Acoustic intervention image platform commonly used for natural orifice and vascular system

Abstract

The invention discloses an acoustic intervention image platform commonly used for a natural orifice and a vascular system. In the platform, a signal processing reconstruction and man-machine interaction module transmits an in-vivo intervention control instruction; the multi-channel multi-mode dynamic electromechanical module provides power and transmits rotation torque; the multi-channel multi-mode dynamic electromechanical module adjusts the form of the multifunctional catheter module through dynamic electromechanical control. The catheter body is of a multi-section flexible structure, moves based on power, and changes in form under the control of the dynamic electromechanical unit. A transducer of the in-vivo intervention acoustic sensing module rotates under the action of the rotation torque and detects the current in-vivo environment to generate a detection signal; the signal processing reconstruction and man-machine interaction module carries out signal processing and visual reconstruction according to a detection signal provided by the in-vivo intervention acoustic sensing module to generate acoustic image data, and carries out visual display. The platform has strong scene versatility, supports the intervention in the natural orifice, and is also suitable for the intervention in the vascular system.

Description

Technical Field

[0001] The present application relates to the field of acoustic imaging technology, and in particular to an acoustic interventional imaging platform commonly used in natural cavities and vascular systems. Background Art

[0002] Due to their acoustic penetration, acoustic interventional imaging platforms enable real-time visualization of deep structures and tissues closer to the lesion, while also providing dynamic information about blood flow. They can clearly image complex environments filled with body fluids and are safer than X-rays and CT scans. Consequently, they are increasingly being used for intraoperative guidance and early diagnosis and treatment. Generally speaking, acoustic interventional imaging platforms are designed for specific application scenarios. Currently, ultrasound-based acoustic interventional imaging platforms fall into three main categories: endoscopic ultrasound (EUS), intracardiac echocardiography (ICE), and intravascular ultrasound (IVUS). All three types of acoustic interventional imaging platforms require digital subtraction angiography (DSA) technology, and their respective application scenarios are relatively limited.

[0003] EUS typically involves delivering an endoscopic catheter with an integrated transducer array at the end through natural orifices such as the throat, respiratory tract, urethra, or vagina to the human body, visualizing the structures of these orifices and surrounding organs. EUS is widely used for real-time intraoperative guidance and biopsy during natural orifice surgeries involving the digestive tract, trachea, bladder, prostate, and rectum, and is crucial for early screening of gynecological and digestive tract diseases. However, it is not suitable for use in areas related to the heart and vascular system.

[0004] For application scenarios related to the heart and vascular system, ICE and IVUS are usually used to visualize structural information and characterize functional blood flow information. In important cardiac structural disease treatment surgeries such as cardiac ablation, valve repair, and left atrial appendage occlusion, ICE can provide medical personnel with precise positioning of intracardiac structures and catheter guidance to ensure the safety and effectiveness of the surgery. IVUS is used to assist in interventional procedures on coronary arteries and peripheral cardiac arteries, and to evaluate vascular stenosis, stent expansion, and plaque characteristics during stent implantation and angioplasty to ensure treatment effectiveness. However, ICE and IVUS are difficult to apply to interventional scenarios in natural cavities such as the digestive system, respiratory system, urinary system, and reproductive system.

[0005] At present, there is an urgent need to propose an acoustic interventional imaging platform that can be used for natural cavities and vascular systems to reduce the research and development costs of the acoustic interventional imaging platform. Summary of the Invention

[0006] Based on the above problems, the present application provides an acoustic interventional imaging platform that is universally applicable to natural cavities and vascular systems, with the aim of solving the limitations of the application scenarios of the acoustic interventional imaging platform.

[0007] The embodiments of this application disclose the following technical solutions: This application provides an acoustic interventional imaging platform that is universally applicable to natural cavities and vascular systems. The platform includes: an in vivo interventional acoustic sensing module, a multifunctional catheter module, a multi-channel multimodal dynamic electromechanical module, and a signal processing, reconstruction, and human-computer interaction module. The in vivo interventional acoustic sensing module is connected to the first end of the multifunctional catheter module, and the multi-channel multimodal dynamic electromechanical module is connected to the second end of the multifunctional catheter module; the in vivo interventional acoustic sensing module and the multi-channel multimodal dynamic electromechanical module are both communicatively connected to the signal processing, reconstruction and human-computer interaction module; the multifunctional catheter module is communicatively connected to the multi-channel multimodal dynamic electromechanical module; The signal processing reconstruction and human-computer interaction module is used to transmit in vivo intervention control instructions to the multi-channel multi-modal dynamic electromechanical module; The multi-channel multi-modal dynamic electromechanical module is used to provide power to the movement of the multi-functional catheter module according to the in vivo intervention control instruction, and to transmit rotational torque to the in vivo intervention acoustic sensing module through the multi-functional catheter module; the multi-channel multi-modal dynamic electromechanical module is integrated with a multi-degree-of-freedom dynamic adjustment unit, which is used to adjust the shape of the multi-functional catheter module through dynamic electromechanical control; The catheter body of the multifunctional catheter module has a multi-section flexible structure, and is configured to undergo morphological changes under the control of the dynamic electromechanical unit to adapt to the current in vivo environment and to move based on the power provided by the multi-channel multimodal dynamic electromechanical module; The in-vivo interventional acoustic sensing module is provided with a transducer, which rotates under the action of the rotational torque and detects the current in-vivo environment, and generates a detection signal which is transmitted to the signal processing, reconstruction and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is further used to perform signal processing and visualization reconstruction based on the detection signal provided by the in-vivo interventional acoustic sensing module, generate acoustic image data, and visualize the acoustic image data.

[0008] In an optional implementation, the platform includes multiple spare catheters with different morphologies and / or flexibility to match a variety of different in vivo environments; the multiple spare catheters include: catheters suitable for straight blood vessels, catheters suitable for curved bronchi, and catheters suitable for flexible cavities; the catheter body is selected from the multiple spare catheters.

[0009] In an optional implementation, the multifunctional catheter module is communicatively connected to the signal processing, reconstruction, and human-computer interaction module; the multifunctional catheter module further comprises a multimodal non-acoustic sensor; the multimodal non-acoustic sensor is used to map one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals, and temperature signals, and transmit the mapped signals to the signal processing, reconstruction, and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is further used to perform multimodal fusion on the detection signal and the calibration signal to generate multimodal information fused image data and perform visual display.

[0010] In an optional implementation, the multimodal non-acoustic sensor is disposed on the surface of the catheter body and is detachable; the platform includes a plurality of spare non-acoustic sensors of different modes; and the multimodal non-acoustic sensor is selected from the plurality of spare non-acoustic sensors of different modes.

[0011] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module includes multiple channels of different media, and the multiple channels of different media are respectively used to transmit signals of different modes; the signals of different modes include at least two of the following: Acoustic signal, optical signal, electrical signal, gas signal, liquid signal, torque or strain.

[0012] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module is further configured with a coupler, and the coupler is used to achieve coupling or isolation of the signals of different modes within the channels of the multiple different media.

[0013] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module further includes a multi-modal collaborative processing unit; The multimodal collaborative processing unit is used to decode and reconstruct the signals of the different modalities, and perform real-time fusion and dynamic regulation based on the reconstructed multimodal data.

[0014] In an optional implementation, the platform further comprises: an in vitro acoustic sensing module; the in vitro acoustic sensing module is communicatively connected to the signal processing, reconstruction and human-computer interaction module; The in vitro acoustic sensing module is provided with a transducer for detecting the in vivo environment of the target object and the current position and posture of the in vivo interventional acoustic sensing module from the outside of the body through its own transducer; and transmitting the detected signal to the signal processing, reconstruction and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is also used to perform signal processing and visual reconstruction based on the signal provided by the extracorporeal acoustic sensing module, and to visually display the reconstructed acoustic image data to guide the doctor to adjust the in vivo intervention control instructions in real time through human-computer interaction, so that the multifunctional catheter module and the in vivo intervention acoustic sensing module reach the expected position in the body of the target object.

[0015] In an optional implementation, the dynamic adjustment unit includes one or more of the following: Flexible multi-segment motors, shape memory alloys, or hydraulic soft actuators.

[0016] In an optional implementation, the morphological change of the catheter body includes one or more of the following: Bend, expand, expand in sections, or contract.

[0017] Compared with the existing technology, this application has the following beneficial effects: This application provides an acoustic interventional imaging platform applicable to natural cavities and vascular systems. A signal processing, reconstruction, and human-computer interaction module transmits in vivo intervention control commands; a multi-channel, multi-modal dynamic electromechanical module provides power and transmits rotational torque; and the multi-channel, multi-modal dynamic electromechanical module adjusts the morphology of a multifunctional catheter module through dynamic electromechanical control. The catheter body has a multi-segment flexible structure that undergoes morphological changes under the control of the dynamic electromechanical unit based on power movement. The transducer of the in vivo interventional acoustic sensing module rotates under the action of rotational torque and detects the current in vivo environment, generating a detection signal. The signal processing, reconstruction, and human-computer interaction module processes and visually reconstructs the detection signal provided by the in vivo interventional acoustic sensing module to generate acoustic imaging data and present it visually. Because the catheter body has a multi-segment flexible structure, it can undergo morphological changes under the action of the multi-channel, multi-modal dynamic electromechanical control module, allowing it to flexibly adapt to the current in vivo environment. This platform demonstrates its strong versatility and can be applied to various in vivo environments, including natural cavities and vascular systems. This platform effectively solves the application scenario limitations of several types of acoustic interventional imaging platforms currently represented by EUS, ICE and IVUS. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 This is a visualization effect diagram of the structure of the heart's aorta, valves, and papillary muscles formed by the acoustic interventional imaging platform provided by an embodiment of the present application; Figure 2 A schematic diagram of blood flow information in multiple regions of the heart formed by the acoustic interventional imaging platform provided by an embodiment of the present application; Figure 3 A schematic diagram of the structure of an acoustic interventional imaging platform applicable to natural cavities and vascular systems provided in an embodiment of the present application; Figure 4 A schematic diagram of a panoramic acquisition method using an in-vivo interventional acoustic sensing module according to an embodiment of the present application; Figure 5 A detailed diagram showing the structure of multiple modules in an acoustic interventional imaging platform commonly used in natural cavities and vascular systems provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] As described above, the three current acoustic interventional imaging platforms, EUS, ICE and IVUS, each have limitations in their application scenarios. Specifically, EUS cannot be flexibly used in scenarios such as the heart and vascular system, while ICE and IVUS cannot be applied to natural cavity scenarios. Their respective limitations mean that different scenarios require the development of corresponding acoustic interventional imaging platforms, and the R&D costs are very high. After research, the inventors proposed an acoustic interventional imaging platform that does not rely on DSA technology. It can be used in interventional detection and diagnosis of natural cavities and vascular systems. It has flexible application scenarios and reduces R&D costs. In addition, because it does not rely on DSA technology and is radiation-free, the use of this platform is safer for patients and medical workers than EUS, ICE and IVUS.

[0021] The embodiments of the present application provide an acoustic interventional imaging platform commonly used in natural cavities and vascular systems, including: an in vivo interventional acoustic sensing module, a multi-functional catheter module, a multi-channel multi-modal dynamic electromechanical module, and a signal processing reconstruction and human-computer interaction module.

[0022] Among them, the in vivo interventional acoustic sensing module and the multi-channel multi-modal dynamic electromechanical module are both communicatively connected to the signal processing reconstruction and human-computer interaction module; the multifunctional catheter module is communicatively connected to the multi-channel multi-modal dynamic electromechanical module.

[0023] The multifunctional catheter module is a rod-shaped, three-dimensional structure. For ease of explanation, the end of the multifunctional catheter module that first enters the human body is referred to as the first end, and the other end is referred to as the second end. The first end of the multifunctional catheter module is connected to the intracorporeal interventional acoustic sensing module; the second end of the multifunctional catheter module is connected to the multi-channel, multimodal dynamic electromechanical module.

[0024] The signal processing, reconstruction and human-computer interaction module has the ability to process and reconstruct signals, and has the ability to interact with humans. The human-computer interaction ability is specifically reflected in the ability to not only visually display data or images, but also respond to the operations of medical workers and generate corresponding control instructions. For example, the signal processing, reconstruction and human-computer interaction module in the platform is equipped with a human-computer interaction device, and a control for triggering the detection function of the platform is displayed in the human-computer interaction window of the human-computer interaction device. When the doctor applies a touch operation to the control, the signal processing, reconstruction and human-computer interaction module senses the touch operation, generates an in vivo intervention control instruction based on it, and sends the instruction to the multi-channel multi-modal dynamic electromechanical module.

[0025] In one possible implementation, the intracorporeal intervention control instruction includes control parameters for the controlled object, such as the rotation angle, movement direction, or movement distance of the intracorporeal intervention acoustic sensing module. The multi-channel, multi-modal dynamic electromechanical module provides torque and power for the rotation and movement of the intracorporeal intervention acoustic sensing module and the multi-functional catheter module. Based on the control parameters carried in the intracorporeal intervention control instruction, the multi-channel, multi-modal dynamic electromechanical module can calculate the parameters required to cause the intracorporeal intervention acoustic sensing module to rotate at a corresponding angle, move in a corresponding direction, or move a corresponding distance, and then output the corresponding parameters to the multi-functional catheter module and / or the intracorporeal intervention acoustic sensing module. Furthermore, in another implementation, the aforementioned calculations are performed by the signal processing, reconstruction, and human-computer interaction module. Therefore, the intracorporeal intervention control instruction can specifically carry control parameters for the multi-channel, multi-modal dynamic electromechanical module. Upon receiving the intracorporeal intervention control instruction, the multi-channel, multi-modal dynamic electromechanical module directly outputs the corresponding power or rotational torque to the intracorporeal intervention acoustic sensing module and the multi-functional catheter module according to the control parameters.

[0026] The multi-channel multi-modal dynamic electromechanical module is used to provide power to the movement of the multifunctional catheter module according to the in vivo intervention control instruction, and to transmit rotational torque to the in vivo intervention acoustic sensing module through the multifunctional catheter module.

[0027] The multi-channel multi-modal dynamic electromechanical module provides a driving force for multiple application scenarios for the acoustic interventional imaging platform for natural cavities and vascular systems proposed in this application. The multi-channel multi-modal dynamic electromechanical module can support multi-degree-of-freedom control of the multi-functional catheter module, including rotation, bending, and orientation. Moreover, the operation path can be adjusted based on different anatomical environments (such as straight blood vessels, curved bronchi, or flexible cavities). As a result, the platform can flexibly adapt to multiple interventional paths: it can not only work in a single, linear path (such as an intravascular guidewire), but also adapt to complex, nonlinear paths, breaking through the adaptability barriers of existing single devices such as thrombolytic catheters in complex scenarios.

[0028] The multi-channel, multi-modal dynamic electromechanical module integrates a multi-degree-of-freedom dynamic adjustment unit. For example, the dynamic adjustment unit can be one or more of a flexible multi-segment motor, a shape memory alloy, or a hydraulic soft actuator. The dynamic adjustment unit is used to adjust the shape of the multifunctional catheter module through dynamic electromechanical control.

[0029] The multifunctional catheter module features flexible spatial topology and an adjustable geometric design. Employing a novel multi-segment flexible structure combined with a controllable morphology adjustment mechanism (such as shape memory alloys, hydraulic / pneumatic adjustment, or multi-segment controllable electromagnetic actuation), the multifunctional catheter module can dynamically adjust its shape to suit different anatomical environments.

[0030] The multi-segment flexible structure of the catheter body undergoes morphological changes under the control of the dynamic electromechanical unit. These changes can include one or more of the following: bending, expansion, segmented expansion, or contraction. For example, in narrow or curved cavities, the catheter body can adapt to the target path by bending or segmented expansion. In wide cavities (such as the stomach or uterine cavity), the catheter body can expand into a fan-shaped or circular structure to cover a larger area. The morphology of the catheter body of the multifunctional catheter module changes based on the dynamic electromechanical control of the dynamic adjustment unit within the multi-channel, multimodal dynamic electromechanical module. This flexible mechanism adapts to the current in vivo environment of the catheter body. Compared to fixed-shape catheters, the improved flexible topology of the multifunctional catheter module allows for more efficient adaptation to various human anatomy, reducing surgical difficulty. Furthermore, the multifunctional catheter module can move, for example, forward, based on the power provided by the multi-channel, multimodal dynamic electromechanical module.

[0031] The in-vivo interventional acoustic sensing module is equipped with a transducer, which rotates under the action of the rotational torque and detects the current in-vivo environment. Because the in-vivo interventional acoustic sensing module is connected to the first end of the multifunctional catheter module, when the first end of the multifunctional catheter module enters the human body, the in-vivo interventional acoustic sensing module can detect the in-vivo environment using its own transducer, collect information, and transmit this information to the signal reconstruction and human-computer interaction module via detection signals.

[0032] The signal processing, reconstruction and human-computer interaction module is further used to perform signal processing and visualization reconstruction based on the detection signal provided by the in-vivo interventional acoustic sensing module, generate acoustic image data, and visualize the acoustic image data.

[0033] Figure 1 This is a structural visualization effect diagram of the heart's aorta, valves, and papillary muscles formed by the acoustic interventional imaging platform provided by an embodiment of the present application. Figure 1 Taking cardiac interventional applications as an example, the structural visualization effects of the aorta, valves, and papillary muscles are displayed from left to right.

[0034] Figure 2 This is a schematic diagram of blood flow information in multiple regions of the heart formed by the acoustic interventional imaging platform provided by an embodiment of the present application. Figure 2 Taking cardiac interventional applications as an example, blood flow information for the ventricles (left and right ventricles), papillary muscles, myocardium, and valves is visualized. Physicians can accurately make medical judgments by leveraging signal processing, reconstruction, and the human-computer interaction module to display structural imaging and functional blood flow information. This demonstrates that the acoustic interventional imaging platform provided by this technical solution can effectively assist physicians in their diagnosis and treatment.

[0035] In an optional implementation, the acoustic interventional imaging platform for natural cavities and vascular systems provided in the embodiment of the present application further includes: an in vitro acoustic sensing module. To facilitate understanding of the structural composition of the platform, please refer to Figure 3 , This figure is a schematic diagram of the structure of an acoustic interventional imaging platform for natural cavities and vascular systems provided in an embodiment of the present application. Figure 3 The document shows several key components of the acoustic interventional imaging platform, including: in-vivo interventional acoustic sensing module 31, multifunctional catheter module 32, multi-channel multimodal dynamic electromechanical module 33, in-vitro acoustic sensing module 34, and signal processing, reconstruction, and human-computer interaction module 35.

[0036] like Figure 3 As shown in , the multi-channel multi-modal dynamic electromechanical module 33 and the in vitro acoustic sensing module 34 are both communicatively connected to the signal processing, reconstruction and human-computer interaction module 35 .

[0037] Similar to the in-vivo interventional acoustic sensing module 31, the in-vivo acoustic sensing module 34 also has a transducer. This module is used to detect the internal environment of a target subject (which can be a patient in a specific diagnostic or treatment scenario) and the current position and posture of the in-vivo interventional acoustic sensing module 31 through its own transducer. The module is also used to transmit the detected signals to the signal processing, reconstruction, and human-computer interaction module 35.

[0038] In actual application, the doctor can first use the platform's in vitro acoustic sensing module 34 to conduct preliminary detection outside the target object, and then use human-computer interaction to allow the multifunctional catheter module 32 and the in vivo interventional acoustic sensing module 31 to intervene in the target object's body. At this time, if the in vitro acoustic sensing module 34 and the in vivo interventional acoustic sensing module 31 continue to detect the associated area, the doctor can visually observe the position and posture of the in vivo interventional acoustic sensing module 31 on the detection screen corresponding to the in vitro acoustic sensing module 34 through signal processing reconstruction and the human-computer interaction module 35. Furthermore, by observing the screen, it can be identified whether the in vivo interventional acoustic sensing module 31 is in the expected intervention position or expected posture. If it is not in the expected intervention position or expected posture, the doctor can adjust the movement direction, position, movement path, etc. of the multifunctional catheter module 32 through signal processing reconstruction and the human-computer interaction module 35, so as to reach the expected intervention position or expected posture to diagnose and treat the lesion of the target object.

[0039] Therefore, in the acoustic interventional imaging platform applicable to natural cavities and vascular systems provided in the embodiment of the present application, the signal processing, reconstruction and human-computer interaction module 35 is also used to perform signal processing and visual reconstruction based on the signal provided by the external acoustic sensing module 34, and to visualize the reconstructed acoustic image data to guide the doctor to adjust the internal intervention control instructions in real time through human-computer interaction, so that the multifunctional catheter module 32 and the internal intervention acoustic sensing module 31 reach the desired position in the body of the target subject. Through the detection of both internal and external acoustic sensing modules, real-time detection and position correction are effectively achieved, improving the efficiency and effectiveness of diagnosis and treatment.

[0040] In order to better adapt to the characteristics and detection requirements of different types of in-vivo environments, in an optional implementation, the acoustic interventional imaging platform applicable to natural cavities and vascular systems provided in an embodiment of the present application includes a plurality of spare catheters with different morphologies and / or flexibility differences to match a variety of different in-vivo environments. For example, the plurality of spare catheters may include catheters suitable for straight blood vessels, catheters suitable for curved bronchi, and catheters suitable for flexible cavities. The doctor can select one catheter from the plurality of spare catheters as the catheter body of the platform's multifunctional catheter module 32 based on the characteristics and detection requirements of the in-vivo environment to be detected. For this platform, the catheter body is removable and replaceable.

[0041] In one optional implementation, the multifunctional catheter module 32 is communicatively connected to the signal processing, reconstruction, and human-computer interaction module 35. The multifunctional catheter module 32 also includes a multimodal non-acoustic sensor. In one optional implementation, the multimodal non-acoustic sensor is detachably mounted on the surface of the catheter body; the platform includes multiple spare non-acoustic sensors of different modalities; and the multimodal non-acoustic sensor is selected from the multiple spare non-acoustic sensors of different modalities.

[0042] The multimodal non-acoustic sensor is used to measure one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals, and temperature signals, and transmit the measured signals to the signal processing, reconstruction, and human-computer interaction module 35. The signal processing, reconstruction, and human-computer interaction module 35 is also used to perform multimodal fusion on the detection signal and the measured signal to generate multimodal information fused image data and perform visual display.

[0043] Because the multifunctional catheter module 32 integrates a non-acoustic sensor for measuring position signals, it can provide real-time feedback of catheter position to the signal processing, reconstruction, and human-computer interaction module 35, helping the platform achieve precise adjustment of catheter position and path navigation. This allows it to adapt to complex bifurcated structures, such as those of the bronchi or renal pelvis.

[0044] Mapped bioelectrical signals can be used to map and diagnose cardiac electrophysiological signals. Mapped pressure and stress signals can be used to assess tissue status (such as vascular wall tension or lumen pressure). Mapped biochemical signals, such as local pH, oxygen concentration, and glucose levels, can be used to monitor tissue metabolism or inflammatory markers in real time. Mapped temperature signals can provide real-time temperature feedback for thermal ablation or cryotherapy.

[0045] The multimodal non-acoustic signals measured by the multimodal non-acoustic sensor are coordinated with the acoustic signals detected by the in vivo interventional acoustic sensing module 31 and transmitted to the signal processing, reconstruction and human-computer interaction module 35. This makes the acoustic interventional imaging platform proposed in this application a medical imaging platform for multimodal information fusion. The mapping signals of the multimodal non-acoustic sensor are analyzed in real time through the platform's signal processing, reconstruction and human-computer interaction modules, combined with acoustic imaging, to provide more comprehensive diagnostic support. For example, during tumor ablation, acoustic imaging can display the tumor structure, while the temperature changes measured by the sensor can provide real-time feedback on the treatment effect.

[0046] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module 33 includes channels of multiple different media, and the multiple channels of different media (such as gas pipes, liquid passages, wires, optical fibers, etc.) are respectively used to transmit signals of different modes; the signals of different modes include at least two of the following: acoustic signals, optical signals, electrical signals, gas signals, liquid signals, torque or stress. As an example, acoustic signals and electrical signals are all transmitted through circuits, optical signals are transmitted through optical fibers, and gas-liquid feedback is converted by terminal gas-liquid feedback electronic components into electrical signal transmission feedback. It can be seen that in the acoustic interventional imaging platform provided in the embodiment of the present application, the multi-channel multi-modal dynamic electromechanical module 33 is configured with media that carry signals of different modes, so it can support the collaborative work of multiple modes such as acoustics, optics, and electromagnetics in complex medical scenarios.

[0047] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module 33 is further configured with a coupler (which may be a micro coupler), and the coupler is used to achieve coupling or isolation of the signals of different modes within the channels of the multiple different media.

[0048] In one optional implementation, the multi-channel, multi-modal dynamic electromechanical module 33 is equipped with an intelligent control and integration interface. Specifically, the multi-channel, multi-modal dynamic electromechanical module 33 also includes a multimodal collaborative processing unit, implemented via an embedded intelligent module, that decodes and reconstructs the signals of the different modalities and performs real-time fusion and dynamic control based on the reconstructed multimodal data. Furthermore, the intelligent control and integration interface utilizes a standardized interface protocol, facilitating flexible assembly and adaptation with the multifunctional catheter module 32 and the in vivo interventional acoustic sensing module.

[0049] Traditional acoustic interventional imaging platforms have great differences in technical routes and system architectures for different specific medical application scenarios. This fragmented solution that strongly binds the platform to the application scenario means a significant increase in development costs and the complexity of technological development. Clinical users need to spend a lot of time and pay a high learning cost, and equipment procurement and inventory management for medical institutions become cumbersome. In addition, this one-to-one solution limits the speed of innovation of the acoustic interventional imaging platform, making it difficult to achieve rapid iteration in a modular manner on a unified architecture. In short, the differentiated requirements of different medical application scenarios for acoustic interventional imaging platforms and the lack of modular design of existing acoustic interventional imaging platforms are one of the fundamental reasons why it is very difficult to integrate various acoustic interventional imaging platforms, hindering the further popularization and promotion of acoustic interventional imaging platforms.

[0050] As described in the embodiments above, the present application provides an acoustic interventional imaging platform applicable to natural cavities and vascular systems. A signal processing, reconstruction, and human-computer interaction module transmits in vivo intervention control instructions; a multi-channel, multi-modal dynamic electromechanical module provides power and transmits rotational torque; and the multi-channel, multi-modal dynamic electromechanical module adjusts the morphology of the multifunctional catheter module through dynamic electromechanical control. The catheter body has a multi-segment flexible structure that undergoes morphological changes under the control of the dynamic electromechanical unit based on power movement. The transducer of the in vivo interventional acoustic sensing module rotates under the action of rotational torque and detects the current in vivo environment to generate detection signals. The signal processing, reconstruction, and human-computer interaction module performs signal processing and visual reconstruction based on the detection signals provided by the in vivo interventional acoustic sensing module to generate acoustic image data and perform visual display. Because the catheter body has a multi-segment flexible structure, it can undergo morphological changes under the action of the multi-channel, multi-modal dynamic electromechanical control module, allowing it to flexibly adapt to the current in vivo environment. As can be seen, the platform has strong scenario versatility and can be extended to different in vivo environments such as natural cavities and vascular systems. This platform effectively solves the application scenario limitations of several types of acoustic interventional imaging platforms currently represented by EUS, ICE and IVUS.

[0051] Existing acoustic interventional imaging platforms require the assistance of a DSA and a supporting radiographic catheterization laboratory. The presence of radiation can affect the health of both doctors and patients and limit their use. The use of sensitizing contrast agents can also cause complications for patients. This proposed technical solution, which does not rely on X-rays or contrast agents, makes interventional diagnosis and treatment safer and more economical for both patients and doctors.

[0052] The existing acoustic interventional imaging platforms still have significant developmental deficiencies in imaging capabilities. The system design of the manually rotating transducer commonly used in EUS cannot achieve real-time 360° volume visualization; ICE is limited by the field of view that the transducer can cover, and achieving panoramic real-time volume imaging still has certain technical difficulties; IVUS, with the help of solutions such as electric slip rings and high-speed transducer rotation, can only achieve panoramic visualization of a small range within the blood vessel. Currently, no existing acoustic interventional imaging platform can achieve 360° panoramic real-time 4D structural, pathway, and functional information visualization.

[0053] In the embodiments of the present application, real-time, panoramic, and radiation-free imaging can be achieved through the acoustic interventional imaging platform. Figure 4 This is a schematic diagram of a panoramic acquisition of an in vivo interventional acoustic sensing module provided in an embodiment of the present application. Figure 4 As shown, the in vivo interventional acoustic sensing module 31 can achieve 360° panoramic detection under the action of the rotational torque provided by the multi-channel multi-modal dynamic electromechanical module of the acoustic interventional imaging platform. Figure 4 The fan-shaped part surrounding the in-vivo interventional acoustic sensing module 31 vividly shows the range of acoustic detection that can be achieved by the in-vivo interventional acoustic sensing module 31 as the in-vivo interventional acoustic sensing module 31 rotates. Figure 4 It is possible to intuitively understand the comprehensive range of angles for acoustic detection in the acoustic intervention imaging platform proposed in this application, thereby enabling real-time 4D image presentation and acoustic guidance.

[0054] Figure 5 This is a detailed diagram showing the structure of multiple modules in an acoustic interventional imaging platform for natural cavities and vascular systems provided in an embodiment of the present application. Figure 5 The figure shows the amplification effect of the assembly of the in vivo interventional acoustic sensing module 31, the multifunctional catheter module 32 and the multi-channel multi-modal dynamic electromechanical module 33.

[0055] The following introduces the application of this acoustic interventional imaging platform in several different scenarios.

[0056] Scenario 1: Interventional treatment of the cardiovascular system.

[0057] Application examples: Objective: To perform radiation-free acoustic imaging-guided balloon angioplasty or stenting for coronary artery stenosis.

[0058] Process: An in-vivo interventional acoustic sensing module collects coronary artery structural information in real time. This module, combined with a multifunctional catheter module, provides real-time acoustic imaging and positional guidance. Signal processing, reconstruction, and human-computer interaction modules generate 4D images, providing high-precision dynamic imaging of lesion locations.

[0059] Requirements: High-precision real-time imaging is required, and the multifunctional catheter module must match the vascular lumen.

[0060] Scenario characteristics: Cardiovascular intervention focuses on dynamic fluid observation of microvessels and precise guidance of stenosis areas.

[0061] Scenario 2: Early screening and treatment of the digestive system.

[0062] Application examples: Objective: To achieve non-invasive screening and acoustic-guided resection of early gastric cancer or gastrointestinal polyps using ultrasonic imaging.

[0063] Process: An in-vivo acoustic sensing module performs a panoramic scan of the gastrointestinal tract through a natural cavity. A signal processing and reconstruction module, along with a human-computer interaction module, reconstructs a three-dimensional image of the digestive tract lesions in real time, accurately locating polyps or tumors. A multifunctional catheter module assists with resection or ablation procedures.

[0064] Requirements: Depends on the flexible operation and panoramic imaging capabilities of the in-vivo interventional acoustic sensing module.

[0065] Scenario characteristics: Natural cavity operations require miniaturized equipment that must adapt to the complex and curved internal cavity environment.

[0066] Scenario 3: Interventional diagnosis of the respiratory system.

[0067] Application examples: Objective: To perform real-time acoustic-guided biopsy or ablation of small pulmonary nodules.

[0068] Process: An in-vivo interventional acoustic sensing module locates the location of pulmonary nodules. A multifunctional catheter module precisely guides the patient through the bronchial pathway to the target area. Signal processing, reconstruction, and human-computer interaction modules, combined with real-time dynamic imaging, assist with puncture or ablation procedures.

[0069] Demand: Real-time imaging and precise guidance capabilities to reduce reliance on traditional CT or X-rays.

[0070] Scenario characteristics: The high elasticity of lung tissue and the complex path of the catheter entering the bronchi need to be considered.

[0071] Scenario 4: Gynecological system interventional diagnosis and treatment.

[0072] Application examples: Objective: To achieve acoustic imaging-guided ablation therapy for uterine fibroids or ovarian cysts.

[0073] Process: A transvaginal, in-vivo acoustic sensing module locates the location of the fibroid or cyst. Real-time uterine structural imaging is reconstructed to plan the treatment path. A multifunctional catheter module performs targeted, high-precision acoustic ablation.

[0074] Requirements: High-precision targeted imaging and treatment path planning.

[0075] Scenario characteristics: Operations on the female reproductive system require special consideration of tissue flexibility and sensitivity.

[0076] Based on the above four different application scenarios, it can be seen that the acoustic interventional imaging platform provided in the embodiment of the present application can realize interventional diagnosis and treatment of a variety of natural cavities and vascular systems. On the one hand, it can effectively meet the specific needs of the scenario, and on the other hand, it can also provide an adaptive catheter body and path planning solution based on the characteristics of the scenario.

[0077] In the embodiments of the present application, a modular and technically universal design is proposed for the acoustic interventional imaging platform. The modular architecture enables flexible functional expansion. Based on the modular design concept, the solution divides the platform into: acoustic sensing module, multi-functional catheter module, multi-channel multi-modal dynamic electromechanical module, signal processing reconstruction and human-computer interaction module. For the acoustic sensing module, in vivo and in vitro sensing are adapted to each other to adapt to different medical scenarios, and have the multi-modal adjustment capability of the transducer. The multi-functional catheter module supports use in multiple scenarios such as blood vessels, natural cavities and soft tissues, and has multiple functions, such as the ability to map multiple non-acoustic signals. The multi-modal dynamic electromechanical module supports multi-channel collaborative transmission, control and dynamic adjustment of multiple modal media such as acoustic signals, optical signals, gas, liquid, electromagnetic signals, stress and torque, controls the spatial morphology changes of the multi-functional catheter module, and regulates the mapping and acquisition of multi-modal data by the multi-functional catheter module and the in vivo interventional acoustic sensing module. Signal processing and reconstruction module: provides real-time 4D imaging capabilities to meet the imaging needs of different scenarios.

[0078] The modular structure allows the system to optimize its operation by replacing or adjusting modules according to the specific medical scenario requirements. For example, in cardiovascular scenarios, the catheter module can adapt to the narrow lumen of blood vessels; in gastrointestinal scenarios, the transducer can be expanded to provide panoramic scanning, covering a larger imaging range. The modular design of this acoustic interventional imaging platform allows the use of different modules with different designs within the same platform architecture to accommodate the needs of various medical scenarios.

[0079] The platform's panoramic acoustic imaging and real-time 4D reconstruction have the inherent advantage of cross-scenario adaptation. Specifically, the acoustic interventional imaging platform provided in the embodiments of this application does not rely on DSA technology for acoustic image reconstruction, is non-radiative, does not require contrast agents, and can directly generate high-resolution images in various human tissue environments. The platform uses dynamic signal processing technology to support image generation from tiny intravascular environments to wider natural cavities or body cavities (such as the stomach and uterus). This overcomes the limitations of traditional technologies in imaging range and resolution, eliminating the need to redevelop dedicated equipment for each scenario, greatly improving applicability and saving costs.

[0080] The above is merely one specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An acoustic interventional imaging platform universally applicable to natural cavities and vascular systems, characterized by: include: In vivo interventional acoustic sensing module, multifunctional catheter module, multi-channel multimodal dynamic electromechanical module, and signal processing reconstruction and human-computer interaction module; The in vivo interventional acoustic sensing module is connected to the first end of the multifunctional catheter module, and the multi-channel multimodal dynamic electromechanical module is connected to the second end of the multifunctional catheter module; the in vivo interventional acoustic sensing module and the multi-channel multimodal dynamic electromechanical module are both communicatively connected to the signal processing, reconstruction and human-computer interaction module; the multifunctional catheter module is communicatively connected to the multi-channel multimodal dynamic electromechanical module; The signal processing reconstruction and human-computer interaction module is used to transmit in vivo intervention control instructions to the multi-channel multi-modal dynamic electromechanical module; The multi-channel multi-modal dynamic electromechanical module is used to provide power to the movement of the multi-functional catheter module according to the in vivo intervention control instruction, and to transmit rotational torque to the in vivo intervention acoustic sensing module through the multi-functional catheter module; the multi-channel multi-modal dynamic electromechanical module is integrated with a multi-degree-of-freedom dynamic adjustment unit, which is used to adjust the shape of the multi-functional catheter module through dynamic electromechanical control; The catheter body of the multifunctional catheter module has a multi-section flexible structure, and is configured to undergo morphological changes under the control of the dynamic adjustment unit to adapt to the current in vivo environment and to move based on the power provided by the multi-channel multimodal dynamic electromechanical module; The in-vivo interventional acoustic sensing module is provided with a transducer, which rotates under the action of the rotational torque and detects the current in-vivo environment, and generates a detection signal which is transmitted to the signal processing, reconstruction and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is further used to perform signal processing and visualization reconstruction based on the detection signal provided by the in-vivo interventional acoustic sensing module, generate acoustic image data, and visualize the acoustic image data.

2. The platform according to claim 1, characterized in that The platform includes multiple spare catheters with different shapes and / or flexibility to match a variety of different in vivo environments; the multiple spare catheters include: catheters suitable for straight blood vessels, catheters suitable for curved bronchi, and catheters suitable for flexible cavities; the catheter body is selected from the multiple spare catheters.

3. The platform according to claim 1, characterized in that The multifunctional catheter module is communicatively connected to the signal processing, reconstruction and human-computer interaction module; the multifunctional catheter module further comprises a multimodal non-acoustic sensor; the multimodal non-acoustic sensor is used to map one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals and temperature signals, and transmit the mapped signals to the signal processing, reconstruction and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is further used to perform multimodal fusion on the detection signal and the calibration signal to generate multimodal information fused image data and perform visual display.

4. The platform according to claim 3, characterized in that The multimodal non-acoustic sensor is detachably arranged on the surface of the catheter body; the platform includes a plurality of spare non-acoustic sensors of different modes; the multimodal non-acoustic sensor is selected from the plurality of spare non-acoustic sensors of different modes.

5. The platform according to claim 1, characterized in that The multi-channel multi-modal dynamic electromechanical module includes multiple channels of different media, each of which is used to transmit signals of different modes; the signals of different modes include at least two of the following: Acoustic signal, optical signal, electrical signal, gas signal, liquid signal, torque or strain.

6. The platform according to claim 5, characterized in that The multi-channel multi-modal dynamic electromechanical module is further configured with a coupler, and the coupler is used to achieve coupling or isolation of the signals of different modes within the channels of the multiple different media.

7. The platform according to claim 5, characterized in that The multi-channel multi-modal dynamic electromechanical module also includes a multi-modal collaborative processing unit; The multimodal collaborative processing unit is used to decode and reconstruct the signals of the different modalities, and perform real-time fusion and dynamic regulation based on the reconstructed multimodal data.

8. The platform according to any one of claims 1 to 7, characterized in that The platform further comprises: an in vitro acoustic sensing module; the in vitro acoustic sensing module is communicatively connected to the signal processing, reconstruction and human-computer interaction module; The in vitro acoustic sensing module is provided with a transducer for detecting the in vivo environment of the target object and the current position and posture of the in vivo interventional acoustic sensing module from the outside of the body through its own transducer; and transmitting the detected signal to the signal processing, reconstruction and human-computer interaction module; The signal processing, reconstruction and human-computer interaction module is also used to perform signal processing and visual reconstruction based on the signal provided by the extracorporeal acoustic sensing module, and to visually display the reconstructed acoustic image data to guide the doctor to adjust the in vivo intervention control instructions in real time through human-computer interaction, so that the multifunctional catheter module and the in vivo intervention acoustic sensing module reach the expected position in the body of the target object.

9. The platform according to any one of claims 1 to 7, characterized in that The dynamic adjustment unit includes one or more of the following: Flexible multi-segment motors, shape memory alloys, or hydraulic soft actuators.

10. The platform according to any one of claims 1 to 7, characterized in that The morphological changes of the catheter body include one or more of the following: Bend, expand, expand in sections, or contract.

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