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Catheter vibration control method of cardiac intervention type magnetic navigation system

A control method and interventional technology, applied in the field of medical device control, can solve the problems of heart damage, reduced navigation and positioning accuracy, uncontrollable attitude transformation speed, etc., so as to improve the success rate, improve the navigation and positioning accuracy and reduce medical damage. Effect

Inactive Publication Date: 2014-11-05
INST OF ELECTRICAL ENG CHINESE ACAD OF SCI
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Problems solved by technology

The change of the magnetic field direction of the active cardiac magnetic navigation is achieved by changing the current in the electromagnet. During the reversing process of the catheter, the current posture and target posture of the catheter are known, but the intermediate posture of the catheter is unknown, and the posture The conversion speed is uncontrollable, which must be avoided in interventional cardiac surgery, otherwise the catheter vibration caused by the disordered change of catheter posture will reduce the accuracy of navigation and positioning, and may even cause heart damage

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  • Catheter vibration control method of cardiac intervention type magnetic navigation system
  • Catheter vibration control method of cardiac intervention type magnetic navigation system
  • Catheter vibration control method of cardiac intervention type magnetic navigation system

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] Such as figure 1 As shown, three permanent magnet rings 2 are installed in the front end of the catheter 1 , and the direction of the magnetic moment of the permanent magnet rings 2 is parallel to the central axis of the permanent magnet rings 2 and points to the end of the catheter 1 . The end of the conduit 1 is equipped with a hose 4, which is convenient for the end of the conduit 1 to turn. The torque applied by the uniform magnetic field to the permanent magnet ring 2 in the navigation area 3 makes the magnetic moment of the permanent magnet ring 2 parallel to the uniform magnetic field, so that the permanent magnet ring 2 is parallel to the external magnetic field. The torque received by the permanent magnet ring 2 is T m =M·B·A m ·L m sin(θ), where: M is the magnitude of the magnetic moment of the permanent magnet ring 2, B is...

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Abstract

Provided is a catheter vibration control method of a cardiac intervention type magnetic navigation system. The method includes the following control strategies that a track suitable for a catheter (1) to follow after the catheter (1) changes the posture is found out according to an angular difference value between a current posture and a next target posture of the catheter (1), and the catheter (1) is made to be always in a posture controllable state in the posture changing process; in the two-dimensional plane, the current posture phi1 of the end of the catheter (1) is measured through a three-dimensional cardiac mapping system, a next position posture phi2 and a following step size delta phi of the catheter (1) are determined according to the operation requirements, and therefore an any-time posture phit(n) of the catheter (1) from the current posture phi1 to the next position posture phi2 is determined; in the three-dimensional spherical coordinate space, the current posture (phi1, theta1) of the end of the catheter (1) is measured through the three-dimensional cardiac mapping system, a next position posture (phi2, theta2) and following step sizes delta phi and delta theta of the catheter (1) are determined according the operation requirements, and therefore an any-time posture (phit(n), thetat(m)) of the catheter between the current posture (phi1, theta1) and the next position posture (phi2, theta2) can be determined.

Description

technical field [0001] The invention relates to a control method of a medical device, in particular to a control method for a cardiac interventional magnetic navigation system. Background technique [0002] Cardiac interventional surgery has been widely used clinically because of its good effect, small trauma and quick recovery. At present, most hospitals that can implement cardiac interventional surgery use manual intubation technology. Its working principle is realized by the doctor standing beside the patient and manually operating the catheter under the guidance of X-ray machine imaging. During the intubation process, the head end of the catheter is turned or bent to enter the target by pulling back the guide wire. Most of the cardiovascular diseases can be diagnosed and treated by manual cannulated cardiac interventional surgery, but for some complicated cases, manual cannulated cardiac interventional surgery is difficult to solve. For example, some complex-shaped blo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B19/00
Inventor 刘建华王厚生王秋良
Owner INST OF ELECTRICAL ENG CHINESE ACAD OF SCI
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