastric tube 100.

[0048] Based on the above, this application provides a gastric tube positioning system that uses an array of magnetoresistive sensors and a gastric tube equipped with a permanent magnet to achieve positioning of the gastric tube.

[0049] Firstly, embodiments of this application provide a gastric tube positioning system, which is applied to a gastric tube positioning device. Figure 3This is a schematic diagram of a gastric tube positioning system according to an exemplary embodiment, such as... Figure 3 As shown, the gastric tube positioning system includes:

[0050] Module 501 is used to determine the stomach region, trachea region, and esophageal path based on three-dimensional data of human anatomy, and to construct a geometric model based on the stomach region, trachea region, and esophageal path. The geometric model includes spatial constraints of the stomach and trachea and path constraints of the esophageal path.

[0051] In module 501, three-dimensional anatomical data of the human body is acquired. This three-dimensional data includes the location information of the epiglottis, stomach information, and esophageal information. A three-dimensional coordinate system of the human body can be constructed using this data, and the stomach region, trachea region, and esophageal path can be determined based on this system. A geometric model of the human body's interior is then constructed based on these regions. This geometric model includes spatial constraints formed by the stomach and trachea regions, as well as path constraints for the esophageal path. This allows for more accurate localization and early warning of the gastric tube during subsequent positioning based on the geometric model, building upon these spatial and path constraints.

[0052] Therefore, the construction modules include a module for constructing a 3D coordinate system, a module for constructing the esophageal pathway, a module for constructing the stomach region, a module for constructing the trachea region, and a module for constructing the geometric model, specifically including:

[0053] A three-dimensional coordinate system module is used to construct a square with the root of the epiglottis as the origin of the three-dimensional coordinate system, the direction from the root to the right ear of the human body as the positive x-axis, the direction from the root to the face of the human body as the y-axis, and the direction from the root to the foot of the human body as the z-axis, to construct a three-dimensional coordinate system.

[0054] In the module for constructing a three-dimensional coordinate system, the root of the epiglottis is used as the origin of the three-dimensional coordinate system. A coordinate system is constructed for the part of the body that enters from the insertion end 300, so that the trajectory of the movement of the insertion end 300 can be determined more accurately through the three-dimensional coordinate system.

[0055] An esophageal pathway construction module is used to construct the esophageal pathway within the range of the positive z-axis and negative y-axis of the three-dimensional coordinate system, with the first preset target coordinate as the starting point of the esophagus, based on esophageal information.

[0056] The esophagus's path within the human body is approximately a straight line, and it is located behind the epiglottis, which is in the negative y-axis direction. Therefore, within the area of ​​the z-axis square and the negative y-axis of the three-dimensional coordinate system, a cylindrical model, i.e., the esophageal path, is constructed along the positive z-axis for a predetermined length, with the first preset target coordinate as the starting point. The first preset target coordinate lies on the negative half-axis of the y-axis of the three-dimensional coordinate system, and the diameter of the cylindrical model is determined by the first preset target coordinate as the starting point and along the negative y-axis for a predetermined length. Optionally, the diameter of the esophageal path includes 18 mm.

[0057] A stomach region module is constructed to determine the geometric center of the stomach based on the stomach's location information, and to construct a spherical stomach region based on the coordinates of the geometric center and a first preset radius.

[0058] The location information of the stomach is determined in three-dimensional data, including the geometric center of the stomach. Based on the coordinates of the geometric center, a spherical stomach region is constructed in the three-dimensional coordinate system according to a first preset radius. For example, if the coordinates of the geometric center of the stomach are (0, 0, -320 mm), a spherical stomach region is constructed according to a first preset radius of 25 mm. This spherical stomach region satisfies the requirement of representing the maximum expansion space within the stomach cavity.

[0059] A tracheal region module is constructed to construct a spherical tracheal region within the range of the z-axis square and the positive y-axis of the three-dimensional coordinate system, with the second preset target coordinate as the geometric center and the second preset radius as the radius. The second preset radius is smaller than the first preset radius.

[0060] The trachea is located in front of the epiglottis, that is, in the positive y-axis direction. Within the three-dimensional coordinate system, within the square of the z-axis and the positive y-axis, a spherical tracheal region is constructed with the second preset target coordinate as the geometric center and according to the second preset radius. When the gastric tube 100 is inserted into the human body, there is a possibility of accidental entry into the trachea. For the case of accidental entry into the trachea, only the inlet region of the trachea needs to be considered. Therefore, the tracheal region constructed with the second preset target coordinate as the geometric center and according to the second preset radius is actually the inlet region of the trachea. Therefore, the first preset radius is larger than the second preset radius to reduce the complexity of constructing the entire tracheal region.

[0061] A geometric model construction module is used to determine the esophageal path equation based on the esophageal path, determine the spatial constraint parameters based on the union of the stomach region and the trachea region, construct the geometric model based on the esophageal path equation and spatial constraint parameters, and determine the spatial transition matrix of the geometric model based on the three-dimensional coordinate system.

[0062] Based on the esophageal region module, the esophageal path is determined, and its equation can be derived accordingly. Similarly, based on the stomach and trachea regions, the stomach and esophageal regions are defined, and the spatial constraint parameters of the geometric model are determined based on the union of these two regions. Furthermore, the geometric model requires a three-dimensional coordinate system as its reference; therefore, the transition matrix of the geometric model is determined based on the three-dimensional coordinate system to ensure that all coordinates are compared within this system.

[0063] By constructing module 501, a geometric model of the esophagus, stomach, and trachea inside the human body is constructed. The geometric model can establish a benchmark for the actual movement of the gastric tube 100 inside the human body, providing a basis for subsequent positioning.

[0064] The acquisition module 502 is used to acquire magnetic field information at the gastric tube insertion end through an array of magnetoresistive sensors and preprocess the magnetic field information to obtain the magnetic field vector.

[0065] As the gastric tube 100 moves within the human body, an array of magnetoresistive sensors fixed to the abdomen or waist can collect the magnetic field information generated by the movement of the insertion end 300. This magnetic field information is then processed by a preprocessing module, which uses wavelet transform to obtain processed data at the target frequency. The magnetic field vector of the processed data is determined using the magnetic field gradient.

[0066] In one embodiment, an 8×4 array magnetoresistive sensor samples the triaxial magnetic field strength of the permanent magnet 301 at a frequency of 200Hz, filters out interference signals above 50Hz through wavelet transform processing, and calculates the magnetic field vector of the triaxial magnetic field strength through the magnetic field gradient.

[0067] The acquisition module 502 can quickly acquire the actual path of the gastric tube 100, providing a basis for subsequent positioning.

[0068] The positioning module 503 is used to obtain the position information of the gastric tube insertion end based on the magnetic field vector, transmit the position information to the geometric model, and determine the model position information of the position information in the geometric model based on spatial constraints and path constraints, and determine the running trajectory of the gastric tube insertion end based on the model position information.

[0069] In the positioning module 503, the position information of the insertion end 300 is determined by the magnetic field vector and transmitted to the geometric model. The position of the insertion end 300 is then determined in the geometric model, thus achieving the positioning of the gastric tube 100 insertion path. The positioning process includes initial positioning and dynamic positioning to ensure accurate positioning of the insertion end 300. The initial positioning and dynamic positioning in the positioning module are implemented through an initial positioning module and a dynamic positioning module, specifically including the following:

[0070] The initial positioning module is used to construct a least-squares objective function based on the magnetic field vector, spatial constraint parameters, and esophageal path equation. When the objective function meets the preset conditions, the initial coordinates of the gastric tube insertion end are obtained.

[0071] The objective function of the least squares method is constructed based on the magnetic field vector and the esophageal path equation, where the objective function satisfies:

[0072] Among them, w i It is a dynamic weight, where λ is the spatial deviation penalty factor. It is the magnetic field vector at the insertion end. This is the magnetic field vector predicted by the geometric model, where P is the position of the insertion end, and Line... edge It is the location of the edge of the esophageal pathway equation.

[0073] The magnetic field vector about the insertion end 300 acquired by the acquisition module 502 and the edge coordinates of the esophageal path in the construction module 501 are used as inputs to the objective function. When the objective function meets the preset conditions, the initial position coordinates of the insertion end 300 are output.

[0074] By using the objective function of the least squares method, the path of the insertion end 300 is restricted to the esophageal path of the geometric model to achieve spatial geometric constraints. This completes the limitation of the trajectory of the insertion end 300 in the model, avoids deviation from the esophageal path and avoids errors, and provides a guarantee for subsequent dynamic positioning.

[0075] The dynamic positioning module is used to construct an initial state vector based on the initial coordinates and the insertion speed of the gastric tube insertion end, and to update the initial state vector through the state transition matrix to obtain an intermediate state vector. The intermediate state vector is continuously updated until the preset convergence condition is met to obtain a predicted state vector. The position information in the predicted state vector is used to determine the position coordinates of the gastric tube insertion end in the geometric model.

[0076] The position of the insertion end 300 is dynamically determined using Kalman filtering. Specifically, this involves: constructing an initial state vector based on the initial coordinates and the insertion velocity of the insertion end; using the axial direction of the esophageal path as the preferred direction for the state transition matrix; and updating the state vector using the state transition matrix to obtain an intermediate state vector. The intermediate state vector is continuously updated until the convergence condition is met, i.e., the state estimation covariance tends to stabilize and the state change is below a preset threshold. At this point, a predicted state vector is obtained, and the coordinates of the insertion end 300 in the geometric model are determined based on the predicted state vector.

[0077] In one embodiment, the initial coordinates are P(x,y,z), and the initial state vector is X_{k-1} = [P_{k-1},V_{k-1}]^T, where P_{k-1} is the initial coordinate P, V_{k-1} is the velocity of the insertion end (which is 0 in the initial state vector), and the direction vector of the esophageal axis is [0,0,-1] according to the esophageal path. The predicted state vector is obtained through the state transition matrix, and the coordinates (x_k,y_k,z_k) of the insertion end 300 are determined from the predicted state vector. The coordinates determined by the predicted state vector serve as the localization source for the subsequent trajectory of the insertion end 300.

[0078] Display module 504 is used to display the stomach area and trachea area, as well as the running trajectory of the gastric tube insertion end, on the display terminal.

[0079] The display terminal shows the stomach region and trachea region, as well as the trajectory of the insertion end 300, as dots. Displaying the stomach region as dots shows the endpoint of the gastric tube's movement within the stomach, while displaying the trachea region as dots shows the geometric center of the trachea. The trajectory of the insertion end 300 is displayed as the moving dots on the display terminal.

[0080] The stomach area, trachea area, and insertion end 300 are displayed on the display terminal via a display identification module, specifically including:

[0081] The display identification module is used to mark the geometric center of the trachea region as the trachea early warning identification point and display it in the first color; to mark the position of the geometric center of the gastric tube region offset by a first preset distance along the z-axis of the three-dimensional coordinate system as the gastric tube end point and display it in the second color; and to use the position of the gastric tube insertion end as the running identification and display it in the third color. The first color, the second color and the third color are different.

[0082] In one embodiment, the geometric center of the determined tracheal region is displayed as a red circle on the display terminal as an indicator of tracheal warning. The position offset along the z-axis by a first preset distance from the geometric center of the stomach region is displayed as a green cross on the display terminal as an indicator of the gastric tube's endpoint. The insertion end 300 is represented by a yellow circle on the display terminal, which moves as the insertion end 300 moves.

[0083] The display module 504 also includes a display trajectory module, which is used to fit the position coordinates at each moment to obtain the insertion trajectory of the gastric tube insertion end and display it as a fourth color.

[0084] In the trajectory display module, all coordinates are fitted based on the position coordinates obtained at each moment to form a dynamic insertion trajectory curve, and the dynamic trajectory is displayed as a gray trajectory on the display terminal.

[0085] The position and trajectory of the insertion end 300 are displayed on the display terminal to provide medical staff with a visual operational trajectory. The display terminal also includes warnings for accidental insertion of the gastric tube into the trachea and reminders of reaching the end of the gastric tube. Specifically, it includes:

[0086] The tracheal intrusion warning module is used to obtain the first distance between the position of the gastric tube insertion end and the geometric center of the tracheal region. When the first distance is less than or equal to the second preset radius, the first warning sign flashes on the display terminal.

[0087] The vertical distance between the insertion end 300 and the geometric center of the tracheal region is calculated to determine a first distance. This first distance is then compared to a second preset radius. If the first distance is less than or equal to the second preset radius, it indicates that the gastric tube 100 is moving close to the trachea, posing a risk of accidental insertion. Therefore, a first warning sign is displayed on the terminal, which is red and includes the text "Risk! Approaching the bronchial inlet," to prevent medical personnel from inserting the gastric tube 100 into the trachea and causing injury to the patient.

[0088] The esophageal deviation warning module is used to obtain the axis between the end point of the gastric tube and the beginning point of the esophagus. It obtains a second distance based on the position of the gastric tube insertion end and the axis. When the second distance is greater than or equal to a second preset distance and the time the second distance is maintained is greater than or equal to a preset duration, a second warning sign flashes on the display terminal.

[0089] The axis of the esophageal path is determined based on the endpoint of the gastric tube and the starting point of the esophagus. The perpendicular distance between the insertion end 300 and the axis is defined as the second distance. This second distance is compared with a second preset distance. If the second distance is greater than or equal to the second preset distance, it indicates that the insertion direction of the gastric tube 100 is deviating from the esophagus, posing a risk of misalignment. Furthermore, it is determined whether the duration of the second distance (greater than or equal to the second preset distance) is greater than or equal to a preset duration. If it is greater than or equal to the preset duration, it indicates that the insertion direction of the gastric tube 100 is incorrect, posing a risk of esophageal damage; if it is less than the preset duration, there may be a false alarm. When both the distance and duration requirements are met, a second warning indicator flashes on the display terminal. This second warning indicator is yellow and includes the text "Misalignment from esophageal path" to prevent medical personnel from misaligning the gastric tube 100 with the esophageal path, causing esophageal damage to the patient.

[0090] The endpoint determination module is used to construct the endpoint area range based on the endpoint of the gastric tube as the geometric center and a third preset distance. When the gastric tube insertion end is located within the endpoint area range and the moving speed of the gastric tube insertion end is lower than the preset moving speed, a completion mark flashes on the display terminal.

[0091] The gastric tube endpoint is the geometric center. The endpoint area is constructed based on the third preset distance. If the insertion end 100 is within the endpoint area and the insertion speed is less than or equal to the preset moving speed, the gastric tube insertion is determined to be complete. The completion indicator flashes in the display terminal. The completion indicator is green and displays the text "Installation Complete".

[0092] In summary, the gastric tube positioning system provided in this application constructs geometric models of the stomach, trachea, and esophagus, and uses a dual positioning method of least squares and Kalman filtering to locate the insertion end 300. A simplified three-point model is displayed on a display terminal, showing the movement trajectory of the gastric tube and the markers of the trachea and the gastric tube's endpoint. This provides a clear and explicit visual operation interface for medical personnel. Different prompts are given based on the position of the insertion end 300, its distance from the trachea, the distance from the esophageal axis, and the distance from the gastric tube's endpoint, providing early warning feedback and indicating current operational risks. This system enables non-invasive real-time tracking of the gastric tube and reduces radiation exposure from X-ray confirmation, improving the safety and efficiency of gastric tube insertion.

[0093] Secondly, embodiments of this application provide a gastric tube positioning device. Figure 4 This is a schematic diagram of a gastric tube positioning device according to an exemplary embodiment. Figure 4 As shown, the gastric tube positioning device includes: a gastric tube 100, a flexible patch 400, and a display terminal 600;

[0094] The gastric tube 100 includes a tube body 200, which includes an insertion end 300 and an external end. The insertion end is provided with a permanent magnet 301 and a wire 302 of a preset length. The wire 302 is magnetically connected to the permanent magnet 301, and the wire 302 and the permanent magnet 301 are wrapped with a flexible material. Optionally, the permanent magnet is a neodymium iron boron magnet, and its size is less than or equal to 3mm × 3mm × 5mm.

[0095] The flexible patch 400 includes an array-type magnetoresistive sensor 401, which receives magnetic field information from the permanent magnet 301 and transmits this information to a display terminal 600. The array-type magnetoresistive sensor includes several magnetoresistive sensitive units distributed according to a preset geometric pattern. This preset geometric pattern includes symmetrical and parallel distribution patterns. The flexible patch 400 is fixed to the patient's waist or abdomen to acquire the magnetic field information from the array-type magnetoresistive sensor 401 in real time.

[0096] The display terminal 600 is electrically connected to the array magnetoresistive sensor 401 to receive magnetic field information and display the real-time position of the insertion end 300.

[0097] The display terminal 600 is mounted on the upper level of a trolley equipped with casters at the bottom, allowing medical staff to easily move the trolley and observe the movement of the insertion terminal 300 within the display terminal. The lower level protects the power adapter and connecting cables, preventing external factors from affecting the operation. Furthermore, the trolley's height is adjustable, ensuring that medical staff can easily observe the display terminal's movement even in different operating positions.

[0098] For the display screen on the display terminal 600, medical staff can also wirelessly control the start and stop of the screen and reset the coordinates via remote control, avoiding touching the patient while operating the computer. For example, when inserting the gastric tube 100 into the patient's body, the positioning mode can be activated via remote control. When the insertion end 300 is at the end of the gastric tube, the positioning can be stopped via remote control. If the coordinates displayed on the display terminal 600 become disordered or delayed, the coordinates can be reset via remote control to update the display screen and re-determine the position of the insertion end 300.

[0099] In summary, the gastric tube positioning device provided in this application acquires magnetic field information of the insertion end 300 of the gastric tube 100 through a permanent magnet 301 at the insertion end 300 and an array of magnetoresistive sensors 401 on the flexible patch 400, and completes precise positioning of the gastric tube through the gastric tube positioning system. The movement trajectory of the insertion end 300 is visualized through a display terminal 600.

[0100] It should be noted that the gastric tube positioning device provided in this embodiment is used to implement the above-described embodiments, and details already described will not be repeated. As used above, terms such as "module," "unit," and "subunit" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the above embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0102] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A gastric tube positioning system, characterized in that, The gastric tube positioning system is applied to a gastric tube positioning device, which includes a gastric tube with a permanent magnet at its insertion end, an array of magnetoresistive sensors, and a display terminal. The system includes: A construction module is used to determine the stomach region, trachea region, and esophageal path based on three-dimensional data of human anatomy, and to construct a geometric model based on the stomach region, the trachea region, and the esophageal path. The geometric model includes spatial constraints of the stomach and trachea and path constraints of the esophageal path. The acquisition module is used to acquire magnetic field information at the gastric tube insertion end through the array magnetoresistive sensor, and preprocess the magnetic field information to obtain the magnetic field vector; The positioning module is used to obtain the position information of the gastric tube insertion end according to the magnetic field vector, transmit the position information to the geometric model, determine the model position information of the position information in the geometric model based on the spatial constraints and the path constraints, and determine the running trajectory of the gastric tube insertion end according to the model position information. The display module is used to display the stomach area and trachea area, as well as the running trajectory of the gastric tube insertion end, on the display terminal. The three-dimensional data includes location information of the epiglottis, stomach information, and esophageal information. The construction module includes: A three-dimensional coordinate system module is used to construct a square with the root of the epiglottis as the origin of the three-dimensional coordinate system, the direction from the root to the right ear of the human body as the positive x-axis, the direction from the root to the face of the human body as the y-axis, and the direction from the root to the foot of the human body as the z-axis, to construct a three-dimensional coordinate system. An esophageal pathway construction module is used to construct the esophageal pathway based on the esophageal information, within the range of the positive z-axis and negative y-axis of the three-dimensional coordinate system, with a first preset target coordinate as the starting point of the esophagus. A stomach region module is constructed to determine the geometric center of the stomach based on the stomach location information, and to construct a spherical stomach region based on the coordinates of the geometric center and a first preset radius. A tracheal region module is constructed to construct a spherical tracheal region within the square of the z-axis and the positive direction of the y-axis in the three-dimensional coordinate system, with the second preset target coordinate as the geometric center and the second preset radius as the radius, wherein the second preset radius is smaller than the first preset radius. A geometric model construction module is used to determine the esophageal path equation based on the esophageal path, determine spatial constraint parameters based on the union of the stomach region and the tracheal region, construct the geometric model based on the esophageal path equation and spatial constraint parameters, and determine the spatial transition matrix of the geometric model based on the three-dimensional coordinate system.

2. The gastric tube positioning system according to claim 1, characterized in that, The acquisition module includes: The preprocessing module is used to process the magnetic field information using wavelet transform to obtain processed data of the target frequency, and to determine the magnetic field vector of the processed data through the magnetic field gradient.

3. The gastric tube positioning system according to claim 1, characterized in that, The positioning module includes: The initial positioning module is used to construct, based on the magnetic field vector, the spatial constraint parameters, and the esophageal path equation, Construct a target function using the least squares method. When the target function satisfies a preset condition, obtain the initial coordinates of the gastric tube insertion end. The dynamic positioning module is used to construct an initial state vector based on the initial coordinates and the insertion speed of the gastric tube insertion end, and to update the initial state vector through the state transition matrix to obtain an intermediate state vector. The intermediate state vector is continuously updated until a preset convergence condition is met to obtain a predicted state vector. The position information in the predicted state vector is used to determine the position coordinates of the gastric tube insertion end in the geometric model.

4. The gastric tube positioning system according to claim 3, characterized in that, The display module includes: The display identification module is used to mark the geometric center of the trachea region as the trachea early warning identification point and display it as a first color, mark the position of the geometric center of the gastric tube region offset by a first preset distance along the z-axis of the three-dimensional coordinate system as the gastric tube end point and display it as a second color, and use the position of the gastric tube insertion end as the running identification and display it as a third color, wherein the first color, the second color and the third color are different; The trajectory display module is used to fit the position coordinates at each moment to obtain the insertion trajectory of the gastric tube insertion end, which is displayed in the fourth color.

5. The gastric tube positioning system according to claim 4, characterized in that, The gastric tube positioning system also includes: The tracheal intrusion warning module is used to obtain a first distance between the position of the gastric tube insertion end and the geometric center of the tracheal region. When the first distance is less than or equal to the second preset radius, a first warning sign flashes on the display terminal. The esophageal deviation warning module is used to obtain the axis between the end point of the gastric tube and the beginning point of the esophagus, and to obtain a second distance based on the position of the gastric tube insertion end and the axis. When the second distance is greater than or equal to a second preset distance and the time the second distance is maintained is greater than or equal to a preset duration, a second warning sign flashes on the display terminal. The endpoint determination module is used to construct an endpoint region range based on the endpoint of the gastric tube as the geometric center and a third preset distance. When the gastric tube insertion end is located within the endpoint region range and the moving speed of the gastric tube insertion end is lower than the preset moving speed, a completion flag flashes on the display terminal.

6. A gastric tube positioning device, characterized in that, include: Gastric tube, flexible patch, and display terminal; The gastric tube includes a tube body, which includes an insertion end and an external end. The insertion end is provided with a permanent magnet and a wire of a predetermined length. The wire is magnetically connected to the permanent magnet, and the wire and the permanent magnet are wrapped with a flexible material. The flexible patch includes an array of magnetoresistive sensors, which are used to receive magnetic field information from the permanent magnet and transmit the magnetic field information to the display terminal. The display terminal is electrically connected to the array magnetoresistive sensor to receive the magnetic field information and display the real-time position of the insertion end.

7. The gastric tube positioning device according to claim 6, characterized in that, The array-type magnetoresistive sensor includes: several magnetoresistive sensing elements; The magnetoresistive sensing elements are distributed in the array-type magnetoresistive sensor according to a preset geometric pattern.

Images