阅读说明：本技术 柔性磁导管头端接触力的获取方法及装置 (Method and device for obtaining contact force of head end of flexible magnetic conduit ) 是由 卢才义 陈越猛 张新龙 张煊浩 林志嵩 于 2020-06-24 设计创作，主要内容包括：本发明提出了一种柔性磁导管头端接触力的获取方法及装置,所述方法用于在采用柔性磁导管对心脏部位进行修复治疗时,获取柔性磁导管与心内膜之间的接触力,方法包括：预先建立柔性磁导管头端与心内膜间的接触力和接触类型的关系对照表；获取当前柔性磁导管头端与心内膜间的接触类型；根据接触类型查找关系对照表,获得柔性磁导管与心内膜间的接触力。根据本发明的柔性磁导管头端接触力的获取方法,在通过柔性磁导管进行手术的过程中,仅需获取柔性磁导管头端与心内膜间的接触类型,即可对照关系对照表查找对应接触类型下的柔性磁导管与心内膜间的接触力,从而可以实时监测柔性磁导管头端瞬时接触力,提高治疗效果。(The invention provides a method and a device for acquiring contact force of a head end of a flexible magnetic catheter, wherein the method is used for acquiring the contact force between the flexible magnetic catheter and an endocardium when the flexible magnetic catheter is used for repairing and treating a heart part, and the method comprises the following steps: pre-establishing a relation comparison table of contact force and contact type between the head end of the flexible magnetic catheter and the endocardium; obtaining the contact type between the head end of the current flexible magnetic catheter and the endocardium; and searching a relation comparison table according to the contact type to obtain the contact force between the flexible magnetic catheter and the endocardium. According to the method for acquiring the contact force of the head end of the flexible magnetic catheter, in the process of performing an operation through the flexible magnetic catheter, the contact force between the head end of the flexible magnetic catheter and an endocardium can be searched for under the corresponding contact type by contrasting the relation contrast table only by acquiring the contact type between the head end of the flexible magnetic catheter and the endocardium, so that the instantaneous contact force of the head end of the flexible magnetic catheter can be monitored in real time, and the treatment effect is improved.)

1. A method for obtaining a contact force between a flexible magnetic catheter and an endocardium when a cardiac site is undergoing a repair treatment using the flexible magnetic catheter, the method comprising:

pre-establishing a relation comparison table of contact force and contact type between the head end of the flexible magnetic catheter and the endocardium;

obtaining the current contact type between the head end of the flexible magnetic catheter and the endocardium;

and searching the relation comparison table according to the contact type to obtain the contact force between the flexible magnetic catheter and the endocardium.

2. The method of claim 1, wherein the pre-establishing a table of the relationship between the contact force and the contact type between the flexible magnetic catheter tip and the endocardium comprises:

establishing a test environment which is the same as the endocardium, wherein the test environment comprises a test membrane, and a pressure detection device is arranged on the test membrane;

setting a plurality of groups of condition testing parameters, and acquiring the corresponding contact type between the flexible magnetic conduit and the testing film under each group of condition testing parameters;

and detecting the contact force between the head end of the flexible magnetic catheter and the test membrane under each contact type through the pressure detection device, and establishing a relation comparison table of the contact force between the head end of the flexible magnetic catheter and the endocardium and the contact type.

3. The method of claim 2, wherein establishing the same testing environment as the endocardium comprises:

and determining the temperature of the test environment and the concentration of the solution in which the test membrane is positioned according to the current body temperature and blood concentration of the patient.

4. The method of claim 2, wherein the conditional test parameters comprise: the magnetic field strength of the test environment and a driving force applied to the flexible magnetic conduit.

5. The method for obtaining the contact force of the head end of the flexible magnetic pipe according to claim 2, wherein the obtaining of the corresponding contact type between the flexible magnetic pipe and the test film for each set of the condition test parameters comprises:

under each set of the condition test parameters, calculating a tension angle of the flexible magnetic conduit;

dividing the tension angle into a plurality of intervals according to the size of the angle, wherein each interval corresponds to a corresponding contact type;

and determining the contact type according to the calculated interval of the tension angle under each set of the condition test parameters.

6. The method of claim 5, wherein the calculating the tension angle of the flexible magnetic conduit comprises:

taking a central point of a head end of the flexible magnetic conduit as a first point, taking a position, which is 20mm away from the first point, of the flexible magnetic conduit along the axial direction of the flexible magnetic conduit in a straightened state as a second point, and taking a straight line where the first point and the second point are located as a reference line;

when the flexible magnetic conduit is in contact with the test film to cause deformation of the flexible magnetic conduit, taking a point on the flexible magnetic conduit between the first point and the second point, which is farthest from the reference line, as a third point, and taking a straight line where the first point and the third point are located as an included angle line;

and calculating an angle between the reference line and the included angle line, namely a tension angle of the flexible magnetic guide pipe.

7. The method of claim 6, wherein the step of angularly dividing the tension angle into a plurality of intervals, each interval corresponding to a respective contact type comprises:

when the tension angle is 0 °, the contact type is zero contact;

when the tension angle is in the range of 1 ° to 45 °, the contact type is direct contact;

when the tension angle is in the range of 46 ° to 80 °, the contact type is a side contact;

when the tension angle ranges from 81 ° to 90 °, the contact type is a lateral contact.

8. The method of obtaining contact force of a flexible magnetic catheter tip according to claim 7, wherein obtaining the type of contact of the flexible magnetic catheter tip with the endocardium comprises:

calculating a tension angle of the flexible magnetic conduit, and determining the contact type according to an interval where the tension angle is located;

wherein calculating a tension angle of the flexible magnetic conduit comprises:

when the flexible magnetic guide pipe is in a straightened state, a midpoint of a connecting line of the first point and the second point is a third point, positioning electrodes used for acquiring position coordinates are arranged at the first point, the second point and the third point, a straight line where the first point and the third point are located is a calculation line, and an included angle between the calculation line and the reference line is calculated to serve as the tension angle.

9. The method for obtaining the contact force of the head end of a flexible magnetic catheter according to any one of claims 2-8, wherein the test membrane is a mammalian endocardium.

10. An apparatus for obtaining contact force of a head end of a flexible magnetic conduit, comprising:

the position acquisition assembly acquires position coordinates of a plurality of corresponding points on the flexible magnetic pipe through a positioning electrode arranged on the flexible magnetic pipe;

the calculation module is used for calculating a tension angle of the flexible magnetic guide pipe according to the acquired position coordinates of the plurality of points;

a contact type determination module that determines a contact type of the flexible magnetic conduit according to the calculated tension angle;

and the contact force acquisition module is used for acquiring the contact force of the head end of the flexible magnetic catheter by searching a pre-established relation comparison table of the contact force and the contact type between the head end of the flexible magnetic catheter and the endocardium.