Summary of the invention
It is an object of the invention to provide a kind of cardiac electrophysiology signal imitation system and analogy method thereof, the present invention is deviceOfficial, tissue excited produced action potential as activity indicators, the three-dimensional modeling of chambers of the heart model and real-time potential diagramCombine, make operator only can obtain operating experience during authentic simulation experiment made on the living by electricity physiological signal analog systemsWith true feel, substantially reducing intern becomes the training cycle required for skilled surgeon.
For achieving the above object, the present invention provides following technical scheme:
A kind of cardiac electrophysiology signal imitation system, comprises: transparent chambers of the heart model, and heart Wicresoft gets involved the conduit of operationDevice, for positioning the alignment system of conductor housing position and the host computer containing electrocardiosignal host computer interpretive program；WhereinChambers of the heart model connects host computer by alignment system, and chambers of the heart model is also connected with pipe guide, and alignment system is by bearing, sensing systemSystem, integrated-circuit signal processor composition；According to the electrocardiosignal that prestores in host computer, the default binding relationship of endocardial positionFeature, utilizes electrocardiosignal host computer interpretive program to translate on host computer and shows chambers of the heart model and conductor housing in pipe guideElectrocardiosignal corresponding to touch points.
As the further scheme of the present invention: user is specified by data base, interface, text corresponding relation input these threeAny one in mode specifies the binding relationship of electrocardiosignal and chambers of the heart model interior location.
As the further scheme of the present invention: described alignment system uses optical camera video identification mode to position, soundAny one location mode that sound calculates in location to time difference, GPS magnetic navigation location, built in transparent circuit with sensor is determinedThe position of conductor housing in the pipe guide of position.
As the further scheme of the present invention: described alignment system forms by drawing desired signal at pipe guide tail endLoop, to judge whether the conductor housing in pipe guide is touched chambers of the heart model inwall and calculate chambers of the heart model corresponding to touch pointsPosition.
As the further scheme of the present invention: by right for different characteristic regional compartmentalization coupling in integrated-circuit signal processorAnswer electrocardiosignal, thus directly transfer the electrocardiosignal of display respective regions when obtaining touch points.
As the further scheme of the present invention: at the built-in spatial mode having chambers of the heart model of the response procedures that host computer is correspondingBy locus, type, calculates whether reduction conductor housing is touched with chambers of the heart model inwall.
A kind of method that it is a further object of the present invention to provide cardiac electrophysiology signal imitation, comprises the following steps:
1) alignment system detection conductor housing position, and conductor housing positional information is sent to host computer；
2) described host computer judges whether conductor housing position is positioned at inside chambers of the heart model: if it was not then terminate this heartDirty electricity physiological signal is simulated；If it is present perform step 3)；
3) calculate conductor housing by locus, transducing signal feedback information, with chambers of the heart model inwall, putting of touching occursReliability；If confidence level is less than the touching confidence level preset, then terminate this cardiac electrophysiology signal imitation；If confidence level is notLess than the touching confidence level preset, then perform step 4)；
4) data base, interface is used to specify any one inquiry mode in information or input text corresponding relation to look intoAsk corresponding ecg signal data, and show ecg signal data by host computer display screen；Thus in completing chambers of the heart model notThe electrocardiosignal reduction of co-located (position that i.e. current catheter head touches)；
As the further scheme of the present invention: calculate conductor housing in described step (3) and occur to touch with chambers of the heart model inwallIn the case of touching, by being close in microphone sensor, vibrating sensor or the internal circuit sensor with chambers of the heart model outer wallThe signal of any one sensor acquisition judge whether that this signal amplitude exceedes the surge of preset multiple, carry furtherThe high confidence level judging touching.
Compared with prior art, the invention has the beneficial effects as follows:
Present invention safety operating experience intuitively radiationless, transparent, feed back feel, in real time electrocardiosignal the most accurately reallyFeedback, make doctor broken away from by true sufferer or living animal try one's hand acquisition experience approach limit so that internCan carry out anywhere or anytime emulating operative training, thus substantially increase the training efficiency of doctor, shorten their growthIn the cycle, such that it is able to provide more veteran doctor within the unit interval, release in time for more cardiacPainful.
Advantage that the present invention is concrete or good effect
1. greatly reduce X-ray exposure amount；
The most transparent intuitively, it is simple to the foundation of three-dimensional theory；
3. can Real-time Feedback not concentric cavities model diverse location or electricity physiological signal under normal or pathological state, sensitiveDegree height；
4. can analog feedback operation time true feel；
5. shorten learning curve, make the practical training cycle of clinician be greatly shortened；
6. avoid the ethical issues of living animal experiment, and greatly alleviate economy expenditure pressure；
7. simple and fast, can be simulated training whenever and wherever possible；
8. can drill in advance according to patient's personalized customization solution, improve safety during operation.
Embodiment 1
In the embodiment of the present invention, the cardiac electrophysiology signal imitation system of the present invention can be supplied to the surgeon one that practisesIndividual fully simulated surgical simulation environment, thus substantially reduce their growth cycle, it is achieved that cultivate in a short time enough skillfullyThe purpose of surgeon.
Refer to Fig. 1, a kind of cardiac electrophysiology signal imitation system, comprise: a transparent chambers of the heart model, heart WicresoftGetting involved the pipe guide of operation, one for positioning the alignment system of conductor housing position and translating containing electrocardiosignal host computerThe host computer of program；Its center cavity model connects host computer by alignment system, and chambers of the heart model is also connected with pipe guide, location systemSystem is made up of bearing, sensor-based system, integrated-circuit signal processor；According to the electrocardiosignal that prestores in host computer, endocardial positionThe default binding relationship feature put, host computer utilizes electrocardiosignal host computer interpretive program translate and show chambers of the heart model withElectrocardiosignal corresponding to conductor housing touch points in pipe guide.The analog systems of the present invention according to the CT scan data of true man,Simulate human heart by the 1:1 chambers of the heart model printed, use special support and plastic flexible pipe to simulate human vas, joinWith the ablation catheter used in operation, enter inside chambers of the heart model and carry out fully simulated operative training.Chambers of the heart model uses completeTransparent material, makes doctor obtain more intuitive 3D vision operating experience.Chambers of the heart model and Normal Human Heart's structure completeSample, reduces the feel of true operation to the full extent.
When this signal imitation system can make conductor housing not touch chambers of the heart model inwall (imitative cardiac muscle), host computer screen end inExisting electrocardiosignal is without electric potential signal；And during conductor housing touching chambers of the heart model inwall, be immediately invoked at by host computer procedureScreen end presents corresponding electrocardiosignal.So, surgeon can obtain real operating experience, simultaneously when operating conduitAlso can obtain real-time and feed back electrocardiosignal really.Before real patient operates, can be standardized by analog systemsOperation practice, is progressively transitioned into and only combines the Real-time Feedback of carto system and electrocardiosignal and just can complete each chambers of the heart modelThree-dimensional reconstruction.Even if not utilizing carto system, only analog systems itself to may also function as operation conduit limit, limit feedback electricity physiological signalTraining effect.The process of exercise had both improved catheter manipulation skill, had tempered three dimensions theory, more greatly reduce exposure spokePenetrate, shorten learning cycle.
Once after present system work, can be by the position of alignment system detection current catheter head, then conductor housingPosition send to host computer, so far slave computer completes work.Host computer be responsible for judging conductor housing whether inside chambers of the heart model,If not existing, terminating the simulation of this electrocardiosignal, if existing, continuing executing with forward, by the calculating of locus, if calculatingThe point position of conductor housing, on the inner surface of chambers of the heart model, judges that conductor housing occurs the confidence of touching with chambers of the heart model inwall accordinglyDegree.If this confidence level is less than the touching confidence level preset, then terminate this cardiac electrophysiology signal imitation；If more than, under performingOne step, the sensitivity that can increase or reduce touching by adjusting preset value (is adjusted according to the feel of doctor's practical operationWhole), specify information or a kind of electrocardiosignal going inquiry corresponding of text input relation from data base or interface, and by this signalShown by interface data thus reach the purpose of the electrocardiosignal of reduction current catheter head present position.Pre-seting reliabilityTime, owing to the precision of modeling and location limits, mike or vibrating sensor can be fixed at chambers of the heart model outer wall, or by layingInternal circuit and sensor detect when whether the signal amplitude of eve exceedes the surge of preset multiple, assist furtherJudge whether to touch.If confirming to exceed the surge of preset multiple, then improve the confidence level that touching occurs；If not,Cut down confidence level, thus improve the accuracy judging whether touching.
As in figure 2 it is shown, current carto machine can utilize GPS magnetic navigation principle, use ablation catheter in chambers of the heart modelWall sampling site, thus obtain the three-dimensional data model of chambers of the heart model.And during sampling site, each chambers of the heart model diverse location is correspondingElectro physiology potential diagram cannot collect simultaneously.Utilize the electricity physiological signal analog systems sending out signals by each region of the present inventionLine is received on integrated-circuit signal processor by simulator hold-down support, by default programme-control, it is possible to achieve upperPosition machine end shows the electrocardio potential diagram of correspondence in real time.When ablation catheter head touches chambers of the heart model inwall, constitute loop, programMay determine that touching and transfer corresponding potential diagram by data base, showing over the display.When ablation catheter head does not touchesEncountering chambers of the heart model inwall, received by processor without the corresponding signal that triggers, processor can be transferred without letter immediately from data baseNumber potential diagram shows at display end.
So, being achieved that while chambers of the heart model modeling, correspondence goes out the characteristic potential figure at each position, has filled up currentThe blank of training of doctors, shortens learning curve.Even if not by carto machine, by ablation catheter, chambers of the heart model, simulatorHold-down support, integrated-circuit signal processor and host computer display screen end also can reach the effect of different electrocardio current potential, thusIt is very easy to doctor and is simulated training whenever and wherever possible.
The present invention has to rely on true sufferer or the stage of living animal test during skipping current training of doctors, directlyLay transparent circuit and sensor sensing in utilizing transparent chambers of the heart model, reach 1, whole clearing, can be visually seenConductor housing operation trace in model；2, real-time calling show the electricity physiological signal of zones of different；3, by the choosing of materialTake, true feel during reduction operation.Thus only reducing light exposure by electricity physiological signal analog systems, skilled operation is ledPipe, shortens learning cycle, the purpose of the skilled doctor of fast culture.
For the region recognition of see-through model, the main implementation of current techniques has optically and electrically two kinds.Optics isUse the imaging apparatuss such as endoscope, the image observed by process, distinguish region residing for conduit.But this method has brightAobvious inferior position, one, its focal length of camera element is limited, when conduit or the equidistant photographic head of chambers of the heart model inwall are close, meetingImpact observation；Its two, camera view is limited, the scrambling of organ, result in one or more photographic head and has still been difficult toThe whole all regions observed within organ.Its three, the optically-based principle of photographic head, it is difficult to identify conduit contact the most trulyOn organ chambers of the heart model inwall.The most too much photographic head is laid, and also can bring permeability and the patient affecting chambers of the heart modelSight line, the situations such as cost increases, modelling difficulty.
The present invention is based on electrical principles, it is proposed that rank scanning positioning mode and region detection method two kinds judge to touch and locationScheme.Being characterized in, model modification is little, attachment device is few, easy to implement.Can accurately, stable, be timely detected conduitThe model area touched.
Main operational principle:
(1) rank scanning positioning mode:
As it is shown on figure 3, the interior surface shape of reference model, make flexible, transparent circuit grid, be fitted in mouldThe inner surface of type.Circuit relates to such as lower part: one, horizontal wire, its two, longitudinal wire.Each at transverse and longitudinal wireIndividual infall, passes through insulation processing, it is to avoid transverse and longitudinal wire turns on.By special interface, by horizontal line wire and longitudinal wire differenceExtraction is connected to back-end processing device.As shown above, during actual laying, can want according to for regional positioning precisionAsk, the transverse and longitudinal wire that density is different is set.
As shown in Figure 4, when the present invention works, processing means drives each horizontal wire line by line, meanwhile, detects each row and indulgesWhether guiding line receives driving signal.When the contact with electric conductivity touches the i-th horizontal wire of row and the longitudinal wire of jth rowPosition, boundary near time, processing means can detect and occur in that the i-th horizontal wire of row, the most then on the jth longitudinal wire of rowCan be determined that, conduit has touched this position, boundary.
(2) region detection method:
As it is shown in figure 5, the present invention proposes a kind of region detection scheme simultaneously.The program can be at complicated see-through modelIn, divide according to region, by dividing the forms such as border on the profile of regional, reach regional inner conductive, withTime zones of different between insulated from each other.By wire, regional is connected to processing means afterwards.During work, processing means is successivelyOutput drive signal on regional.
On conduit, needing the process done is to carry out electric conductivity process on conductor housing, meanwhile, by catheter interiorProcess, the signal received can be led to the end of conductor housing, be then similarly connected in processing means at conductor housing.WhenProcessing means detects when the signal that conductor housing transmits is the signal driving ith zone, then can be determined that current catheter touchesArrive ith zone.So, it is only necessary to the corresponding electrocardio current potential calling respective regions in a program can realize real-time connecingI.e. go out potential diagram on Chuing, when not contacting, no signal current potential, be truly realized true ring during Real-time and Dynamic stably sham operatedBorder.
In practical operation, in order to improve the sensitivity of detection further, the signal collected by conduit resupplies after amplifyingProcessing means, as shown in Figure 6.On the other hand, can the signal threshold value of triggering be set less in software, thus ensure conduitThe upper chambers of the heart model inwall of head contact can collect required signal.For adjacent area boundary signal feed back, use withMachine algorithm, any some region of electrocardiosignal of exportable border boundary of institute.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er QieIn the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matterFrom the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended powerProfit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claimChange is included in the present invention.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wrapsContaining an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art shouldDescription can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodimentMay be appreciated other embodiments.