CN-120770878-B - Internet of things hemostatic clamp positioning system and positioning method

CN120770878BCN 120770878 BCN120770878 BCN 120770878BCN-120770878-B

Abstract

The invention provides a positioning system and a positioning method of an internet of things hemostatic clamp, wherein the positioning system comprises an internet of things hemostatic clamp body and passive UHF RFID tags arranged on the hemostatic clamp body, an in-vitro reader-writer which is used for being in communication connection with the internet of things hemostatic clamp body, receiving and analyzing radio frequency signals emitted by the passive UHF RFID tags to obtain RFID data information, a client which is connected with each in-vitro reader-writer and used for receiving and transmitting the RFID data to a server, and a server which is connected with the client, and is used for analyzing and calculating three-dimensional position information of the internet of things hemostatic clamp in real time based on the RFID data and a preset positioning algorithm and feeding back the three-dimensional position information to the client.

Inventors

GONG JIAN
TAN YUYONG
ZHENG JIAOYUN
HE SHENG

Assignees

中南大学湘雅二医院

Dates

Publication Date: 20260512
Application Date: 20250815

Claims (6)

1. The utility model provides a thing networking hemostatic clip positioning system which characterized in that includes: the intestinal hemostatic clamp comprises a hemostatic clamp body and a passive UHFRFID label arranged on the hemostatic clamp body; The at least three in-vitro readers are used for being in wireless communication connection with the internet of things intestinal hemostatic clamp, receiving and analyzing radio frequency signals transmitted by the passive UHFRFID tags of the in-vitro readers, and acquiring RFID data information; The client is in wireless communication connection with each external reader-writer and is used for receiving and forwarding the RFID data to the server; the server is in wireless communication connection with the client, calculates the real-time three-dimensional position and the moving direction of the intestinal hemostatic clamp of the Internet of things by adopting an RSSI-TDOA fusion algorithm based on the RFID data and a preset positioning algorithm, and feeds back the three-dimensional position and the moving direction to the client; the steps of calculating the real-time three-dimensional position and the moving direction of the internet of things intestinal hemostatic clamp in the RSSI-TDOA fusion algorithm are as follows: S1, obtaining an arrival time difference in the RFID data by adopting a two-way ranging method; S2, acquiring a distance estimated value of the hemostatic clamp and each reader-writer based on the calibrated RSSI, and determining a preliminary position area of the hemostatic clamp, wherein the received signal strength in the RFID data is calibrated based on a signal strength-distance model, and the signal strength-distance model is specifically shown in the following formula: ; Wherein alpha is a fat attenuation coefficient, beta is a muscle attenuation coefficient, d is a linear distance from a reader-writer to a hemostatic clamp, and C Tissue attenuation is a body position compensation constant; S3, calculating the time difference of the measuring signal reaching each external reader-writer through TDOA in the preliminary position area, converting the time difference into distance difference, establishing a hyperbola equation set based on the distance difference, and solving the hyperbola equation set to obtain the preliminary three-dimensional coordinates of the hemostatic clamp; s4, based on the result of the weighted fusion of the RSSI and the TDOA by Kalman filtering, the corrected coordinates (x, y, z) and the moving direction of the hemostatic clamp in the three-dimensional space are obtained.
2. The hemostatic clamp positioning system of claim 1, wherein the at least three external readers are deployed in a preset space range, the antenna direction of the at least three external readers covers a potential active area of the hemostatic clamp of the internet of things, and the space position coordinates among the external readers are known and pre-stored in a server.
3. The internet of things hemostatic clip positioning system according to claim 1 or 2, wherein the client comprises: The data receiving module is used for receiving RFID data sent by the external reader-writer; the data transmission module is used for transmitting the RFID data to the server in real time through a wired or wireless network; And the interactive interface module is used for displaying the three-dimensional position information fed back by the server and supporting the operation of a user.
4. The hemostatic clip positioning system of claim 1 or 2, wherein the server comprises: the data storage module is used for storing the space coordinates, RFID data and historical positioning results of the external reader-writer; The positioning algorithm module is used for calculating three-dimensional coordinates (x, y, z) and moving directions of the intestinal hemostatic clamp of the Internet of things based on the RFID signal arrival time difference and the received signal strength of the multi-reader-writer and in combination with a preset mathematical model; and the early warning module is used for sending an early warning instruction to the client when the three-dimensional position information exceeds a preset safety range or the RSSI value of the RFID data suddenly drops.
5. The hemostatic clip positioning system according to claim 1 or 2, wherein the method for establishing the hyperbolic equation set based on the distance difference is as follows: S31, calculating the time difference between every two external readers, wherein the time difference is specifically shown in the following formula: ; Wherein c is the equivalent propagation speed of electromagnetic waves in human tissues, (x, y, z) is the coordinate of a blood clamp, (x i ,y i ,z i ) is the coordinate of one external reader-writer, and (x j ,y j ,z j ) is the coordinate of the other external reader-writer; s32, obtaining the distance difference between every two external reader-writers, wherein the distance difference is specifically shown in the following formula: ; s33, obtaining a hyperbola equation set, and respectively forming a hyperbola with the external reader/writer j and k by taking the external reader/writer i as a reference point, wherein the hyperbola is specifically shown as follows: 。
6. The hemostatic clamp positioning system of the internet of things according to claim 1 or 2, wherein in step S4, a preliminary position area of RSSI positioning and a preliminary three-dimensional coordinate of TDOA positioning are fused by kalman filtering, and a high-precision three-dimensional corrected coordinate and a moving direction are output by state estimation and observation updating by utilizing an error complementary characteristic of the two.

Description

Internet of things hemostatic clamp positioning system and positioning method Technical Field The invention relates to the technical field of medical instruments, in particular to a hemostatic clamp positioning system and a hemostatic clamp positioning method for the Internet of things. Background At present, in clinical medicine application, the hemostatic clamp is suitable for being matched with an endoscope, clamps are placed in upper and lower digestive tracts under the condition of endoscope, and mechanical hemostatic treatment is required for upper and lower digestive tract hemorrhages caused by various reasons, such as arterial hemorrhage and continuous bleeding, and vascular stump hemorrhage, but the existing hemostatic clamp has the following problems: 1. The hemostatic clip has high falling risk, namely the traditional titanium alloy hemostatic clip can fall off due to intestinal peristalsis, tissue necrosis or improper operation after operation, and needs to be checked by an endoscope or passively found out symptoms (such as bleeding and abdominal pain) of a patient, so that the risk of delay exists; 2. The monitoring means is lacking, namely the prior art lacks a real-time and noninvasive hemostatic clamp position monitoring method, and early falling cannot be early warned; 3. Patient compliance is poor and frequent endoscopic review increases patient pain and medical costs. Therefore, there is a need for a hemostatic clamp positioning system and a hemostatic clamp positioning method based on the internet of things, which are convenient for accurately monitoring and positioning the position state of a hemostatic clamp in an intestinal tract in real time, and preventing secondary hemorrhage or intestinal damage caused by falling. Disclosure of Invention The invention aims to provide a positioning system and a positioning method for a hemostatic clamp of the Internet of things, and aims to solve the technical problem that the traditional hemostatic clamp is damaged due to falling off caused by lack of monitoring and accurate positioning. To achieve the above object, in a first aspect, the present invention provides an internet of things intestinal hemostatic clip, comprising: the hemostatic clip body is provided with biocompatibility, one end of the hemostatic clip body is provided with two clamping arms which are oppositely arranged, and the other end of the hemostatic clip body is provided with a miniature cavity; The passive UHFRFID tag is adaptively packaged in the miniature cavity, and a tag antenna of the passive UHFRFID tag adopts a flexible deformable folding structure and is used for identifying the position information of the hemostatic clip body through an external reader-writer; the outer surface of the other end of the hemostatic clamp body is provided with a wave-transparent window array for enhancing radio frequency signal penetrability so as to realize wireless signal interaction between the passive UHFRFID tag and the Internet of things positioning system. As a further improvement of the above scheme, the flexible and deformable folding structure is in a serpentine fold line or zigzag fold-back layout so as to adapt to the space constraint of the micro cavity and maintain the stability of radio frequency performance. As a further improvement of the above solution, the passive uhf rfid tag has an operating frequency of 860-960MHz and is externally covered with a biocompatible epoxy layer. As a further improvement of the scheme, the wave-transmitting window array comprises at least three wave-transmitting units, a plurality of wave-transmitting units are arranged periodically, and each wave-transmitting unit is made of a high-molecular polymer material with a low dielectric constant. In a second aspect, the present invention further provides a hemostatic clip positioning system of the internet of things, including: the intestinal hemostatic clamp of the Internet of things provided in the first aspect; The at least three in-vitro readers are used for being in wireless communication connection with the internet of things intestinal hemostatic clamp, receiving and analyzing radio frequency signals transmitted by the passive UHFRFID tags of the in-vitro readers, and acquiring RFID data information; The client is in wireless communication connection with each external reader-writer and is used for receiving and forwarding the RFID data to the server; The server is in wireless communication connection with the client, analyzes and calculates three-dimensional position information of the intestinal hemostatic clamp of the Internet of things in real time based on the RFID data and a preset positioning algorithm, and feeds the three-dimensional position information back to the client. As a further improvement of the above scheme, the at least three external readers are deployed in a preset space range, the antenna direction of the at least three external readers covers the potential active a