CN-121987211-A - Positioning control device and method for combined imaging of heart and magnetic core

CN121987211ACN 121987211 ACN121987211 ACN 121987211ACN-121987211-A

Abstract

The application discloses a positioning control device and a positioning control method for combined imaging of heart and magnetic core electricity, and relates to the technical field of medical equipment. The device comprises a multi-dimensional positioning mechanical assembly, a sensing detection terminal and a positioning control system, wherein the multi-dimensional positioning mechanical assembly is arranged on an installation base and used for providing motion adjustment of space multiple degrees of freedom, the sensing detection terminal is arranged at the tail end of the multi-dimensional positioning mechanical assembly and is attached to the surface of a patient body through the motion adjustment, and the positioning control system is in signal connection with the multi-dimensional positioning mechanical assembly and used for feeding back the multi-dimensional positioning mechanical assembly according to the attaching state and/or the signal quality of the sensing detection terminal so as to adjust the space position and the gesture of the sensing detection terminal. The automatic and refined probe positioning and fitting process is realized, the problems that the traditional manual positioning precision is poor and the probe is easily interfered by the body movement of a patient are effectively solved, the probe is ensured to be always in an optimal contact state, and the stability and repeatability of signal acquisition are obviously improved.

Inventors

ZHANG YADAN
CUI YANGYANG
WANG HONGYU
XIANG MIN
ZHENG SHIQIANG
CUI HE

Assignees

杭州极弱磁场国家重大科技基础设施研究院

Dates

Publication Date: 20260508
Application Date: 20260316

Claims (10)

1. A positioning control device for cardiac-magnetic-core electric combined imaging, comprising: The multidimensional positioning mechanical assembly is arranged on the mounting base (1) and is used for providing motion adjustment with space multiple degrees of freedom; the sensing detection terminal is arranged at the tail end of the multidimensional positioning mechanical component and is attached to the surface of the body of the patient through the movement adjustment; And the positioning control system is in signal connection with the multi-dimensional positioning mechanical component and is used for feeding back the multi-dimensional positioning mechanical component according to the attaching state and/or the signal quality of the sensing detection terminal so as to adjust the spatial position and the gesture of the sensing detection terminal.
2. The positioning control device for cardiac electrical and magnetic core combined imaging as recited in claim 1 in which said multi-dimensional positioning mechanical assembly comprises: a long-distance sliding groove (102) which is arranged on the mounting base (1); The sliding seat (2) is connected in the long-distance sliding groove (102) in a sliding manner; The driving motor (201) is fixedly connected with one end of the sliding seat (2); The screw rod module (202) is in transmission connection with the output end of the driving motor (201) through a coupler, and the side surface of the screw rod module (202) is in threaded connection with the sliding seat (2); the turntable assembly is fixedly arranged at the bottom end of the sliding seat (2) and comprises a large turntable (3) and a plurality of small turntables (4); The multiple multi-joint mechanical arms (5) are uniformly arranged at the bottom of the turntable assembly in an annular equal angle, and each multi-joint mechanical arm (5) is fixedly connected with the large turntable (3) through the small turntable (4) in the same direction.
3. The positioning control device for cardiac-magnetic-core electric combined imaging according to claim 2, wherein the sensing detection terminal comprises: the probe support is arranged on the end effector of the multi-joint mechanical arm (5) and is made of non-magnetic and non-conductive materials; the heart magnetic sensor probe is fixedly arranged on the probe bracket; and the electrocardio electrodes are fixedly arranged on the probe bracket, and the number of the electrocardio electrodes is at least three.
4. The positioning control device for cardiac-core electrography combined imaging according to claim 1, wherein said positioning control system comprises: The control module is used for executing motion planning, state monitoring and time sequence triggering of the coordinated electrocardio-magnetic core combined imaging system of the multidimensional positioning mechanical assembly; The measuring driving module is in signal connection with the control module and is used for driving the multidimensional positioning mechanical assembly to move according to the control instruction and feeding back joint position and contact force information of the multidimensional positioning mechanical assembly in real time; And the data synchronization and fusion module is used for carrying out space-time registration and data binding on the acquired electrocardiosignals and the acquired electrocardiosignals according to the time sequence and the position information provided by the control module.
5. The positioning control device for cardiac-core electrography combined imaging as set forth in claim 4, wherein said measurement driving module comprises: The servo driver is correspondingly connected with each joint motor of the multidimensional positioning mechanical assembly; The high-precision encoder is arranged at each joint of the mechanical arm and used for detecting the position information of each joint in real time and feeding back the position information to the control module; The double sensors are integrated on the end effector of the multidimensional positioning mechanical assembly and are used for measuring contact force and moment in real time; the control module is configured to adjust the output instructions using an impedance or admittance control algorithm based on the dual sensor feedback signal.
6. The cardiac electrographic combined imaging positioning control device of claim 4, wherein the control module is configured to perform the steps of: planning a motion path of the multi-dimensional positioning mechanical component in response to a target positioning instruction; Based on the planned path, the measurement driving module controls a multi-joint mechanical arm (5) of the multi-dimensional positioning mechanical assembly to move along the planned path, so that the sensing detection terminal moves to a target position, and the target position is used for indicating a region to be detected of the body surface of a patient; And in the signal acquisition stage of the sensing detection terminal, the tail end pose of the multi-joint mechanical arm (5) is adjusted according to the real-time monitored body surface micro-motion signal of the subject so as to maintain the attaching state and/or the signal quality of the sensing detection terminal.
7. The cardiac electrical and magnetic core joint imaging positioning control device according to claim 4, wherein the data synchronization and fusion module is configured to perform the steps of: receiving acquisition data, wherein the acquisition data comprises electrocardiograph sequence data and multi-lead electrocardiograph data, the electrocardiograph sequence data is obtained through electrocardiograph imaging, and the multi-lead electrocardiograph data is obtained through electrocardiograph signal acquisition; Marking the collected data with a uniform time stamp; Based on the unified time stamp, carrying out space-time registration and association on the acquired data acquired in the same cardiac cycle, and generating a time-aligned multi-mode heart electric activity data set; acquiring real-time spatial position coordinates of the multi-joint mechanical arm (5); binding the data set with the real-time space position coordinates to construct a fusion data matrix, wherein the fusion data matrix comprises space positions, time information and signal forms.
8. The positioning control device for cardiac-magnetic-core electrical joint imaging as recited in claim 1 in which the positioning control system further comprises a data fusion and diagnosis module; the data fusion and diagnostic module is configured to perform the steps of: Acquiring the spatial distribution characteristics of the cardiac magnetic signals, the time sequence characteristics of the cardiac electrical signals and the laminating stability characteristics, wherein the laminating stability characteristics are fed back by the positioning control module; determining a lamination stability index based on the lamination stability characteristics; Generating a fusion gating coefficient based on the lamination stability index; And adopting a cross-modal attention mechanism to combine the fusion gating coefficient, carrying out weighted fusion on the electrocardio signal characteristics and the electrocardio signal characteristics, and outputting a risk assessment index, wherein the risk assessment index is used for assessing the cardiovascular state of the monitored patient.
9. The cardiac electrical and magnetic combined imaging positioning control device of claim 1, wherein the positioning control system further comprises an internal magnetic noise suppression module configured to perform the steps of: acquiring an internal noise reference signal, and acquiring the internal noise reference signal by utilizing a reference magnetic field sensor to be arranged near a driving motor or a servo driver of the multi-dimensional positioning mechanical assembly; and setting an adaptive cancellation unit, wherein the adaptive cancellation unit is used for adaptively filtering and canceling the magnetocardiogram main channel signal acquired by the sensing detection terminal by using the internal noise reference signal.
10. A positioning control method of cardiac-core electrical combined imaging, characterized in that the method is used for a positioning control device of cardiac-core electrical combined imaging according to any one of claims 1 to 9, the method comprising: planning a motion path of the multi-dimensional positioning mechanical component in response to a target positioning instruction; Based on the motion path, the sensing detection terminal is controlled to move to a region to be detected of the body surface of the patient through the multidimensional positioning mechanical assembly; Driving the multi-joint mechanical arm (5) to enable the sensing detection terminal to be attached to the body surface of a patient; Monitoring a contact force signal in real time through the dual sensors; Based on the contact force signal, dynamically adjusting the tail end pose of the multi-joint mechanical arm by adopting an impedance or admittance control algorithm so as to maintain the coupling between the sensing detection terminal and the body surface; synchronously acquiring magnetocardiogram sequence data and multi-lead electrocardiograph data, and marking a uniform time stamp; Based on the time stamp, carrying out space-time registration on the magnetocardiogram and the electrocardiograph data in the same cardiac cycle, and generating a time-aligned multi-mode electrocardiograph activity data set; obtaining real-time space position coordinates of the tail end of the multi-joint mechanical arm (5) by utilizing the high-precision encoder; Binding the multi-mode electrocardio-activity data set with the real-time space position coordinates to construct a fusion data matrix containing space position, time information and signal form, and taking the fusion data matrix as a data base for combined imaging of heart and core and inversion reconstruction of heart electric activity sources.

Description

Positioning control device and method for combined imaging of heart and magnetic core Technical Field The application relates to the technical field of medical equipment, in particular to a positioning control device and method for combined imaging of heart and magnetic core electricity. Background The combined imaging of heart and core electricity is an advanced noninvasive heart function assessment technology, and provides a more comprehensive visual angle for heart health by synchronously acquiring and analyzing the electric activity (electrocardio) of the heart and the weak magnetic field (magnetocardiogram) generated by the heart. While traditional electrocardiography records bioelectric changes of the heart, magnetocardiography detects magnetic field signals caused by electrocardiographic activity, is more sensitive to certain current directions and can provide complementary information. The two images are subjected to space-time combined imaging, so that the three-dimensional dynamic view of the electromagnetic activity of the heart can be reconstructed more accurately. Currently, in the process of traditional combined electrocardiograph and magnetic core imaging, a manual or simple positioning device is mostly adopted to place the electrocardiograph probe and the electrocardiograph electrode. The method is poor in positioning accuracy, low in repeatability, time-consuming and labor-consuming, and difficult to rapidly and accurately realize synchronous measurement of a plurality of spatial points around the heart, and cannot meet the requirements of high-density and high-space-time resolution imaging. Disclosure of Invention In order to solve the technical problems, the application provides a positioning control device and a positioning control method for combined imaging of heart and magnetic core, which realize accurate adjustment and self-adaptive fitting of the spatial pose of a sensor by constructing a technical scheme comprising a multidimensional positioning mechanical component, a sensing detection terminal and a positioning control system, effectively solve the problem of unstable contact caused by respiration and body movement, and remarkably improve the quality and the diagnosis reliability of combined imaging of heart and magnetic core by a magnetic noise suppression and data fusion technology. In a first aspect, the present application provides a positioning control device for cardiac-core electrography combined imaging, comprising: the multidimensional positioning mechanical assembly is arranged on the mounting base and is used for providing motion adjustment with space multiple degrees of freedom; the sensing detection terminal is arranged at the tail end of the multidimensional positioning mechanical component and is attached to the surface of the body of the patient through the movement adjustment; And the positioning control system is in signal connection with the multi-dimensional positioning mechanical component and is used for feeding back the multi-dimensional positioning mechanical component according to the attaching state and/or the signal quality of the sensing detection terminal so as to adjust the spatial position and the gesture of the sensing detection terminal. According to the technical scheme, the sensing detection terminal is driven by the multidimensional positioning mechanical assembly to perform space multi-degree-of-freedom motion adjustment, and the positioning control system is utilized to perform closed-loop feedback control according to the real-time attaching state or signal quality. The automatic probe positioning and attaching device has the beneficial effects that automation and refinement of the probe positioning and attaching process are realized, the problem that the traditional manual or fixed type acquisition cannot cope with the body movement interference of a patient is effectively solved, the probe is ensured to be always in an optimal contact state, and the stability and repeatability of signal acquisition are obviously improved. In one possible implementation, the multi-dimensional positioning mechanical assembly comprises: the long-distance sliding groove is formed in the mounting base; the sliding seat is connected in the long-distance sliding groove in a sliding way; The driving motor is fixedly connected with one end of the sliding seat; the screw rod module is in transmission connection with the output end of the driving motor through a coupler, and the side surface of the screw rod module is in threaded connection with the sliding seat; The turntable assembly is fixedly arranged at the bottom end of the sliding seat and comprises a large turntable and a plurality of small turntables; the plurality of multi-joint mechanical arms are uniformly arranged at the bottom of the turntable assembly in annular equal angles, and each multi-joint mechanical arm is fixedly connected with the large turntable through the small turntable in the same direc