CN-121130263-B - Stomach tube positioning system and device

CN121130263BCN 121130263 BCN121130263 BCN 121130263BCN-121130263-B

Abstract

The application relates to a stomach tube positioning system and a stomach tube positioning device, wherein the stomach tube positioning system comprises a construction module, an acquisition module, a positioning module and a display module, wherein the construction module is used for constructing a geometric model according to three-dimensional data of human anatomy, the geometric model comprises space constraint of stomach and trachea and path constraint of esophagus path, the acquisition module is used for acquiring magnetic field information of a stomach tube insertion end through an array type magnetic resistance sensor and preprocessing the magnetic field information to obtain a magnetic field vector, the positioning module is used for obtaining position information of the stomach tube insertion end according to the magnetic field vector and transmitting the position information to the geometric model, in the geometric model, the model position information of the position information in the geometric model is determined based on the space constraint and the path constraint, and the running track of the stomach tube insertion end is determined according to the model position information, and the display module is used for displaying a stomach region and a trachea region and the running track of the stomach tube insertion end in a display terminal. By the aid of the gastric tube positioning device, accurate positioning of the gastric tube is achieved.

Inventors

LAN MEIJUAN
ZHANG JIANLIN
SHEN WANGQIN
WU HONGLEI
WU YUYING
CAO YANGJIE

Assignees

浙江大学医学院附属第二医院
南通大学
南通恒泰医疗器材有限公司

Dates

Publication Date: 20260512
Application Date: 20251120

Claims (7)

1. A gastric tube positioning system, its characterized in that, gastric tube positioning system is applied to gastric tube positioner, gastric tube positioner is provided with the permanent magnet including the insertion end, array magnetic resistance sensor and display terminal, the system includes: The construction module is used for determining a stomach area, a trachea area and an esophagus path according to three-dimensional data of human anatomy, and constructing a geometric model based on the stomach area, the trachea area and the esophagus path, wherein the geometric model comprises space constraint of stomach and trachea and path constraint of the esophagus path; the acquisition module is used for acquiring magnetic field information of the stomach tube insertion end through the array type magnetic resistance sensor and preprocessing the magnetic field information to obtain a magnetic field vector; The positioning module is used for obtaining the position information of the stomach tube inserting end according to the magnetic field vector, transmitting the position information to the geometric model, determining the model position information of the position information in the geometric model based on the space constraint and the path constraint in the geometric model, and determining the running track of the stomach tube inserting end according to the model position information; The display module is used for displaying a stomach area and a trachea area in the display terminal and the running track of the stomach tube insertion end; Wherein the three-dimensional data includes epiglottis position information, stomach information and esophageal information, the building block comprising: Constructing a three-dimensional coordinate system module, wherein the three-dimensional coordinate system module is used for constructing a three-dimensional coordinate system by taking the root of the epiglottis part as the origin of the three-dimensional coordinate system, taking the direction of the root pointing to the right ear of the human body as the positive direction of the x-axis, taking the direction of the root pointing to the face of the human body as the direction of the y-axis and taking the direction of the root pointing to the foot of the human body as the direction of the z-axis; an esophagus path module is constructed, and is used for constructing the esophagus path according to the esophagus information by taking a first preset target coordinate as an esophagus starting point in the range of the positive direction of the z axis and the negative direction of the y axis of the three-dimensional coordinate system; constructing a stomach region module, which is used for determining the geometrical center of the stomach according to the stomach position information and constructing a spherical stomach region according to the geometrical center coordinates and a first preset radius; The air pipe region module is used for constructing a spherical air pipe region according to a second preset radius by taking a second preset target coordinate as a geometric center in the range of the positive directions of the z-axis square and the y-axis of the three-dimensional coordinate system, wherein the second preset radius is smaller than the first preset radius; and a geometric model building module, which is used for determining the esophageal path equation according to the esophageal path, determining a space constraint parameter according to the union of the stomach region and the tracheal region, building the geometric model based on the esophageal path equation and the space constraint parameter, and determining a space transfer matrix of the geometric model based on the three-dimensional coordinate system.
2. The gastric tube positioning system of claim 1 wherein the acquisition module comprises: And the preprocessing module is used for wavelet transformation processing the magnetic field information to obtain processing data of target frequency, and determining a magnetic field vector of the processing data through magnetic field gradients.
3. The gastric tube positioning system of claim 1 wherein the positioning module comprises: an initial positioning module for determining the space constraint parameter and the esophageal path equation structure according to the magnetic field vector Establishing an objective function of a least square method, and obtaining initial coordinates of the stomach tube insertion end when the objective function meets preset conditions; The dynamic positioning module is used for constructing an initial state vector according to the initial coordinate and the insertion speed of the stomach tube insertion end, updating the initial state vector through the state transition matrix to obtain an intermediate state vector, continuously updating the intermediate state vector until a preset convergence condition is met to obtain a predicted state vector, and determining the position coordinate of the stomach tube insertion end in the geometric model according to the position information in the predicted state vector.
4. A gastric tube positioning system according to claim 3 wherein the display module comprises: The display identification module is used for calibrating the geometric center of the tracheal region as a tracheal early warning identification point and displaying the tracheal region as a first color, calibrating the position of the geometric center of the gastric tube region, which is offset by a first preset distance along the z-axis direction of the three-dimensional coordinate system, as a gastric tube end point and displaying the gastric tube end point as a second color, and displaying the position of the gastric tube insertion end as an operation identification and displaying the gastric tube insertion end point as a third color, wherein the first color and the second color are different; And the display track module is used for fitting the position coordinates at each moment to obtain the insertion track of the stomach tube insertion end and displaying the insertion track as a fourth color.
5. The gastric tube positioning system of claim 4, the stomach tube positioning system is characterized by further comprising: The trachea false entry early warning module is used for acquiring a first distance between the position of the stomach tube insertion end and the geometric center of the trachea region, and flashing a first warning mark in the display terminal when the first distance is smaller than or equal to the second preset radius; The esophagus departure early warning module is used for acquiring the axes of the stomach tube end point and the esophagus starting point, acquiring a second distance according to the position of the stomach tube insertion end and the axes, and flashing a second warning sign in the display terminal when the second distance is greater than or equal to a second preset distance and the time for maintaining the second distance is greater than or equal to a preset duration; The terminal point judging module is used for taking the terminal point of the stomach tube as a geometric center, constructing a terminal point area range according to a third preset distance, and flashing a completion mark in the display terminal when the stomach tube inserting end is positioned in the terminal point area range and the moving speed of the stomach tube inserting end is lower than the preset moving speed.
6. The stomach tube positioning device is characterized by comprising a stomach tube, a flexible patch and a display terminal; The stomach tube comprises a tube body, the tube body comprises an insertion end and an external end, the insertion end is provided with a permanent magnet and an iron wire with a preset length, the iron wire is magnetically connected with the permanent magnet, and the iron wire and the permanent magnet are wrapped by a flexible material; The flexible patch comprises an array type magnetic resistance sensor, wherein the array type magnetic resistance sensor is used for receiving magnetic field information of the permanent magnet and transmitting the magnetic field information to the display terminal; the display terminal is electrically connected with the array type magnetic resistance sensor and is used for receiving the magnetic field information and displaying the real-time position of the insertion end.
7. The gastric tube positioning device of claim 6 wherein the array-type magnetoresistive sensor comprises a plurality of magnetoresistive sensing units; the magneto-resistance sensitive units are distributed on the array magneto-resistance sensor according to a preset geometric rule.

Description

Stomach tube positioning system and device Technical Field The application relates to the field of medical instruments, in particular to a stomach tube positioning system and a stomach tube positioning device. Background In medical clinics, gastric tube insertion techniques are commonly used to provide nutrition, administer or perform gastrointestinal decompression to patients who cannot eat. In the process of inserting the stomach tube into a patient body by medical staff, the problem of the nasal cavity passage and the esophagus passage in the patient body can influence the effect of inserting the stomach tube, and the problem of difficult insertion or wrong tracheal insertion can be caused. The reason for such problems is that the medical staff cannot accurately know the real-time position of the gastric tube, and therefore, how to accurately position the gastric tube is a problem to be solved. Disclosure of Invention The embodiment of the application provides a gastric tube positioning system and a gastric tube positioning device, which at least solve the problem that a gastric tube cannot be accurately positioned in the related art. In a first aspect, an embodiment of the present application provides a gastric tube positioning system applied to a gastric tube positioning device, the gastric tube positioning device including a gastric tube with an insertion end provided with a permanent magnet, an array-type magnetoresistive sensor and a display terminal, the system including: The construction module is used for determining a stomach area, a trachea area and an esophagus path according to three-dimensional data of human anatomy, and constructing a geometric model based on the stomach area, the trachea area and the esophagus path, wherein the geometric model comprises space constraint of stomach and trachea and path constraint of the esophagus path; the acquisition module is used for acquiring magnetic field information of the stomach tube insertion end through the array type magnetic resistance sensor and preprocessing the magnetic field information to obtain a magnetic field vector; The positioning module is used for obtaining the position information of the stomach tube inserting end according to the magnetic field vector, transmitting the position information to the geometric model, determining the model position information of the position information in the geometric model based on the space constraint and the path constraint in the geometric model, and determining the running track of the stomach tube inserting end according to the model position information; the display module is used for displaying the stomach area and the trachea area in the display terminal and the running track of the stomach tube insertion end. In one embodiment, the three-dimensional data includes epiglottis position information, stomach information, and esophageal information, and the building block includes: Constructing a three-dimensional coordinate system module, wherein the three-dimensional coordinate system module is used for constructing a three-dimensional coordinate system by taking the root of the epiglottis part as the origin of the three-dimensional coordinate system, taking the direction of the root pointing to the right ear of the human body as the positive direction of the x-axis, taking the direction of the root pointing to the face of the human body as the direction of the y-axis and taking the direction of the root pointing to the foot of the human body as the direction of the z-axis; an esophagus path module is constructed, and is used for constructing the esophagus path according to the esophagus information by taking a first preset target coordinate as an esophagus starting point in the range of the positive direction of the z axis and the negative direction of the y axis of the three-dimensional coordinate system; constructing a stomach region module, which is used for determining the geometrical center of the stomach according to the stomach position information and constructing a spherical stomach region according to the geometrical center coordinates and a first preset radius; The air pipe region module is used for constructing a spherical air pipe region according to a second preset radius by taking a second preset target coordinate as a geometric center in the range of the positive directions of the z-axis square and the y-axis of the three-dimensional coordinate system, wherein the second preset radius is smaller than the first preset radius; and a geometric model building module, which is used for determining the esophageal path equation according to the esophageal path, determining a space constraint parameter according to the union of the stomach region and the tracheal region, building the geometric model based on the esophageal path equation and the space constraint parameter, and determining a space transfer matrix of the geometric model based on the three-dimensional coordinate system. I