Signal processing method, system, apparatus, electronic device, and storage medium

Abstract

A signal processing method, system, apparatus, electronic device, and storage medium are disclosed, relating to the field of signal processing technology. The method includes: acquiring an electro-positioning signal and a pulse signal, wherein the pulse signal is generated based on an initial electro-positioning signal, and the electro-positioning signal is a signal collected from the target device after the target device receives the initial electro-positioning signal, wherein the target device includes a conduit; and determining the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal, wherein the amplitude of the electro-positioning signal is used to determine the position of the conduit.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, and more specifically, to a signal processing method, system, apparatus, electronic device, and storage medium. Background Technology

[0002] The detection and localization of cardiac electrophysiological signals play an increasingly important role in the diagnosis and treatment of cardiovascular diseases. However, current technologies face serious challenges to the accuracy and stability of catheter localization data in environments with strong interference or high-frequency noise. For example, electrolocalization signals are susceptible to interference from various factors both inside and outside the body, leading to fluctuations in signal amplitude. Especially under low sampling rate conditions, the discontinuity of signal acquisition and quantization errors further exacerbate the uncertainty in localization.

[0003] In summary, in complex or interfering environments, the instability of the electrical positioning signal can easily lead to inaccurate catheter positioning. Summary of the Invention

[0004] Some embodiments of this application provide a signal processing method, system, apparatus, electronic device, and storage medium to at least solve the technical problem of low catheter positioning accuracy caused by the instability of electrical positioning signals in the prior art.

[0005] In some embodiments, a signal processing method is provided, comprising: acquiring an electro-positioning signal and a pulse signal, wherein the pulse signal is generated based on an initial electro-positioning signal, the electro-positioning signal being a signal acquired from a target device when the target device receives the initial electro-positioning signal, wherein the target device includes a catheter; and determining the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal, the amplitude of the electro-positioning signal being used to determine the position of the catheter.

[0006] In some embodiments, a signal processing system is also provided, comprising: a waveform generation unit for generating an initial electrical positioning signal and a pulse signal; wherein the pulse signal is generated based on the initial electrical positioning signal, and the waveform generation unit is further configured to transmit the initial electrical positioning signal to a target device; and a data processing unit for acquiring the electrical positioning signal from the target device, and determining the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal, wherein the amplitude of the electrical positioning signal is used to determine the position of the catheter.

[0007] In some embodiments, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer-readable storage medium, and wherein, when the computer program is executed, the device in which the computer-readable storage medium is located performs the above-described signal processing method.

[0008] In some embodiments, an electronic device is also provided, wherein the electronic device includes one or more processors and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors perform the signal processing method described above.

[0009] In some embodiments, a computer program product is also provided, comprising a computer program or instructions that, when executed by a processor, implement the signal processing method described above.

[0010] In some embodiments, a signal processing apparatus is also provided, comprising: an acquisition unit for acquiring an electro-positioning signal and a pulse signal, wherein the pulse signal is generated based on an initial electro-positioning signal, and the electro-positioning signal is a signal acquired from a target device when the target device receives the initial electro-positioning signal, wherein the target device includes a catheter; and an amplitude determination unit for determining the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal, wherein the amplitude of the electro-positioning signal is used to determine the position of the catheter. Attached Figure Description

[0011] 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:

[0012] Figure 1 This is a flowchart of an optional signal processing method provided in some embodiments of this application;

[0013] Figure 2 This is a schematic diagram of an optional signal processing system provided in some embodiments of this application;

[0014] Figure 3 This is a schematic diagram of a target signal after pulse signal alignment operation is completed, provided in some embodiments of this application;

[0015] Figure 4 This is a schematic diagram of an optional sine wave signal and pulse signal provided in some embodiments of this application;

[0016] Figure 5 This is a schematic diagram of an optional programmable logic gate array provided in some embodiments of this application;

[0017] Figure 6 This is a schematic diagram of the frequency response information after filtering by an optional bandpass filter, provided in some embodiments of this application. Detailed Implementation

[0018] It should be understood that the examples and illustrations in this application are for illustrative purposes, and deviations and variations can be constructed and deployed based on the teachings of this application without departing from the scope of this application. Before detailing at least one embodiment of this application, it should be understood that this application is not necessarily limited to the detailed configuration and arrangement of the components and / or methods set forth in the following description and / or illustrated in the drawings and / or embodiments. This application can have other embodiments or can be practiced or implemented in different ways.

[0019] Unless otherwise defined, all technical and / or scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. While similar or equivalent methods and materials to those described in this application may be used to practice or test embodiments of this application, exemplary methods and / or materials are described below. In the event of any conflict, the specification (including definitions) of this application shall prevail. Furthermore, these materials, methods, and embodiments are illustrative only and are not intended to impose necessary limitations.

[0020] Optionally, accurately capturing the three-dimensional distribution of electrical signals can help to more accurately locate abnormal areas. However, related technologies often rely on high-sampling-rate analog-to-digital converters (ADCs) to ensure signal integrity and detail capture when achieving high-precision positioning. While high sampling rates provide richer signal information, they also significantly increase hardware costs, data processing burden, and power consumption and heat dissipation. Especially in environments with strong interference, high sampling rates cannot effectively solve the problem of signal recognition accuracy.

[0021] On the other hand, when the system operates at a low sampling rate, the accuracy of signal acquisition is limited, leading to increased jitter in the positioning data. This is especially pronounced in noisy environments, where data polarity jumps and transient high-frequency jitter in positioning coordinates become particularly prominent. This not only reduces the stability and accuracy of the electrical positioning system but also poses a challenge to the safety and effectiveness of clinical applications.

[0022] Some embodiments of this application provide a signal processing method. It should be noted that the operations or steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the operations or steps shown or described may be performed in a different order than that shown here.

[0023] Figure 1 This is a flowchart of an optional signal processing method provided in some embodiments of this application, such as... Figure 1 As shown, the method includes the following operations:

[0024] Operate S101 to acquire the electrical positioning signal and pulse signal.

[0025] The pulse signal is generated based on the initial electrical positioning signal; the electrical positioning signal is a signal collected from the target device when the target device receives the initial electrical positioning signal; the target device includes a catheter.

[0026] Optionally, the target device may also include surface electrodes.

[0027] In an optional embodiment, a waveform generation unit in the signal processing system can be used as a signal excitation source to generate a sinusoidal signal (corresponding to the aforementioned electro-positioning initial signal) and a pulse signal at a specific frequency (e.g., in the range of 6-11 kHz). The electro-positioning initial signal can be transmitted to the target device via a biosignal transmission line to stimulate the target object (e.g., a biomimetic device or target tissue) to generate relevant biosignals. The biosignal transmission line can have low impedance and a shielding layer to minimize signal attenuation and electromagnetic interference.

[0028] In one possible implementation, such as Figure 2 As shown, the signal processing system (hereinafter referred to as the system) may include, in addition to the waveform generation unit, a body surface signal acquisition unit, a data processing unit, an intracardiac signal acquisition unit, a board connection base, a biosignal transmission line, and a mapping catheter (i.e., the catheter mentioned above).

[0029] The body surface signal acquisition unit, waveform generation unit, and intracardiac signal acquisition unit are fixed on the board connection base. The waveform generation unit is connected to the mapping catheter and body surface electrode via a biosignal connection line. The body surface electrode is connected to the body surface signal acquisition unit via a biosignal connection line. The intracardiac signal acquisition unit is connected to the mapping catheter placed in the target object via a biosignal connection line. The board connection base is connected to the data processing unit and is used for data forwarding.

[0030] Operation S102 determines the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal. The amplitude of the electrical positioning signal is used to determine the position of the catheter.

[0031] Optionally, in the core processing flow of the signal processing system, the data processing unit receives two sets of key signals: an electropositional signal and a pulse signal. The electropositional signal carries dynamic information about electrophysiological activity, while the pulse signal, as a synchronization marker generated by the waveform generation unit, is used for time positioning and signal synchronization.

[0032] Optionally, the data processing unit can preprocess the electro-positioning signal, including but not limited to signal filtering, amplification, and signal conditioning, to eliminate noise, interference, and possible uncorrelated signals. Next, by synchronizing with the pulse signal, the data processing unit can determine the peak and trough positions of the electro-positioning signal.

[0033] For example, the data processing unit can use peak detection algorithms or circuits, such as comparators or flip-flops, to trigger amplitude recording of corresponding points in the electropositional signal based on the rising or falling edge of the pulse signal. These amplitude records can be further processed, for example, by removing possible transient interference through mean filtering, or by using a peak hold circuit to determine the highest amplitude, thereby obtaining signal amplitude data that reflects the intensity of electrophysiological activity.

[0034] Optionally, in order to potentially improve the accuracy of amplitude detection, the data processing unit may also include an interpolation filter. Even under low sampling rate conditions, the interpolation filter can be used to increase the data point density of the electrical positioning signal, thereby providing a smoother signal waveform, helping to more accurately identify the peaks and troughs of the electrical positioning signal, and thus obtaining a more accurate amplitude of the electrical positioning signal.

[0035] Optionally, the data processing unit can also employ relevant digital signal processing (DSP) techniques. Through possible software algorithms, such as Fast Fourier Transform (FFT) or sliding window averaging, it can analyze the spectrum of the electro-positioning signal, identify key frequency components, and thus help separate any interference signals that may be present in the electro-positioning signal, providing a reliable data foundation for calculating the amplitude of the electro-positioning signal. Furthermore, the data processing unit can also incorporate hardware accelerators, such as digital signal processor (DSP) chips or field-programmable gate arrays (FPGAs), which can be used to accelerate the signal processing process and improve signal processing efficiency.

[0036] Optionally, in addition to the catheter, the target device may also include surface electrodes, wherein the amplitude of the electro-positioning signal may include the amplitude of the electro-positioning signal acquired from the catheter and the amplitude of the electro-positioning signal acquired from the surface electrodes, for the purpose of determining the position of the catheter.

[0037] Optionally, the data processing unit may determine the position of the conduit by the amplitude of the electro-positioning signal, or an external device may determine the position of the conduit after obtaining the amplitude of the electro-positioning signal; no limitation is made here.

[0038] Optionally, a database of relationships between reference positions and corresponding electrical positioning signal amplitudes can be pre-defined. This database can be established based on a large amount of experimental data, containing typical amplitudes of electrical positioning signals returned by the catheter at different locations. Through this database, a mapping relationship between signal strength and catheter spatial position can be established, providing a possible basic reference for subsequent catheter position inference.

[0039] After determining the amplitude of the electro-locating signal, the amplitude is compared with amplitudes in a pre-set database to find the closest match. This process can be accomplished by minimizing amplitude differences or through pattern recognition algorithms, which is beneficial for quickly identifying the relative position of the catheter within the target object.

[0040] Optionally, considering that the amplitude of a single signal may be affected by interference, multi-dimensional signal fusion technology can also be used. That is, the amplitudes of the electro-positioning signals returned from multiple surface electrodes and the amplitudes of the electro-positioning signals returned from the catheter are considered simultaneously. Through data fusion algorithms, the information from multiple signals is integrated to improve the robustness and accuracy of the signal processing results. For example, one electro-positioning signal (which can be denoted as the first positioning signal) is collected from the catheter, and one electro-positioning signal (which can be denoted as the second positioning signal) is collected from each surface electrode. When there are multiple amplitudes of the first positioning signal, the average amplitude of the first positioning signal is calculated to obtain the average amplitude of the first positioning signal corresponding to the catheter; when there are multiple amplitudes of each second positioning signal, the average amplitude of each second positioning signal is also calculated to obtain the average amplitude of the second positioning signal corresponding to each surface electrode. The average amplitude of the first positioning signal corresponding to the catheter and the average amplitude of the second positioning signal corresponding to each surface electrode are used to determine the catheter position.

[0041] Optionally, as the catheter moves within the target object, the signal processing system can continuously update the amplitude of the electropositioning signal to dynamically adjust the predicted position of the catheter. This continuous process may involve real-time signal monitoring and rapid position correction, which helps maintain the real-time nature and reliability of the positioning information. Furthermore, an automatic calibration mechanism can be designed to periodically or under specific conditions compare the predicted position of the catheter with its actual position, and optimize the signal processing algorithm through feedback adjustment.

[0042] It should be noted that, based on the above scheme, this application obtains a pulse signal synchronized with the initial electro-positioning signal, and combines it with the electro-positioning signal received by the target device (such as a catheter), which helps to determine the amplitude of the electro-positioning signal, so that the accuracy of catheter positioning can be further improved based on the amplitude of the electro-positioning signal.

[0043] In addition, it should be noted that even in the case of unstable signal, this application can use pulse signal as reference information for electrical positioning signal. For example, even if the signal sampling rate is low, this application can use pulse signal to realize amplitude detection of electrical positioning signal, thereby minimizing signal measurement error (such as signal amplitude measurement error) caused by signal fluctuation and noise interference, so as to improve the accuracy of electrical positioning signal amplitude, thereby helping to improve the accuracy and stability of catheter positioning.

[0044] In one optional embodiment, the data processing unit in the signal processing system can perform a pulse alignment operation on the electrical positioning signal and the pulse signal, wherein the pulse alignment operation is used to align the rising edge of the pulse signal with the peak of the electrical positioning signal and the falling edge of the pulse signal with the trough of the electrical positioning signal.

[0045] Optionally, the data processing unit can match the rising and falling edges of the pulse signal with the peaks and troughs of the electro-positioning signal. This pulse alignment operation helps eliminate the randomness of the sampling timing in subsequent data sampling of the electro-positioning signal. Furthermore, to align the rising edge of the pulse signal with the peak of the electro-positioning signal, the data processing unit can perform phase compensation. The data processing unit can calculate the phase difference between the pulse signal and the peak based on the waveform characteristics of the electro-positioning signal and perform phase adjustment using a delay circuit or software algorithm. This adjustment process helps reduce amplitude measurement errors caused by signal transmission delays or mismatched sampling timing in subsequent data sampling of the electro-positioning signal.

[0046] Similarly, the data processing unit can also align the falling edge of the pulse signal with the trough of the electrical positioning signal. This process can be achieved by identifying the trough position and adjusting the falling edge of the pulse signal to match the two in time. Aligning the falling edge of the pulse signal with the trough of the electrical positioning signal can help reduce the randomness of the electrical positioning signal amplitude reading, thus providing more stable and reliable data points for subsequent catheter location determination.

[0047] It should be noted that by performing pulse alignment on the electro-positioning signal and the pulse signal, the rising edge of the pulse signal can be aligned with the peak of the electro-positioning signal, and the falling edge of the pulse signal can be aligned with the trough of the electro-positioning signal. This operation helps improve the accuracy of the amplitude measurement of the electro-positioning signal, and even under signal fluctuations, it helps improve the stability of the peak value measurement. For example, after completing the pulse alignment operation, the rising and falling edges of the pulse signal can be used as reference information to relatively accurately determine the signal values ​​corresponding to the peaks and troughs of the electro-positioning signal, avoiding the technical problem of large peak and trough detection errors due to lack of reference information when locating the peaks and troughs of the electro-positioning signal.

[0048] In one possible implementation, pulse alignment is performed on the electro-positioning signal and the pulse signal. One possible approach includes: determining the delay time of the pulse signal based on the order of the bandpass filter used in acquiring the electro-positioning signal and the sampling rate set in acquiring the electro-positioning signal; and performing pulse alignment on the electro-positioning signal and the pulse signal based on the delay time.

[0049] For example, during the pulse alignment operation, the delay time of the pulse signal relative to the electrical positioning signal is determined. This delay time can be jointly determined by the characteristics of the bandpass filter and the sampling frequency of the digital signal. Here, the digital signal is the signal obtained by acquiring the initial electrical positioning signal, and the electrical positioning signal is the signal obtained after filtering the digital signal.

[0050] Optionally, as a frequency-selective signal processing tool, the order of a bandpass filter directly affects the signal transmission characteristics, especially the phase delay of the signal when it passes through the filter. For example, the data processing unit can calculate the delay time T of the pulse signal using formula (1).

[0051] T=(Q-1) / 2 Ts (1)

[0052] In formula (1), Q represents the order of the bandpass filter, and Ts represents the sampling period. Taking a sampling frequency of 128 kHz as an example, the sampling period is 1 / 128 kHz = 7.8125 μs. By substituting the specific filter order into formula (1), the specific time that the pulse signal should be delayed can be calculated, which helps to ensure that it is correctly aligned with the electrical positioning signal.

[0053] In one possible implementation, after determining the delay time of the pulse signal, a pulse alignment operation is performed on the electrical positioning signal and the pulse signal. This operation involves adjusting the position of the pulse signal or the electrical positioning signal, with the ultimate goal of aligning the peaks and troughs of the pulse signal with those of the electrical positioning signal.

[0054] It should be noted that determining the pulse signal delay time by using the order of the bandpass filter and the sampling rate set during the acquisition of the electro-positioning signal, and then performing pulse alignment, helps to optimize the peak detection accuracy of the electro-positioning signal. For example, by dynamically adjusting the timing relationship between the pulse signal and the electro-positioning signal using the pulse signal delay time, the trigger point of the pulse signal can more accurately correspond to the peak and trough of the signal, thereby improving the accuracy and stability of signal amplitude measurement.

[0055] In one alternative implementation, determining the delay time of a pulse signal can be achieved by: obtaining the sampling period based on the reciprocal of the sampling rate; and determining the delay time of the pulse signal based on the order of the bandpass filter and the sampling period.

[0056] Optionally, the sampling period, i.e., the time interval between each sample, is a fundamental parameter in signal processing. The sampling period can be obtained by taking the reciprocal of the sampling rate set during the acquisition of the electro-positioning signal. For example, if the sampling frequency is 128 kHz, then the sampling period Ts is 1 / 128 kHz, which calculates to 7.8125 microseconds (µs). This value indicates that the system samples the signal every 7.8125 µs. The sampling period not only reflects the speed at which the system acquires the signal but also indirectly affects the accuracy of signal processing and the integrity of the data.

[0057] Optionally, after determining the sampling period, the delay time of the pulse signal can be determined using the order N of the bandpass filter and the sampling period Ts. The order of the bandpass filter determines the strength of the filtering effect and the phase delay generated when the signal passes through the filter. The delay time of the pulse signal can be calculated based on the above formula (1). For example, if the order of the bandpass filter is 31 and the sampling period Ts is 7.8125us, then the delay time is (31-1) / 2. 7.8125us = 117.1875us. This delay time helps the pulse signal to fall on the peaks and troughs of the electrical positioning signal, thus providing a more reliable time reference for subsequent signal processing and reducing measurement errors caused by phase misalignment.

[0058] In one alternative embodiment, the pulse signal is delayed by a calculated delay time. For example, if the calculated delay time is 117.1875 μs, the pulse signal is shifted backward by this distance on the timeline. This delay is to compensate for any time difference that may occur in the signal filter when the electro-positioning signal is obtained, as well as any additional phase shift that may occur during signal processing, thus facilitating resynchronization between the pulse signal and the electro-positioning signal.

[0059] Optionally, after the pulse signal completes its delay and is superimposed on the electrical positioning signal, the target signal can be obtained. Wherein, Figure 3 This is a target signal after pulse signal alignment operation, provided in some embodiments of this application. Figure 3 As can be seen, when the pulse signal is superimposed on the electrical positioning signal, the pulse signal can not only serve as a time reference, but also enhance the sinusoidal characteristics of the electrical positioning signal, making signal recognition easier in noisy environments.

[0060] It should be noted that determining the pulse signal delay time by calculating the sampling period and combining it with the order of the bandpass filter can improve the synchronization of signal processing and provide a more accurate timing reference for the amplitude detection of the electro-positioning signal. For example, considering the potential time delay effect of the filter on the signal, calculating the pulse signal delay time can make the pulse signal and the electro-positioning signal as accurately aligned as possible, thereby helping to reduce the time deviation effect in the amplitude measurement of the electro-positioning signal.

[0061] In one optional embodiment, the amplitude of the electrical positioning signal is determined based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed. One optional method is to determine the peak-to-peak value of the electrical positioning signal based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed, and then determine the amplitude of the electrical positioning signal based on the peak-to-peak value of the electrical positioning signal.

[0062] Following the signal sampling stage, the data processing unit in the signal processing system can analyze the values ​​of the electrical positioning signal corresponding to the rising and falling edges of the pulse signal to determine the peak-to-peak value of the electrical positioning signal. For example, the calculation of the peak-to-peak value can rely on the ADC value acquired at the time indicated by the pulse signal. Through mathematical operations, the signal amplitude with sign characteristics (i.e., the amplitude of the electrical positioning signal) can be obtained using the peak-to-peak value of the electrical positioning signal. This amplitude reflects the strength of the electrical positioning signal and helps provide basic data for subsequent catheter location determination.

[0063] It should be noted that determining the peak-to-peak value of the electrical positioning signal based on the pulse signal after pulse alignment and using this value to calculate the amplitude of the electrical positioning signal can help improve the accuracy of the analysis of the electrical positioning signal. For example, determining the peak-to-peak value of the electrical positioning signal based on the pulse signal after pulse alignment is equivalent to correcting the timing deviation between the pulse signal and the electrical positioning signal before determining the peak-to-peak value, thereby helping to improve the measurement accuracy of the peak-to-peak value of the electrical positioning signal.

[0064] In one optional embodiment, the peak-to-peak value of the electrical positioning signal is determined based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed. One optional method includes: using the electrical positioning signal after the pulse alignment operation as a first signal and the pulse signal after the pulse alignment operation as a second signal; determining the peak-to-peak value of the electrical positioning signal based on the signal data in the first signal corresponding to the rising edge of the second signal in the target period and the signal data in the first signal corresponding to the falling edge of the second signal in the target period.

[0065] Optionally, after the electrical positioning signal and the pulse signal enter a field-programmable gate array (FPGA) or similar digital signal processing unit (also known as a data processing unit), the data processing unit can use the pulse signal as a trigger source and record the instantaneous value of the electrical positioning signal in real time when the pulse signal has a falling edge or a rising edge.

[0066] For example, the data processing unit can acquire one data point at the falling edge of a pulse signal and another data point at the rising edge of the pulse signal. These two data points represent the instantaneous values ​​during the falling and rising phases of the signal peak, respectively. By calculating the difference between these two data points, the peak-to-peak value of the electro-positioning signal can be determined. Furthermore, the amplitude value can be the voltage difference between the peak and trough values ​​within a sine wave cycle; therefore, the signal data corresponding to adjacent rising and falling edges belong to the same cycle.

[0067] Optionally, the target period can be a period starting from the second period, which helps to avoid amplitude deviation caused by signal instability in the first period.

[0068] In one alternative embodiment, the data processing unit may also design a noise-resistant pulse signal peak detection algorithm to potentially improve peak-to-peak measurement accuracy in noisy environments. When a pulse signal is triggered, the data processing unit may acquire not only a single data point, but also a signal segment containing multiple data points, and then process these data points through mean filtering or other statistical methods to reduce the impact of noise at individual points.

[0069] Optionally, the data processing unit can collect a certain number of data points before and after each falling edge of the pulse signal to form a signal window, and then collect the same number of data points before and after each rising edge of the pulse signal. The data processing unit then calculates the average value of the data points within each window and uses these average values ​​to determine the instantaneous peak value of the signal. By comparing the average values ​​after the falling edge and the rising edge, the system can calculate a more stable and reliable peak-to-peak value.

[0070] In an optional embodiment, the data processing unit may also employ a real-time peak-to-peak value calculation and update mechanism, utilizing pulse signal triggering to rapidly respond to dynamic changes in electrophysiological signals. Whenever a pulse signal is triggered, the system can calculate the peak-to-peak value of the current cycle and compare and update it with the peak-to-peak value of the previous cycle to reflect the latest changes in the electrophysiological state. The data processing unit may also have an internal buffer for storing the peak-to-peak values ​​of the most recent cycles, updating the data in the buffer each time a pulse signal is triggered. By continuously monitoring and updating peak-to-peak values, the system can provide continuous and real-time electrophysiological signal analysis, offering physicians and researchers more dynamic and refined monitoring results.

[0071] It should be noted that the pulse-aligned electro-positioning signal and the pulse signal are respectively labeled as the first signal and the second signal. The peak-to-peak value of the electro-positioning signal is determined based on the data points in the first signal that match the rising and falling edges of the second signal. This processing strategy helps improve the accuracy of peak-to-peak value detection of the electro-positioning signal. For example, by directly anchoring the key inflection points of the aligned signal (i.e., the rising and falling edges of the pulse signal), the data processing unit can more sensitively capture the peak-to-peak value of the electro-positioning signal, thereby improving the accuracy and stability of subsequent electro-positioning signal amplitude calculation.

[0072] In one optional embodiment, the amplitude of the electro-positioning signal is determined based on the peak-to-peak value of the electro-positioning signal. One optional method includes:

[0073] The reference voltage and full-scale range of the analog-to-digital converter (ADC) are obtained. The ADC is used to convert the analog signal acquired from the target device into a digital signal, and the electro-positioning signal is obtained based on the digital signal. The amplitude of the electro-positioning signal is determined based on the reference voltage and full-scale range of the ADC, the hardware gain, and the peak-to-peak value of the electro-positioning signal.

[0074] Optionally, when determining the amplitude of the electro-positioning signal based on its peak-to-peak value, the reference voltage and full-scale range of the analog-to-digital converter (ADC) can be obtained first. The ADC, as a core component in the signal chain, is responsible for converting analog biosignals into digital signals. The reference voltage is a reference voltage set in the ADC, against which all input voltages are quantized. The full-scale range represents the voltage range that the ADC can represent, and is usually related to the number of bits in the ADC. The number of bits determines the smallest voltage change the ADC can distinguish. For example, a 12-bit ADC has a full-scale range of 4096 (i.e.,...). It can distinguish 4096 different voltage levels.

[0075] Optionally, the data processing unit can determine the amplitude of the electrical positioning signal based on the reference voltage and full-scale range of the analog-to-digital converter, the peak-to-peak value of the electrical positioning signal, and the known hardware gain. The hardware gain refers to the gain of components such as preamplifiers that the signal may pass through during transmission from the target device to the ADC, and it directly affects the signal strength.

[0076] It should be noted that calculating the amplitude of the electro-positioning signal by integrating the reference voltage and full-scale information of the analog-to-digital converter (ADC) with the known hardware gain, combined with the peak-to-peak value of the electro-positioning signal, is equivalent to providing a signal quantization method. The signal processing system can use this quantization method to convert the peak-to-peak value of the electro-positioning signal into physically meaningful signal amplitude data. Furthermore, the ADC's reference voltage, full-scale range, and hardware gain are all related to the electro-positioning signal processing; therefore, incorporating these factors as reference elements into the amplitude calculation of the electro-positioning signal helps obtain more accurate amplitude data that better reflects the actual situation.

[0077] In one alternative embodiment, in determining the amplitude value of the digital signal based on the reference voltage and full-scale range of the analog-to-digital converter, the peak-to-peak value of the electro-positioning signal, and the known hardware gain, an alternative approach includes: obtaining a first value based on the reference voltage of the analog-to-digital converter and the peak-to-peak value of the electro-positioning signal; obtaining a second value based on the full-scale range of the analog-to-digital converter and the hardware gain; and obtaining the amplitude of the electro-positioning signal based on the first and second values.

[0078] For example, the first value can be obtained by calculating the product of the reference voltage of the analog-to-digital converter and the peak-to-peak value of the electro-positioning signal. Here, the reference voltage (which can be denoted as...) The voltage reference used by the analog-to-digital converter (ADC) during signal quantization is the peak-to-peak value of the electrical positioning signal, determined in previous signal processing operations. It represents the difference between the signal's maximum and minimum amplitude. Multiplying these two values ​​effectively converts the signal's peak-to-peak value to a voltage-related order of magnitude, providing a preliminary quantization basis for subsequent amplitude calculations. For example, if... The voltage is 3.3V, and the peak-to-peak value of the target signal is 1000 units. Therefore, the first value is 3.3V. 1000 = 3300V.

[0079] Optionally, a second value can be obtained by multiplying the full-scale range of the analog-to-digital converter (ADC) by the known hardware gain. The full-scale range is closely related to the ADC's resolution (typically expressed as the number of bits N), while the hardware gain is a possible amplification or attenuation factor in the signal chain, affecting the intensity change of the signal as it travels from the source to the ADC. Calculating the product of these two values ​​allows for an assessment of the theoretically maximum representable voltage value of the signal after it has passed through the entire system. For example, if the ADC's full-scale range is 4096 and the hardware gain G is 2.0, then the second value equals the full-scale range. Hardware gain = 4096 2.0 = 8192 units.

[0080] Optionally, the data processing unit can obtain the amplitude of the electro-positioning signal based on the ratio of the first value and the second value. For example, the specific process of calculating the amplitude can be found in formula (2):

[0081] (2)

[0082] in,( ) is the signal data in the first signal (i.e., the electrical positioning signal after pulse alignment operation) corresponding to the falling edge of the second signal (i.e., the pulse signal after pulse alignment operation). () represents the signal data in the first signal corresponding to the rising edge of the second signal. Peak-to-peak value This is the reference voltage for the ADC. This is the full scale of the ADC. The known hardware gain.

[0083] Using the above formula (2), by analyzing the peak-to-peak value of the electrical positioning signal and combining the characteristic parameters of the ADC and the hardware gain, the amplitude of the electrical positioning signal at a certain moment can be calculated, which helps to provide reliable data support for catheter positioning and electrophysiological analysis.

[0084] It should be noted that because the signal data uses binary two's complement form, the signal data itself contains a sign, which is calculated ( )and( The difference between the peak and peak values ​​of the electric positioning signal can be used to determine the peak-to-peak value of the signal, and the data also contains the symbol information required by the system.

[0085] It should also be noted that the above scheme provides a process for calculating the amplitude of the electro-positioning signal. A first value is calculated based on the reference voltage of the analog-to-digital converter and the peak-to-peak value of the electro-positioning signal, which helps map the peak-to-peak value of the electro-positioning signal to the actual voltage range. Meanwhile, considering the influence of the full-scale range of the analog-to-digital converter and the hardware gain on the signal processing, calculating a second value can help improve the accuracy of the amplitude calculation for the electro-positioning signal.

[0086] In one alternative embodiment, the generation location of the pulse signal is determined based on the peak and trough positions of the initial electrical positioning signal.

[0087] In one alternative embodiment, the waveform generation unit is responsible for generating a series of periodic sinusoidal signals as initial signals for electrolocalization. These signals are designed to have specific frequencies, such as 6-11 kHz, to suit the characteristics of electrophysiological signals. The waveform generation unit can use digital signal synthesis techniques, such as direct digital frequency synthesis, to ensure the accuracy and stability of the sinusoidal signals. The generation of multiple cycles of signals helps the signal processing system to continuously stimulate the target object, capture its electrophysiological responses, and thus obtain sufficient data for subsequent analysis and localization.

[0088] Optionally, the waveform generation unit in the signal processing system can generate pulse signals using the peak and trough positions of the initial electrical positioning signal. By detecting the periodic changes of the initial electrical positioning signal, the waveform generation unit can generate pulse signals each time the signal waveform reaches a peak or trough. This operation helps to synchronize the triggering time of the pulse signal with the key points of the initial electrical positioning signal, thus providing a clear time reference point during the signal processing stage and facilitating more accurate extraction of the peak information of the electrical positioning signal.

[0089] Optionally, the generated initial electroposition signal needs to be transmitted to the target device for transmission to the target object. This transmission process can be achieved using a biosignal transmission line, which can be designed with low impedance and high noise suppression capabilities to ensure signal integrity during transmission.

[0090] It should be noted that the pulse signal is generated based on the peak and trough positions of the initial electrical positioning signal. This strategy helps improve the accuracy of signal synchronization. By constraining the generation position of the pulse signal, it is possible to control the generation of the pulse signal at key points (such as peaks and troughs) of the changes in the initial electrical positioning signal, which is beneficial for the accurate capture and analysis of the peak-to-peak value of the electrical positioning signal in subsequent signal processing. In addition, this pulse generation method based on the natural waveform characteristics of the signal can reduce the influence of external noise. The pulse signal is no longer randomly generated, but is triggered by the significant waveform characteristics of the initial electrical positioning signal, which helps to improve the stability of the relative position between the pulse signal and the initial electrical positioning signal.

[0091] In one optional embodiment, the pulse signal generation strategy includes: among the generated multiple periods of electrical positioning initial signals, starting from the Kth period of the electrical positioning initial signal, generating a pulse signal based on the peak position and trough position of the electrical positioning initial signal, where K is an integer greater than 1.

[0092] Optionally, the waveform generation unit in the signal processing system can generate a series of electrical positioning initial signals, typically signals with multiple consecutive cycles. However, considering that the initial cycle of the electrical positioning initial signal may not be entirely reliable due to non-steady-state effects during startup or signal establishment, pulse signals can be generated starting from the Kth cycle (K>1). In other words, the system allows the first K-1 cycles of electrical positioning initial signals to be used for system warm-up or signal modulation initialization, ensuring the stability of subsequent signals. The value of K can be determined based on the specific needs of the experimental or clinical environment and the requirements of signal preprocessing; for example, K may be set to 2 or 3 to avoid missynchronization caused by unstable signal startup.

[0093] Optionally, after determining that pulse signal generation will begin from the Kth cycle, the system can then generate pulse signals based on the peak and trough positions of the initial electrical positioning signal. For example, the signal detection mechanism within the waveform generation unit can identify the peaks and troughs within each cycle. When the signal reaches a peak or trough, the system triggers the generation of the pulse signal. Figure 4 The waveform generator unit produces sinusoidal and pulse signals, such as... Figure 4 As shown, the pulse signal is generated at the troughs and peaks of the sine wave signal. Figure 4 The sinusoidal signal in the signal represents the initial signal for electrical positioning.

[0094] It should be noted that starting from the Kth cycle, a pulse signal is generated based on the peak and trough positions of the initial electronic positioning signal. This strategy helps to eliminate data interference caused by the instability of the initial cycle signal and is beneficial to the stable processing of subsequent cycle signals.

[0095] In one optional embodiment, the target device further includes body surface electrodes, and the configuration information of the initial electro-positioning signal includes body surface electrode information for receiving the initial electro-positioning signal and the transmission interval duration of the initial electro-positioning signal.

[0096] Optionally, the waveform generation unit first receives configuration information for the initial electrical positioning signal from the user interface or system control module. The configuration information can be customized according to specific experimental or clinical needs, and at least includes information on the surface electrodes that need to receive the initial electrical positioning signal and the transmission interval of the initial electrical positioning signal. For example, the user might specify that the second and fifth pairs of surface electrodes should be used to receive the initial electrical positioning signal, and that the transmission interval of the initial electrical positioning signal is 2 milliseconds.

[0097] Optionally, after receiving the configuration information for the initial electro-localization signal, the waveform generation unit can generate multiple cycles of the initial electro-localization signal based on this configuration information. For example, the waveform generation unit can use an internal oscillator and digital signal processor (DSP) to synthesize the initial electro-localization signal at the desired frequency. As another example, for a specified surface electrode, the waveform generator switcher can set the frequency of the initial electro-localization signal to 6-11 kHz, which matches the frequency range of the electrophysiological signals received by the catheter, thereby helping to maximize signal response and information acquisition. Additionally, the transmission interval of the initial electro-localization signal can be set, such as the 2-millisecond interval mentioned in the configuration information, to ensure that the generated multiple initial electro-localization signals are distributed in a temporally ordered and uniform manner, avoiding mutual interference between signals, while ensuring that the target object can fully respond to each stimulus.

[0098] It should be noted that configuring the information of the initial electro-positioning signal enhances the controllability of its transmission. Using this configuration information, the signal processing system can adjust the transmission method of the initial electro-positioning signal, rather than transmitting it in a fixed manner, thus improving the processing flexibility of the initial electro-positioning signal.

[0099] In one alternative embodiment, the electrical positioning signal is a signal obtained after filtering a digital signal.

[0100] Optionally, the filtering operations described above include, but are not limited to, various filtering operations such as bandpass filtering and interpolation filtering.

[0101] It should be noted that obtaining the electronic positioning signal after digital signal filtering can help reduce noise interference in the signal and improve the purity of the electronic positioning signal.

[0102] In one optional embodiment, the filtering operation includes the following operations:

[0103] The signal components that exceed the preset frequency band in the digital signal are filtered out by a bandpass filter, and the remaining signal is input to an interpolation filter; the received signal is interpolated and sampled by the interpolation filter to obtain the electric positioning signal.

[0104] Optionally, the analog-to-digital converter can be integrated into the data processing unit of the signal processing system, wherein the data processing unit can be an FPGA (Programmable Gate Array) chip, such as... Figure 5 As shown, the programmable gate array can include M data processing units, each corresponding to a body surface electrode, for determining the amplitude of the electro-positioning signal obtained from the corresponding body surface electrode. Each data processing unit includes: a bandpass filter, an interpolation filter, a peak extraction module, an amplitude calculation module, a mean filtering module, and a pulse signal alignment processing module used in conjunction with the peak extraction module.

[0105] It should be noted that the analog-to-digital converter can also be installed inside the body surface signal acquisition unit and the intracardiac signal acquisition unit.

[0106] Optionally, such as Figure 5 As shown, the signal processing results of the programmable gate array (e.g., the amplitude of the electrical positioning signal) can be stored in a memory, which can be located inside the programmable gate array or independently located outside the programmable gate array.

[0107] Optionally, in the process of obtaining the electroposition signal by filtering the digital signal, the digital signal can first be processed by a bandpass filter. The bandpass filter can remove signal components exceeding a preset frequency band from the digital signal, retaining the remaining signal concentrated in the frequency bands where electrophysiological activity is more active. Through this operation, the signal output by the bandpass filter becomes a filtered signal, primarily carrying useful information related to cardiac electrophysiology, while reducing noise interference from other low-frequency or high-frequency sources, creating favorable conditions for subsequent signal processing operations. Figure 6 An example of the frequency response of an optional bandpass filter is shown. Figure 6 The diagram illustrates the relationship between frequency (in kHz) and amplitude (in dB). From... Figure 6 The following information can be obtained from this:

[0108] A significant peak is observed at approximately 10 kHz, with an amplitude close to 0 dB. This peak represents the dominant frequency component of the electrical positioning signal, i.e., the part where the signal energy is most concentrated. Figure 6In the analysis, the sinusoidal signal has a frequency range of 6-11 kHz. Spectral analysis shows that after processing, the main frequency components of the signal remain stable within the expected range, demonstrating the effectiveness of the signal processing and the accuracy of the signal source. Around 20 kHz, several periodic ripples appear with an amplitude of approximately -60 dB. These ripples represent high-frequency noise components in the signal, with amplitudes much lower than the peak values ​​of the main signal. This indicates that the bandpass filter effectively filters out unwanted high-frequency components, reducing the impact of interference on signal processing.

[0109] Depend on Figure 6 It can be seen that the bandpass filter can successfully limit the signal frequency range to 6 kHz to 11 kHz, which is useful for electrophysiological mapping, while effectively suppressing high-frequency noise above the main signal frequency.

[0110] Optionally, the signal output from the bandpass filter can be further processed by using an interpolation filter to increase the signal sampling rate. Since the original ADC sampling rate is relatively low, the interpolation filter inserts additional data points, making the originally sparse signal denser and smoother. Interpolation sampling is the process of adding extra sample points on the time axis, achieved by estimating missing sample values, thereby improving signal resolution. For example, with an original ADC sampling rate of 128kHz, a complete sine wave cycle of the positioning signal only has 10-20 data points. Therefore, the interpolation filter can use an interpolation rate of 13-19 times, meaning that 12-18 new points are added between every two original sample points, significantly reducing the interval between data points. Ultimately, by interpolating the signal output from the bandpass filter using an interpolation filter, the resulting electro-positioning signal has a higher sampling density, which helps reduce errors introduced by excessively large sampling intervals and enhances signal stability and reliability.

[0111] It should be noted that by using a bandpass filter to eliminate signal components outside the preset frequency band, and then using an interpolation filter to increase the signal sampling density, two advantages are achieved. First, this reduces irrelevant interference from signal components outside the preset frequency band, which helps enhance the clarity and stability of the electronic positioning signal. Second, after interpolation sampling, the smoothness of the electronic positioning signal is improved, and the distribution of data points may be more uniform, thus contributing to improved efficiency and accuracy of subsequent signal processing. Moreover, interpolation sampling can increase the sampling rate of the electronic positioning signal, so even if the signal is acquired under low sampling conditions, the richness of the signal can be enhanced through interpolation sampling.

[0112] In one optional embodiment, the signal components outside the preset frequency band include at least one of the following signal components:

[0113] Signal components of an electrocardiogram (ECG) signal;

[0114] Signal components of respiratory signals;

[0115] High-order harmonic signal components that exceed the preset frequency band.

[0116] It should be noted that excluding ECG signals, respiratory signals, and higher harmonics from the preset frequency band can improve the purity of the electrical positioning signal. Eliminating interfering signal components helps to enhance the targeting of signal processing and facilitates more accurate amplitude determination.

[0117] In one optional embodiment, the received signal is interpolated and sampled using an interpolation filter to obtain an electro-positioning signal. One optional implementation method is as follows: the number of data sampling points included in a complete sine wave cycle of the digital signal is determined according to the sampling rate set when acquiring the electro-positioning signal; the interpolation sampling parameters of the interpolation filter are determined according to the number of data sampling points; the received signal is interpolated and sampled using the interpolation filter according to the interpolation sampling parameters to obtain the electro-positioning signal.

[0118] Optionally, in the process of interpolating and sampling the signal output by the bandpass filter to obtain the electro-positioning signal, the number of data sampling points included in a complete sine wave cycle of the digital signal can be determined first based on the sampling rate set when acquiring the electro-positioning signal. Taking a sampling rate of 128 kHz as an example, considering that the frequency of the generated sine wave signal is in the range of 6-11 kHz, the number of data sampling points included in a complete sine wave cycle can be calculated. Wherein, the number of sampling points = sampling rate / sine wave frequency.

[0119] Optionally, after determining the number of data points in one sine wave cycle of the digital signal, the next step is to determine the interpolation sampling parameters of the interpolation filter. The interpolation sampling parameters mainly refer to the interpolation ratio, which is the ratio of the number of sampling points in the new signal to the number of sampling points in the original signal. To improve signal stability and reduce errors between data points, this embodiment selects a relatively high interpolation ratio. For example, assuming that it is desired to fill the gap between every two original sampling points with 15 new points, then the interpolation ratio is 16 times. The purpose of this is to obtain denser sampling points, thereby obtaining a smoother and more accurate signal curve, providing a better foundation for subsequent signal processing and data analysis.

[0120] Optionally, the interpolation filter interpolates and samples the signal output by the bandpass filter according to determined interpolation sampling parameters to obtain the electrical positioning signal. This involves inserting additional points between each original sampling point to reconstruct the signal with finer resolution. For example, if Z data points in the original signal cover one sine wave period, after Z-fold interpolation, there will be Z data points within the same period. Z data points help increase signal density, where Z is a positive number.

[0121] It should be noted that determining the number of data sampling points included in a complete sine wave cycle of a digital signal based on the sampling rate, and then determining the interpolation sampling parameters of the interpolation filter based on the number of data sampling points, helps improve the resolution of the electronic positioning signal. For example, by adjusting the interpolation to adapt to the sampling rate, the electronic positioning signal can be presented more smoothly, thereby helping to reduce signal interpretation errors caused by large sampling intervals.

[0122] In one alternative embodiment, the amplitude of the electrical positioning signal is used to determine the position of the catheter. An alternative implementation includes the following operations:

[0123] When the target device includes a catheter and multiple surface electrodes, the electro-positioning signal collected from the catheter is used as the first positioning signal, and the electro-positioning signal collected from the surface electrodes is used as the second positioning signal.

[0124] If multiple amplitudes of the first positioning signal are detected, the average value of the multiple amplitudes of the first positioning signal is calculated to obtain the average amplitude of the first positioning signal.

[0125] When multiple amplitudes of the second positioning signal collected from each body surface electrode are detected, the average value of the multiple amplitudes of the second positioning signal corresponding to each body surface electrode is calculated to obtain the average amplitude of the second positioning signal corresponding to each body surface electrode. The average amplitude of the first positioning signal and the average amplitude of the second positioning signal corresponding to each body surface electrode are used to determine the position of the catheter.

[0126] Optionally, the data processing unit may determine the position of the conduit based on the amplitude of the electro-positioning signal; or it may output the amplitude of the electro-positioning signal to an external device so that the external device can determine the position of the conduit based on the amplitude of the electro-positioning signal; or the data processing unit may store the amplitude of the electro-positioning signal in memory so that the external device can read the amplitude of the electro-positioning signal and determine the position of the conduit. No limitation is made here.

[0127] Optionally, the amplitude of the electrolocalization signals (including those acquired from the catheter and those from the surface electrodes) can be used for three-dimensional spatial localization optimization. For example, firstly, a three-dimensional model of the electrophysiological activity of the target object is constructed based on the amplitude of the electrolocalization signals. Then, spatial localization algorithms, such as triangulation or backpropagation, are used to calculate the three-dimensional coordinates of the catheter within the target object, as well as the distance and direction between the catheter and the surface electrodes, based on the amplitude of the electrolocalization signals on each surface electrode and the catheter. This method utilizes the signal intensity differences between the surface electrodes and the intracardiac catheter electrodes outside the target object region, converting them into physical location information through a mathematical model, which helps improve the accuracy of catheter localization.

[0128] Optionally, in the signal processing system, the intracardiac signal acquisition unit is responsible for acquiring signals from electrodes on the catheter; these signals can be defined as the first localization signals. Simultaneously, the body surface signal acquisition unit collects signals from external body surface electrodes; these signals can be considered as the second localization signals. Through this classified acquisition process, the signal processing system can capture electrophysiological activity information from multiple perspectives, which helps enhance the system's catheter localization capability and anti-interference ability.

[0129] For example, one electrical positioning signal (denoted as the first positioning signal) is acquired from the catheter, and another electrical positioning signal (denoted as the second positioning signal) is acquired from each surface electrode. If the first positioning signal has multiple amplitude values, the average amplitude of the first positioning signal is calculated to obtain the average amplitude of the first positioning signal corresponding to the catheter. Similarly, if each second positioning signal has multiple amplitude values, the average amplitude of each second positioning signal is also calculated to obtain the average amplitude of the second positioning signal corresponding to each surface electrode. Then, the catheter position is determined based on the average amplitude of the first positioning signal corresponding to the catheter and the average amplitude of the second positioning signal corresponding to each surface electrode. This operation helps filter out random fluctuations, reduces the impact of transient interference on signal amplitude, and provides a more stable and reliable reference for catheter positioning.

[0130] It should be noted that the acquired electropositional signals may be affected by various factors, including physiological changes, catheter micro-movements, and potential environmental noise. To more accurately determine the catheter's location, statistical methods based on multiple amplitudes can be used, which help filter out random fluctuations and reduce the impact of transient interference.

[0131] For example, in the initial stage of catheter localization, a first localization signal can be acquired from the electrodes on the catheter, and a second localization signal corresponding to each surface electrode can be acquired simultaneously. Each localization signal generates a single amplitude within each sampling period, reflecting the intensity of electrophysiological activity within that sampling period. However, due to possible signal fluctuations and transient interference, a single amplitude may not be stable enough to accurately determine the catheter's position. Therefore, the data processing unit can employ a statistical strategy based on multiple amplitudes. Within a certain time window, multiple amplitudes corresponding to the first localization signal in multiple sampling periods are acquired (each amplitude corresponds to one sampling period), and multiple amplitudes corresponding to each second localization signal in multiple sampling periods are acquired (each amplitude corresponds to one sampling period). For example, within S consecutive sampling periods, S electro-localization signal amplitudes corresponding to the catheter electrodes and S electro-localization signal amplitudes corresponding to each surface electrode are recorded, where S is an integer greater than 1.

[0132] Subsequently, the average amplitude of the first positioning signal and each of the second positioning signals can be calculated using possible mathematical statistical methods, such as arithmetic mean, weighted average, or median filtering. This process helps filter out possible random fluctuations and transient interference, thus contributing to providing a more stable and reliable signal strength index.

[0133] It should also be noted that averaging the amplitudes of multiple electrical positioning signals corresponding to the catheter and the surface electrodes helps to balance the signal intensity distribution. This approach can help mitigate the potential impact of occasional large fluctuations on positioning, and improve the consistency and robustness of catheter position determination. By comprehensively considering the average amplitudes of the first and second positioning signals, the accuracy of resolving the relative position between the catheter and the surface reference point can be improved.

[0134] In some embodiments, a signal processing system is also provided, comprising: a waveform generation unit for generating an initial electrical positioning signal and a pulse signal; wherein the pulse signal is generated based on the initial electrical positioning signal, and the waveform generation unit is further configured to transmit the initial electrical positioning signal to a target device, wherein the target device includes a catheter; and a data processing unit for acquiring the electrical positioning signal from the target device, and determining the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal, wherein the amplitude of the electrical positioning signal is used to determine the position of the catheter.

[0135] Optionally, the waveform generation unit can generate a series of sine waves as initial electrical positioning signals, these signals having specific frequencies and amplitudes. Subsequently, the waveform generation unit can also insert pulse signals as synchronization markers based on the peak and trough positions of the initial electrical positioning signals. This process can be programmed to ensure that each pulse signal is aligned with key points of the sine waves, thereby helping to provide a time reference and positioning clues for subsequent signal processing. Afterwards, the waveform generation unit can transmit the initial electrical positioning signals to the target device (e.g., a catheter) via a biosignal transmission line to provide excitation signals to the electrodes on the catheter.

[0136] Optionally, the data processing unit can receive and process the electrolocalization signals acquired from the catheter, which are influenced by the tissue characteristics and electrophysiological activity of the target object. Simultaneously, the data processing unit can use previously generated pulse signals as a reference to locate the peaks and troughs of the electrolocalization signals, thereby calculating the amplitude of the signals. This amplitude determination may involve signal preprocessing, such as filtering and noise suppression, as well as possible signal quantization. Through these techniques, the data processing unit can obtain signal amplitude data reflecting the local electric field strength of the heart, providing a physical basis for subsequent catheter localization.

[0137] Optionally, the amplitude of the electropositioning signal is used to determine the three-dimensional coordinates of the catheter within the target object. For example, the specific location of the catheter can be estimated by analyzing the relative positional relationship between the amplitude of the electropositioning signal and the surface electrodes on the heart surface, using mathematical models such as triangulation or other potential distribution-based positioning algorithms. Furthermore, real-time tracking of catheter movement can be achieved through continuous signal acquisition and position calculation, providing positioning and navigation capabilities for electrophysiological research and interventional procedures.

[0138] It should be noted that this application can determine the amplitude of the electrical positioning signal by acquiring a pulse signal synchronized with the initial electrical positioning signal and combining it with the electrical positioning signal received by the target device (such as a catheter), thereby further improving the accuracy of catheter positioning based on the amplitude of the electrical positioning signal.

[0139] Furthermore, it should be noted that even under unstable signal conditions, this application can use pulse signals as reference information for amplitude determination. For example, even with a low signal sampling rate, this application can utilize pulse signals to detect the amplitude of the electrical positioning signal, thereby minimizing signal measurement errors (such as signal amplitude measurement errors) caused by signal fluctuations and noise interference. Ultimately, this helps improve the accuracy and stability of catheter positioning.

[0140] In one optional embodiment, the data processing unit includes: an analog-to-digital converter for converting analog signals into digital signals; and a signal filter for filtering the digital signals.

[0141] Optionally, in the data processing unit of the signal processing system, an analog-to-digital converter (ADC) is responsible for converting analog signals acquired by the catheter and surface electrodes into digital signals. The ADC converts external analog signals into discrete digital signals that a computer can process, providing a possible basic format for subsequent data analysis and processing. The ADC can also be equipped with a preamplifier circuit to enhance weak electrical positioning signals, making them more suitable for the ADC's input range, thereby helping to improve the accuracy of signal conversion and the signal-to-noise ratio.

[0142] Optionally, a signal filter can perform precise filtering on the digital signal after analog-to-digital conversion. This operation removes interference components from the digital signal, such as noise, electromagnetic interference, and other non-electro-positioning related frequency bands, in order to preserve and highlight the key characteristics of the electro-positioning signal. The signal filter can employ various filtering algorithms from digital signal processing (DSP) technology, such as low-pass filtering, high-pass filtering, band-pass filtering, or adaptive filtering. Signal filtering through a filter helps improve the purity and stability of the signal, facilitating accurate extraction of the electro-positioning signal amplitude.

[0143] It should be noted that analog-to-digital converters (ADCs) can transform continuous analog signals into discrete digital signals, which is beneficial for subsequent digital signal processing. Signal filters perform filtering on the digital signals, helping to remove or attenuate noise and unnecessary signal components. This series of operations helps improve the signal-to-noise ratio of the electronic positioning signal, enhances the effective information of the electronic positioning signal, and provides data quality assurance for improving signal processing accuracy and stability.

[0144] In one optional embodiment, the signal processing system further includes: a body surface signal acquisition unit for acquiring electrolocalization signals returned from body surface electrodes; and an intracardiac signal acquisition unit for acquiring electrolocalization signals returned from a catheter, wherein the target device includes body surface electrodes and a catheter.

[0145] Optionally, in the signal processing system, the body surface signal acquisition unit can be a highly integrated module. This unit can include up to 6-10 channels (the number of channels is not particularly limited, for example, 7 or 9), and each channel can be equipped with an analog-to-digital converter (ADC) and a preamplifier circuit to accommodate signals returned from different body surface electrodes. The main task of the body surface signal acquisition unit is to acquire and amplify the weak electrophysiological signals captured by the body surface electrodes, and then convert these analog signals into digital signals for subsequent data processing and analysis.

[0146] Optionally, the intracardiac signal acquisition unit acquires electro-localization signals from electrodes on the catheter. Similarly, this unit can have multiple channels, each equipped with an independent signal preprocessing and analog-to-digital converter. As the catheter moves within the target area, the intracardiac signal acquisition unit can track and record changes in electrophysiological activity sensed by the catheter electrodes in real time, and convert these changes into digital signals.

[0147] It should be noted that the surface signal acquisition unit and the intracardiac signal acquisition unit independently acquire the electro-localization signals from the surface electrodes and catheters, respectively, which helps to comprehensively capture the electro-localization signals. This separate acquisition method can reduce mutual interference between signals and enhance the purity of each signal.

[0148] In one optional embodiment, the body surface signal acquisition unit is connected to the body surface electrode via a signal transmission line; the intracardiac signal acquisition unit is connected to the catheter; the waveform generation unit is connected to the body surface electrode via a signal transmission line; the body surface signal acquisition unit, the intracardiac signal acquisition unit, and the waveform generation unit are fixed by a board connection base, which is connected to the data processing unit and is used for data forwarding.

[0149] Optionally, the body surface signal acquisition unit can establish a stable electrical connection with the body surface electrodes via signal transmission lines. These signal transmission lines can transmit not only the raw electrophysiological signals acquired from the body surface electrodes, but also system control information, such as trigger signals and clock signals, thereby facilitating real-time signal transmission and data acquisition synchronization.

[0150] Optionally, the intracardiac signal acquisition unit can be connected to a catheter to capture electrolocalization signals from inside the target object via electrodes on the catheter. This connection can be accomplished through a dedicated interface and wiring.

[0151] Optionally, the waveform generation unit can be connected to the surface electrodes via a signal transmission line to send an initial electroposition signal to the surface electrodes. This connection can be bidirectional, not only sending control signals but also receiving feedback information, such as the status of the surface electrodes or signal reception confirmation information, thereby achieving closed-loop control of signal transmission.

[0152] Optionally, the board connection base can serve as a physical and electrical integration platform for surface signal acquisition units, intracardiac signal acquisition units, and waveform generation units. The board connection base not only provides robust mechanical fixation to prevent relative movement between units from affecting signal transmission, but can also include an electrical connection network to facilitate rapid signal exchange and data sharing between units. The board connection base can also be equipped with various interface standards, such as high-speed serial interfaces or parallel buses.

[0153] It should be noted that the integrated design of the signal transmission line and the board connection base enables stable and efficient data exchange between the various units. This layout facilitates the rapid and accurate transmission of electrical positioning signals and helps reduce signal attenuation and interference. The surface signal acquisition unit and the intracardiac signal acquisition unit, fixed to the board connection base, provide a stable signal acquisition environment. Furthermore, the use of the board connection base simplifies the assembly and maintenance of the signal processing system, promotes a more compact and modular system structure, and enhances the system's operability and adaptability.

[0154] In some embodiments, a signal processing apparatus is also provided, wherein the signal processing apparatus may be configured with units, sub-units, modules, and sub-modules to implement various operations in the above-described signal processing method.

[0155] In some embodiments, a computer-readable storage medium is also provided, which stores a computer program, wherein when the computer program is executed, the device on which the computer-readable storage medium is located performs the signal processing method described above.

[0156] In some embodiments, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the signal processing method described above.

[0157] In some embodiments, a computer program product is also provided, including a computer program or instructions that, when executed by a processor, implement the signal processing method described above.

[0158] It should be noted that the technical solutions formed by any of the above-described implementation methods (or embodiments) or any combination of implementation methods (or embodiments) are all within the scope of protection of this application.

[0159] Whenever a range of values ​​is indicated in this application, it refers to any of the listed values ​​(fractions and integers) that fall within the indicated range. The phrases “range between the first indicated value and the second indicated value” and “range from the first indicated value to the second indicated value” are used interchangeably in this application and refer to the values ​​indicated by the first and second indications, as well as all fractional and integer values ​​in between.

[0160] As used herein, when used in conjunction with numerical values ​​and / or ranges, the terms “about” and / or “approximately” generally refer to numerical values ​​and / or ranges that are close to the given value and / or range. In some cases, the terms “about” and “approximately” may mean within ±10% of the value. For example, in some cases, “about 100 [units]” may mean within ±10% of 100 (e.g., 90 to 110). The terms “about” and “approximately” are used interchangeably.

[0161] As used in this application, the singular forms “an,” “a,” and “the” include the plural forms unless the context clearly specifies otherwise. For example, the terms “a compound” or “at least one compound” can include a variety of compounds, including mixtures thereof.

[0162] The term "basically composed of" means that a composition, method, or structure may include additional ingredients, operations, and / or components, provided that these additional ingredients, operations, and / or components do not significantly alter the fundamental and novel properties of the claimed composition, method, or structure.

[0163] The implementation of the methods and / or systems of this application may include performing or fully performing selected tasks manually, automatically, or in a combination thereof. Furthermore, the actual instruments and equipment used in the implementation of the methods and / or systems of this application, using an operating system, may implement several selected tasks via hardware, software, firmware, or a combination thereof.

[0164] For example, the hardware used to perform the selected task according to embodiments of this application can be implemented in the form of a chip or circuit. As software, the selected task according to embodiments of this application can be implemented in the form of multiple software instructions executable by a computer using any suitable operating system. In exemplary embodiments of this application, one or more tasks of exemplary embodiments of the methods and / or systems according to this application are performed by a data processor, such as a computing platform for executing multiple instructions. Optionally, the data processor includes volatile memory for storing instructions and / or data and / or non-volatile memory for storing instructions and / or data, such as a magnetic hard disk and / or removable media. Optionally, a network connection is also provided. A display and / or user input devices such as a keyboard or mouse are also optionally provided.

[0165] It should be understood that certain features of this application described in the context of a single implementation for clarity can also be provided in combination in a single implementation. Conversely, multiple features of this application described in the context of a single implementation for brevity can also be provided individually or in any suitable sub-combination or, as appropriate, in any other described implementation of this application. Certain features described in the context of multiple implementations should not be considered essential features of those implementations unless the implementation does not function without these elements.

[0166] Although this application has been described in conjunction with its specific embodiments, it will be apparent to those skilled in the art that many alternatives, modifications, and variations are possible. Therefore, it is intended to include all such alternatives, modifications, and variations falling within the spirit and broad scope of the appended claims.

Claims

1. A signal processing method, characterized in that, include: Acquire an electro-positioning signal and a pulse signal, wherein the pulse signal is generated based on an initial electro-positioning signal, and the electro-positioning signal is a signal collected from the target device when the target device receives the initial electro-positioning signal, wherein the target device includes a catheter; Based on the electro-positioning signal and the pulse signal, the amplitude of the electro-positioning signal is determined, and the amplitude of the electro-positioning signal is used to determine the position of the catheter; The determination of the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal includes: determining the delay time of the pulse signal; performing a pulse alignment operation on the electrical positioning signal and the pulse signal according to the delay time, wherein the pulse alignment operation is used to align the rising edge of the pulse signal with the peak of the electrical positioning signal and the falling edge of the pulse signal with the trough of the electrical positioning signal; and determining the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed.

2. The method according to claim 1, characterized in that, Determining the delay time of the pulse signal includes: The delay time of the pulse signal is determined based on the order of the bandpass filter used in acquiring the electro-positioning signal and the sampling rate set in acquiring the electro-positioning signal.

3. The method according to claim 2, characterized in that, The delay time of the pulse signal is determined based on the order of the bandpass filter used in acquiring the electrical positioning signal and the sampling rate set during the acquisition process, including: The sampling period is obtained based on the reciprocal of the sampling rate; The delay time of the pulse signal is determined based on the order of the bandpass filter and the sampling period.

4. The method according to claim 1, characterized in that, Based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed, the amplitude of the electrical positioning signal is determined, including: Based on the electrical positioning signal and pulse signal after the pulse alignment operation is completed, the peak-to-peak value of the electrical positioning signal is determined; The amplitude of the electro-positioning signal is determined based on its peak-to-peak value.

5. The method according to claim 4, characterized in that, Based on the electrical positioning signal and pulse signal after the pulse alignment operation is completed, the peak-to-peak value of the electrical positioning signal is determined, including: The electrical positioning signal after the pulse alignment operation is completed is used as the first signal, and the pulse signal after the pulse alignment operation is completed is used as the second signal. The peak-to-peak value of the electro-positioning signal is determined based on the signal data in the first signal corresponding to the rising edge of the second signal in the target period, and the signal data in the first signal corresponding to the falling edge of the second signal in the target period.

6. The method according to claim 4, characterized in that, Determining the amplitude of the electro-positioning signal based on its peak-to-peak value includes: The reference voltage and full-scale range of the analog-to-digital converter are obtained, wherein the analog-to-digital converter is used to convert an analog signal acquired from the target device into a digital signal, and the electro-positioning signal is obtained based on the digital signal; The amplitude of the electro-positioning signal is determined based on the reference voltage and full-scale range of the analog-to-digital converter, the hardware gain, and the peak-to-peak value of the electro-positioning signal.

7. The method according to claim 6, characterized in that, The amplitude of the electro-positioning signal is determined based on the reference voltage and full-scale range of the analog-to-digital converter, the hardware gain, and the peak-to-peak value of the electro-positioning signal, including: The first value is obtained based on the reference voltage of the analog-to-digital converter and the peak-to-peak value of the electro-positioning signal; The second value is obtained based on the full-scale range of the analog-to-digital converter and the hardware gain; The amplitude of the electrical positioning signal is obtained based on the first value and the second value.

8. The method according to claim 1, characterized in that, The generation location of the pulse signal is determined based on the peak and trough positions of the initial electrical positioning signal.

9. The method according to claim 8, characterized in that, The pulse signal generation strategy includes: starting from the Kth period of the generated electrical positioning initial signal, generating the pulse signal based on the peak and trough positions of the electrical positioning initial signal, where K is an integer greater than 1.

10. The method according to claim 1, characterized in that, The target device also includes body surface electrodes, and the configuration information of the initial electro-positioning signal includes body surface electrode information for receiving the initial electro-positioning signal and the transmission interval duration of the initial electro-positioning signal.

11. The method according to claim 1, characterized in that, The electrical positioning signal is a signal obtained by filtering the digital signal collected from the target device.

12. The method according to claim 11, characterized in that, The filtering operation includes: The signal components that exceed the preset frequency band in the digital signal are filtered out by a bandpass filter, and the remaining signal is input to an interpolation filter. The received signal is interpolated and sampled using the interpolation filter to obtain the electrical positioning signal.

13. The method according to claim 12, characterized in that, Signal components outside the preset frequency band include at least one of the following signal components: Signal components of an electrocardiogram (ECG) signal; Signal components of respiratory signals; Higher harmonic signal components that exceed the preset frequency band.

14. The method according to claim 12, characterized in that, The received signal is interpolated and sampled using the interpolation filter to obtain the electrical positioning signal, including: The number of data sampling points included in a complete sine wave cycle of the digital signal is determined based on the sampling rate set when acquiring the electro-positioning signal. The interpolation sampling parameters of the interpolation filter are determined based on the number of data sampling points. The received signal is interpolated and sampled using an interpolation filter based on the interpolation sampling parameters to obtain the electrical positioning signal.

15. The method according to claim 1, characterized in that, The amplitude of the electrical positioning signal is used to determine the position of the catheter, including: When the target device includes the catheter and multiple surface electrodes, the electro-positioning signal collected from the catheter is used as the first positioning signal, and the electro-positioning signal collected from the surface electrodes is used as the second positioning signal. If multiple amplitudes are detected for the first positioning signal, the average value of the multiple amplitudes of the first positioning signal is calculated to obtain the average amplitude of the first positioning signal. When multiple amplitudes of the second positioning signal acquired from each of the body surface electrodes are detected, the average value of the multiple amplitudes of the second positioning signal corresponding to each of the body surface electrodes is calculated to obtain the average amplitude of the second positioning signal corresponding to each of the body surface electrodes; the first average amplitude of the positioning signal and the average amplitude of the second positioning signal corresponding to each of the body surface electrodes are used to determine the position of the catheter.

16. A signal processing system, characterized in that, include: A waveform generating unit is used to generate an initial electrical positioning signal and a pulse signal; wherein the pulse signal is generated based on the initial electrical positioning signal, and the waveform generating unit is also used to transmit the initial electrical positioning signal to a target device, wherein the target device includes a catheter; A data processing unit is configured to acquire an electro-positioning signal from the target device, and determine the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal, wherein the amplitude of the electro-positioning signal is used to determine the position of the catheter. Determining the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal includes: determining the delay time of the pulse signal; performing a pulse alignment operation on the electro-positioning signal and the pulse signal according to the delay time, wherein the pulse alignment operation aligns the rising edge of the pulse signal with the peak of the electro-positioning signal and the falling edge of the pulse signal with the trough of the electro-positioning signal; and determining the amplitude of the electro-positioning signal based on the electro-positioning signal and the pulse signal after the pulse alignment operation.

17. The signal processing system according to claim 16, characterized in that, The data processing unit includes: An analog-to-digital converter is used to convert analog signals acquired from a target device into digital signals; A signal filter is used to filter the digital signal and output the electrical positioning signal.

18. The signal processing system according to claim 16, characterized in that, The signal processing system further includes: A body surface signal acquisition unit is used to acquire electroposition signals returned from body surface electrodes; An intracardiac signal acquisition unit is used to acquire electrical positioning signals returned from the catheter, wherein the target device includes the body surface electrode and the catheter.

19. The signal processing system according to claim 18, characterized in that, The body surface signal acquisition unit is connected to the body surface electrode via a signal transmission line; the intracardiac signal acquisition unit is connected to the catheter; the waveform generation unit is connected to the body surface electrode via the signal transmission line; the body surface signal acquisition unit, the intracardiac signal acquisition unit, and the waveform generation unit are fixed by a board connecting to the base.

20. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein when the computer program is executed, the device in which the computer-readable storage medium is located performs the signal processing method according to any one of claims 1 to 15.

21. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the signal processing method according to any one of claims 1 to 15.

22. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a processor, implement the signal processing method according to any one of claims 1 to 15.

23. A signal processing apparatus, characterized in that, include: An acquisition unit is configured to acquire an electro-positioning signal and a pulse signal, wherein the pulse signal is generated based on an initial electro-positioning signal, and the electro-positioning signal is a signal acquired from the target device when the target device receives the initial electro-positioning signal, wherein the target device includes a catheter; An amplitude determination unit is configured to determine the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal, wherein the amplitude of the electrical positioning signal is used to determine the position of the catheter; wherein determining the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal includes: determining the delay time of the pulse signal; performing a pulse alignment operation on the electrical positioning signal and the pulse signal according to the delay time, wherein the pulse alignment operation is used to align the rising edge of the pulse signal with the peak of the electrical positioning signal and align the falling edge of the pulse signal with the trough of the electrical positioning signal; and determining the amplitude of the electrical positioning signal based on the electrical positioning signal and the pulse signal after the pulse alignment operation is completed.

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