Acoustic interventional diagnosis and treatment integrated platform

Abstract

The invention discloses an acoustic interventional diagnosis and treatment integrated platform. The platform comprises a panoramic in-vitro acoustic image system module, a panoramic in-vivo intervention acoustic image system module, a digital twin man-machine interaction module and a signal processing reconstruction and platform control module. The in-vitro acoustic sensor and the in-vivo interventional acoustic image conduit respectively use transducers to detect a to-be-detected area of a target object and generate detection signals; the signal processing reconstruction and platform control module performs processing and visual reconstruction according to the detection signal to generate panoramic multi-scale acoustic image data of the to-be-detected area of the target object; and the digital twin man-machine interaction module is used for visually displaying the panoramic multi-scale acoustic image data. The scheme has no radiation risk, is safer, can be used in various clinical application scenes, occupies smaller space compared with DSA equipment, and can be flexibly applied to various medical sites and timely and efficient diagnosis and treatment work.

Description

Technical Field

[0001] The present application relates to the field of acoustic imaging technology, and in particular to an integrated acoustic interventional diagnosis and treatment platform. Background Art

[0002] Interventional diagnosis and treatment is a minimally invasive approach that combines imaging-guided technology with diagnosis and treatment within blood vessels or tissues through tiny punctures or catheter insertions. Compared to traditional open surgery, interventional diagnosis and treatment is less invasive and has a faster recovery time. Currently, interventional diagnosis and treatment has become an important part of modern medicine. Interventional diagnosis and treatment is applicable to a variety of diseases and systems, mainly including the cardiovascular system, nervous system, tumor treatment, peripheral vascular disease, gastrointestinal diseases, urinary system, and reproductive system. Interventional diagnosis and treatment requires precise lesion positioning and real-time monitoring, and therefore relies heavily on image-guided equipment, which determines the accuracy and safety of treatment. The interventional diagnosis and treatment platforms currently used in clinical practice are mainly built based on digital subtraction angiography (DSA) technology.

[0003] DSA is an X-ray-based medical imaging technology that uses contrast agents to visualize blood vessels and, combined with digital image processing, to highlight vascular structure. It is used to diagnose and treat a variety of vascular diseases. Currently, DSA has important applications in cardiovascular, neurological, oncology, and peripheral vascular intervention, guiding interventional procedures such as angioplasty, embolization, and stent implantation. However, interventional diagnostic and treatment platforms built around DSA still face many unresolved technical challenges.

[0004] (1) Radiation risk issues: DSA relies on X-rays that emit radiation. Therefore, interventional diagnosis and treatment platforms based on DSA technology expose patients and medical workers to radiation environments, increasing the risk of patients and medical workers developing diseases due to radiation exposure. Frequent or prolonged use may cause patients and medical staff to be exposed to high doses of radiation, increasing the risk of radiation-related diseases. Although the radiation dose required for interventional diagnosis and treatment has gradually decreased with the gradual iteration of DSA equipment, complex or prolonged operations still cannot completely avoid the cumulative effects of radiation.

[0005] (2) Contrast agent biocompatibility issues: DSA relies on special contrast agents, which may cause allergic reactions in patients, ranging from rash to anaphylactic shock, and may also cause renal damage caused by the contrast agent.

[0006] (3) Limitations of applicable clinical application scenarios: DSA is limited to vascular imaging and has a weak ability to display surrounding soft tissue or non-vascular lesions. It can be seen that the interventional diagnosis and treatment platform based on DSA has limited diagnostic and treatment effects on soft tissue or non-vascular lesions.

[0007] (4) Site limitation: Since DSA equipment occupies a large space and has the special characteristics of radiation, interventional guidance and diagnosis and treatment operations using DSA can only be performed in the hospital's specific DSA intervention room, which greatly limits the flexibility and popularity of the interventional diagnosis and treatment platform. Summary of the Invention

[0008] Based on the above problems, this application provides an integrated acoustic interventional diagnosis and treatment platform, which aims to replace DSA technology, provide a radiation-free and safer interventional diagnosis and treatment platform for the human body, break through the constraints and restrictions of clinical application scenarios and the limitations of usage sites, and enhance the flexibility and popularity of the interventional diagnosis and treatment platform.

[0009] The embodiments of this application disclose the following technical solutions: The present application provides an integrated acoustic interventional diagnosis and treatment platform, comprising: a panoramic in vitro acoustic imaging system module, a panoramic in vivo interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing reconstruction and platform control module; wherein the panoramic in vitro acoustic imaging system module includes an in vitro acoustic sensor, and the panoramic in vivo interventional acoustic imaging system module includes an in vivo interventional acoustic imaging catheter; The panoramic in vitro acoustic imaging system module, the panoramic in vivo interventional acoustic imaging system module, and the digital twin human-computer interaction module are all communicatively connected to the signal processing, reconstruction, and platform control module. The external acoustic sensor and the internal interventional acoustic imaging catheter are each used to detect a target area using a transducer, and generate a detection signal to be sent to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is configured to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target area to be measured, and send the data to the digital twin human-computer interaction module; the detection scale corresponding to the panoramic external acoustic imaging system module is larger than the detection scale of the panoramic internal interventional acoustic imaging system module; The digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data.

[0010] In an optional implementation, the in vitro acoustic sensor is specifically configured to use its own transducer to perform in vitro detection of the area to be measured to generate a first detection signal, and send the first detection signal to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is specifically configured to perform signal processing and visualization reconstruction based on the first detection signal sent by the in vitro acoustic sensor, generate panoramic first-scale acoustic image data of the target object's test area, and send the data to the digital twin human-computer interaction module; The digital twin human-computer interaction module is specifically used to visualize the panoramic first-scale acoustic image data; and is also used to generate a first detection instruction in response to a first detection trigger operation of a doctor after visually displaying the panoramic first-scale acoustic image data and send it to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is further configured to control the in vivo interventional acoustic imaging catheter to detect the target object according to the first detection instruction.

[0011] In an optional implementation, The in vivo interventional acoustic imaging catheter is specifically used to use its own transducer to detect the area to be detected to generate a second detection signal, and send the second detection signal to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is specifically configured to perform signal processing and visualization reconstruction based on the second detection signal, generate panoramic second-scale acoustic image data of the target object's test area, and send the data to the digital twin human-computer interaction module; The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

[0012] In an optional implementation, the signal processing, reconstruction and platform control module is specifically configured to control and guide the in-vivo interventional acoustic imaging catheter from external intervention to a target area in the target object according to the first detection instruction.

[0013] In an optional implementation, the digital twin human-computer interaction module is further configured to generate a catheter movement adjustment instruction in response to a catheter movement adjustment trigger operation by a doctor after visually displaying the panoramic first-scale acoustic image data, and send the instruction to the signal processing, reconstruction and platform control module; the catheter movement adjustment instruction carries a movement adjustment parameter; The signal processing, reconstruction and platform control module is further configured to control the movement of the in vivo interventional acoustic imaging catheter based on the movement adjustment parameters according to the catheter movement adjustment instruction; wherein, during the movement of the in vivo interventional acoustic imaging catheter, the extracorporeal acoustic sensor is located outside the body of the target object and continuously detects along the movement path of the in vivo interventional acoustic imaging catheter.

[0014] In an optional implementation, the signal processing, reconstruction and platform control module is specifically configured to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the internal interventional acoustic imaging catheter, and reconstruct and generate panoramic multi-scale acoustic image data of the area to be measured that fuses the first scale and the second scale; The first scale is a detection scale corresponding to the in vitro acoustic sensor, and the second scale is a detection scale corresponding to the in vivo interventional acoustic imaging catheter.

[0015] In an optional implementation, the digital twin human-computer interaction module is also used to perform modeling, simulation and visualization based on the panoramic multi-scale acoustic imaging data and information about medical tools in the medical scene, to create a structural environment of the test area of ​​the target object and a virtual digital mapping space of the medical scene.

[0016] In an optional implementation, the digital twin human-computer interaction module is also used to respond to the doctor's simulated surgical operation in the virtual digital mapping space, and display the corresponding simulated postoperative effect of the structure of the area to be tested after the simulated surgical operation.

[0017] In an optional implementation, the digital twin human-computer interaction module is further configured to adjust the display mode of the image based on the doctor's display control operation on the displayed image; The display control operation includes at least one of the following: Resolution adjustment operation, viewing angle adjustment operation, display time selection operation, image annotation operation, and comparative display operation.

[0018] In an optional implementation, the platform further includes: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing reconstruction and platform control module; The surgical robot system module is configured to perform a medical action on the target object according to the control instructions of the signal processing reconstruction and platform control module or the medical control actions directly received from the doctor; wherein the control instructions are generated in response to the medical control actions of the doctor in the digital twin human-computer interaction module; The surgical robot system module is also used to transmit the execution feedback information of the medical action back to the signal processing reconstruction and platform control module, display the execution feedback information through the digital twin human-computer interaction module, or directly contact the doctor's hand to transmit the execution feedback information.

[0019] In an optional implementation, the detection signal includes: structural information, pathway information and functional information.

[0020] Compared with the existing technology, this application has the following beneficial effects: The present application provides an integrated platform for acoustic interventional diagnosis and treatment. The platform mainly includes: a panoramic in vitro acoustic imaging system module, a panoramic in vivo interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing reconstruction and platform control module. The panoramic in vitro acoustic imaging system module, the panoramic in vivo interventional acoustic imaging system module and the digital twin human-computer interaction module are all communicatively connected to the signal processing reconstruction and platform control module. The in vitro acoustic sensor in the panoramic in vitro acoustic imaging system module and the in vivo interventional acoustic imaging catheter in the panoramic in vivo interventional acoustic imaging system module are each used to apply a transducer to detect the target object's area to be tested, generate a detection signal and send it to the signal processing reconstruction and platform control module. The detection scale corresponding to the panoramic in vitro acoustic imaging system module is larger than the detection scale of the panoramic in vivo interventional acoustic imaging system module. The signal processing, reconstruction and platform control module is used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module; the digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data.

[0021] The technical solution of this application relies on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter to achieve multi-scale imaging of the area to be measured. The digital twin human-computer interaction module can meet the doctor's needs for a wide viewing angle or high resolution of the area to be measured. This observation capability enables the internal interventional acoustic imaging catheter to accurately reach the area to be measured to carry out diagnosis and treatment. The detection methods of the above multiple channels are flexibly coordinated, and the images formed by the detection are presented in real time through the digital twin human-computer interaction module, so that the integrated acoustic interventional diagnosis and treatment platform is sufficient to achieve the diagnosis and treatment capabilities of replacing DSA technology. Relying on acoustics to achieve detection and image observation, there is no radiation risk, and there is no need for the additional use of contrast agents that may cause biocompatibility issues with the human body. It is safer for patients and also ensures the safety of medical workers. The technology used in this integrated acoustic interventional diagnosis and treatment platform is not only applicable to vascular imaging, but also to other clinical application scenarios, such as imaging and disease diagnosis and treatment of the digestive tract, reproductive tract, etc. Compared with the interventional diagnosis and treatment platform built based on DSA, the applicable clinical application scenarios are greatly broadened. In addition, since it does not rely on DSA equipment, the integrated acoustic interventional diagnosis and treatment platform can be flexibly and movably applied to a variety of medical venues due to its miniaturization. For example, doctors can use the integrated acoustic interventional diagnosis and treatment platform in medical venues such as outpatient offices, general wards, and ambulances, thereby providing more timely and efficient diagnosis and treatment for patients. It can be seen that the integrated acoustic interventional diagnosis and treatment platform proposed in the technical solution of this application is highly flexible and easy to popularize. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A schematic diagram of the structure of an integrated acoustic interventional diagnosis and treatment platform provided in an embodiment of the present application; Figure 2 A schematic diagram of an integrated acoustic interventional diagnosis and treatment platform in a medical scenario provided in an embodiment of the present application; Figure 3 A schematic diagram of another integrated acoustic interventional diagnosis and treatment platform in a medical scenario provided by an embodiment of the present application; Figure 4 A schematic diagram of an integrated platform for acoustic interventional diagnosis and treatment in a medical scenario provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] As described above, the current interventional diagnosis and treatment platforms based on DSA technology have radiation risks, contrast agent biocompatibility issues, application scenario limitations, and site limitations. In response to this, the inventors have proposed an integrated acoustic interventional diagnosis and treatment platform after a long period of research. This platform uses a panoramic in vitro acoustic imaging system module and a panoramic in vivo interventional acoustic imaging system module to flexibly detect and cooperate with each other to achieve panoramic multi-scale detection of the area to be tested. In addition, the detection effect is displayed in real time through the digital twin human-computer interaction module, and the visualized multi-scale data assists the doctor's diagnosis and treatment work, which can achieve accurate diagnosis and treatment effects that are sufficient to replace DSA technology. The interventional diagnosis and treatment platform, which is radiation-free and safer for the human body, breaks through the constraints of clinical application scenarios and the limitations of usage sites, and improves the flexibility and popularity of the interventional diagnosis and treatment platform.

[0025] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0026] See also Figure 1 , which is a structural diagram of an integrated acoustic interventional diagnosis and treatment platform provided in an embodiment of the present application. Figure 1 As shown in the figure, the integrated acoustic interventional diagnosis and treatment platform includes: The panoramic in-vitro acoustic imaging system module, the panoramic in-vivo interventional acoustic imaging system module, the digital twin human-computer interaction module, and the signal processing, reconstruction, and platform control module are all connected to the signal processing, reconstruction, and platform control module.

[0027] In the integrated acoustic interventional diagnosis and treatment platform provided in the embodiments of the present application, two interconnected modules can communicate bidirectionally. Specifically, the panoramic in vitro acoustic imaging system module and the signal processing, reconstruction, and platform control module can communicate bidirectionally; the panoramic in vivo interventional acoustic imaging system module and the signal processing, reconstruction, and platform control module can communicate bidirectionally; and the digital twin human-computer interaction module and the signal processing, reconstruction, and platform control module can communicate bidirectionally.

[0028] The panoramic in vitro acoustic imaging system module includes an in vitro acoustic sensor, and the panoramic in vivo interventional acoustic imaging system module includes an in vivo interventional acoustic imaging catheter. For the integrated acoustic interventional diagnosis and treatment platform introduced in the embodiment of the present application, the panoramic in vitro acoustic imaging system module and the panoramic in vivo interventional acoustic imaging system module both have acoustic-based detection capabilities. This means that the in vitro acoustic sensor and the in vivo interventional acoustic imaging catheter each have acoustic-based detection capabilities. In fact, the in vitro acoustic sensor and the in vivo interventional acoustic imaging catheter can be regarded as two different acoustic detection channels. The in vitro acoustic sensor performs acoustic detection from the outside of the human body, while the in vivo interventional acoustic imaging catheter performs acoustic detection from the inside of the human body in an interventional manner.

[0029] An external acoustic sensor and an internal interventional acoustic imaging catheter are each used to detect an area to be measured on a target subject (e.g., a patient) using a transducer. In one exemplary implementation, each is equipped with a transducer, which is equivalent to each having an ultrasound probe. The difference between the external acoustic sensor and the internal interventional acoustic imaging catheter may be in the size and performance of the transducer.

[0030] The panoramic in vitro acoustic imaging system module can use a large-area array transducer, which can cover the macroscopic and mesoscopic scales at a lower frequency and a larger field of view, and achieve the ability to image over a large range and at a wide viewing angle through acoustic detection. The in vivo interventional acoustic imaging catheter integrates a small high-frequency transducer to achieve high-precision detection of local microstructures. If the in vitro acoustic sensor in the panoramic in vitro acoustic imaging system module uses a small high-frequency transducer, the field of view of the transducer of the in vitro acoustic sensor is larger than that of the transducer of the in vivo interventional acoustic imaging catheter.

[0031] Below, the macroscale, mesoscale and microscale are explained and illustrated.

[0032] In the examples of this application, the macroscopic scale is applicable to the observation and assessment of large-scale anatomical structures (organ level). The mesoscopic scale is applicable to the imaging of natural cavities and vascular networks (system level). The microscopic scale is targeted at high-resolution visualization of small lesions, microvessels, and tissue functions (cellular level).

[0033] In practice, based on detection requirements, in vitro acoustic sensors can provide both macroscopic and mesoscopic detection capabilities, while in vivo interventional acoustic imaging catheters can offer both microscopic and mesoscopic detection capabilities. Depending on detection needs, various transducer types (such as linear, arc, or phased arrays) can be configured, along with varying frequencies, enabling dynamic adjustment of frequency and resolution to meet detection requirements at various scales.

[0034] In the embodiments of the present application, the detection scale of the panoramic in vitro acoustic imaging system module is greater than the detection scale of the panoramic in vivo interventional acoustic imaging system module. For example, the detection scale of the in vitro acoustic sensor is a first scale, and the detection scale of the in vivo interventional acoustic imaging catheter is a second scale. The first scale is greater than the second scale. A larger scale means a wider viewing angle, lower resolution, and a wider and coarser detection range; a smaller scale means a smaller scale, higher resolution, and a smaller and finer detection range.

[0035] In practical applications, when diagnosing and treating a target subject using this integrated acoustic interventional diagnosis and treatment platform, the in vitro acoustic sensor in the panoramic in vitro acoustic imaging system module can first be used to detect the target subject's test area, generating a first detection signal. Subsequently, to more accurately and meticulously detect the target subject's test area, an in vivo interventional acoustic imaging catheter can be used to detect the target subject's test area, generating a second detection signal.

[0036] By observing the visual image generated by the first detection signal from the external acoustic sensor, the physician can trigger the in-vivo interventional acoustic imaging catheter to enter the entry point for interventional diagnosis and treatment. During this time, the external acoustic sensor continuously generates the first detection signal along the catheter's path into the body. Based on the visual image generated by the first detection signal, the physician can determine whether the catheter has reached the intended location. Furthermore, after the catheter enters the target patient's body, it can simultaneously detect the area within it. For example, it can continuously detect along its own pathway (vascular system or natural cavity) until it reaches the lesion, allowing for further in-vivo detection during the diagnosis and treatment phase to obtain panoramic structural and functional information about the lesion. During this time, the external acoustic sensor and the in-vivo interventional acoustic imaging catheter flexibly cooperate to achieve multi-scale detection. The panoramic external acoustic imaging system module terminates detection after the in-vivo interventional acoustic imaging catheter reaches the lesion, allowing for continued detection. Leveraging its macroscopic detection capabilities, it facilitates the imaging and display of panoramic, multi-scale acoustic images of the lesion, improving the accuracy of diagnostic and treatment procedures for the lesion.

[0037] The extracorporeal acoustic sensor and the intracorporeal interventional acoustic imaging catheter each use their own transducers to detect and generate detection signals (such as a first detection signal and a second detection signal), and send the detection signals to the signal processing, reconstruction and platform control module.

[0038] It should be noted that the first detection signal and the second detection signal may not be transmitted synchronously. This is because the external acoustic sensor and the internal interventional acoustic imaging catheter may be activated at the same time or with a time difference. For example, the platform activates the external acoustic sensor at the first moment, so at the first moment, the external acoustic sensor sends the first detection signal to the signal processing, reconstruction and platform control module; the platform activates the internal interventional acoustic imaging catheter at the second moment, so at the second moment, the internal interventional acoustic imaging catheter sends the second detection signal to the signal processing, reconstruction and platform control module.

[0039] The signal processing reconstruction and platform control module is the computing power core of the integrated acoustic interventional diagnosis and treatment platform, and realizes the control function of other modules in the platform. In one implementation, the signal processing reconstruction and platform control module integrates a control module, a high-performance parallel computing unit, and a high-performance visual information reconstruction algorithm. The control module can communicate with other modules through the bus and complete the issuance of control instructions. The high-performance parallel computing unit can cope with high-concurrency or complex computing requests, and assist the platform in accurately implementing diagnosis and treatment work. The high-performance visual information reconstruction algorithm can be based on the detection signals provided by the in vitro acoustic sensor and the in vivo interventional acoustic imaging catheter, so that the detection signals can be presented in a way that can be read and distinguished by the human eye.

[0040] In the integrated acoustic interventional diagnosis and treatment platform provided in the embodiment of the present application, the signal processing, reconstruction and platform control module can be used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, respectively, to generate panoramic multi-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module.

[0041] The signal processing may include filtering, feature extraction, time domain analysis, frequency domain analysis, etc. The specific method of signal processing is not limited here.

[0042] Among them, panoramic multi-scale acoustic image data can be a set of image data with comprehensive multi-scale acoustic features formed by fusing detection signals from multiple channels. In addition, panoramic multi-scale acoustic image data can also be image data of independent acoustic features at each scale. For example, panoramic first-scale acoustic image data and panoramic second-scale acoustic image data, which respectively correspond to the detection scales of an in vitro acoustic sensor and an in vivo interventional acoustic imaging catheter. The former facilitates the integration of image data of acoustic features at multiple scales from multiple channels to conduct a more comprehensive analysis of the area to be measured. The latter facilitates the independent analysis and observation of image data of acoustic features at different scales, making it easier to identify the performance of the area to be measured at different detection scales.

[0043] After receiving the panoramic multi-scale acoustic image data, the digital twin human-computer interaction module can visualize the panoramic multi-scale acoustic image data through rendering and other methods. For example, 3D or 4D images can be displayed according to needs. 3D refers to the three-dimensional display of panoramic multi-scale acoustic images in space; 4D refers to the display of three-dimensional panoramic multi-scale acoustic images with time characteristics in space. For 4D images, doctors can also select the time interval of the image to be displayed through the digital twin human-computer interaction module, that is, the platform supports the selection of the image segments to be displayed in the time dimension. In this way, the platform meets the personalized and customized display requirements of panoramic multi-scale acoustic image data.

[0044] This technical solution utilizes detection signals from both an external acoustic sensor and an internal interventional acoustic imaging catheter to achieve multi-scale imaging of the target area. The digital twin human-computer interaction module can meet the physician's need for wide-angle or high-resolution viewing of the target area. This observation capability enables the internal interventional acoustic imaging catheter to precisely reach the target area for diagnosis and treatment. The detection signals can include structural, pathway, and functional information.

[0045] The flexible integration of these multiple detection channels, coupled with real-time visualization of detection images via the digital twin human-computer interaction module, enables this integrated acoustic interventional diagnostic and treatment platform to replace DSA technology. Relying on acoustics for detection and imaging, it eliminates radiation risk and eliminates the need for contrast agents that could potentially cause biocompatibility issues with the human body, making it safer for patients and healthcare workers.

[0046] The technology used in this integrated acoustic interventional diagnosis and treatment platform is not only applicable to imaging of vascular systems (including the heart, liver, kidneys, brain, and microvasculature), but can also be applied to other clinical scenarios, such as imaging and disease diagnosis and treatment of natural cavity systems (digestive, respiratory, urinary, and reproductive systems). Compared with interventional diagnosis and treatment platforms based on DSA, its applicable clinical application scenarios are greatly broadened.

[0047] In addition, since the construction of the acoustic interventional diagnosis and treatment integrated platform does not need to rely on DSA equipment, the platform can be flexibly and movably applied to a variety of medical venues due to its miniaturization. For example, doctors can apply the acoustic interventional diagnosis and treatment integrated platform to medical venues such as outpatient offices, general wards, and ambulances, thereby being able to carry out more timely and efficient diagnosis and treatment of patients. In this way, the medical venues of the platform can cover hospitals that do not have the conditions for the construction of radiographic catheter rooms, and are compatible with non-hospitals, and disease diagnosis and treatment and interventional guidance can also be achieved in such venues. It can be seen that the acoustic interventional diagnosis and treatment integrated platform proposed in the technical solution of this application is highly flexible and easy to popularize.

[0048] The current mainstream interventional diagnosis and treatment platforms built on DSA technology can only achieve real-time 2D visualization or 3D visualization formed by multi-angle shooting, but cannot achieve 4D visualization. Therefore, there are relatively large limitations in the diagnosis and judgment of complex lesion areas and the planning and guidance of intervention pathways. However, in the integrated acoustic interventional diagnosis and treatment platform provided by the technical solution of this application, through the mutual cooperation of the panoramic in vitro acoustic imaging system module and the panoramic in vivo interventional acoustic imaging system module, the multi-scale panoramic real-time 4D structure, pathway and functional information of the tested area can be visualized, and doctors can carry out more flexible and comprehensive observation, analysis and diagnosis and treatment work in the tested area.

[0049] Figure 2 This is a schematic diagram of an integrated acoustic interventional diagnosis and treatment platform in a medical scenario provided by an embodiment of the present application. Figure 2 As shown in the figure, the doctor 21 interacts with the digital twin human-computer interaction module, controls and obtains information from the digital twin human-computer interaction module, controls and obtains information from the signal processing reconstruction and platform control module, controls and obtains information from the panoramic in-vivo interventional acoustic imaging system module 23, and controls and obtains information from the panoramic in-vivo acoustic imaging system module 24. Both the panoramic in-vivo interventional acoustic imaging system module 23 and the panoramic in-vivo acoustic imaging system module 24 obtain panoramic 4D structure, pathway, and function information from the patient 22. The in-vivo acoustic sensor in the panoramic in-vivo acoustic imaging system module 24 can assist in guiding the in-vivo interventional acoustic imaging catheter to be inserted into the patient 22.

[0050] The following embodiment further introduces a process in which the integrated acoustic interventional diagnosis and treatment platform responds to the doctor's detection needs for the target object and controls each module responsible for detection to complete the detection work through human-computer interaction.

[0051] In one optional implementation, the signal processing, reconstruction, and platform control module is specifically configured to perform signal processing and visualization reconstruction based on the first detection signal sent by the in vitro acoustic sensor, generate panoramic first-scale acoustic image data of the target object's test area, and send the data to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically configured to visually display the panoramic first-scale acoustic image data; after the display, in response to a physician's first detection trigger operation, generate a first detection instruction and send the instruction to the signal processing, reconstruction, and platform control module.

[0052] In this implementation, the digital twin human-computer interaction module can provide the user with a control (for ease of description, referred to as the first control) for triggering the panoramic in-vivo interventional acoustic imaging system module through a display screen interface or pop-up window display. When the user, who is a doctor, triggers the first control, the first detection trigger operation is completed, indicating that the user wishes to use the in-vivo interventional acoustic imaging catheter of the panoramic in-vivo interventional acoustic imaging system module to detect the area to be measured. The digital twin human-computer interaction module recognizes the first detection trigger operation and determines that the user has triggered the first control, and then generates a first detection instruction for controlling the panoramic in-vivo interventional acoustic imaging system module to carry out the detection action. Further, the instruction is transmitted to the signal processing reconstruction and platform control module. The signal processing reconstruction and platform control module is also used to control the in-vivo interventional acoustic imaging catheter of the panoramic in-vivo interventional acoustic imaging system module to detect the target object according to the first detection instruction.

[0053] In an optional implementation, the signal processing, reconstruction and platform control module is specifically used to control and guide the in-vivo interventional acoustic imaging catheter from outside the body to intervene according to the first detection instruction, and move until it reaches the target area in the body of the target object. Specifically, the signal processing, reconstruction and platform control module can be used to control the catheter to move from the entrance along the pathway to the lesion. The in-vivo interventional acoustic imaging catheter is specifically used to use its own transducer to detect the area to be tested under the control of the signal processing, reconstruction and platform control module to generate a second detection signal, and send it to the signal processing, reconstruction and platform control module. Furthermore, the signal processing, reconstruction and platform control module can perform signal processing and visual reconstruction based on the second detection signal to generate panoramic second-scale acoustic image data of the area to be tested of the target object, and send it to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

[0054] In an embodiment of the present application, an external acoustic sensor can monitor whether the catheter is in place. Furthermore, the images detected by the in-vivo interventional acoustic imaging catheter itself can also reflect whether it has moved into place. Therefore, in an embodiment of the present application, by displaying panoramic second-scale acoustic image data and / or panoramic first-scale acoustic image data, a physician can observe and discern whether the in-vivo interventional acoustic imaging catheter has moved into place. If the catheter is not in place (has not reached the designated position or is not in the expected posture), in an optional implementation, the digital twin human-computer interaction module is further configured to generate a catheter movement adjustment instruction in response to a physician's catheter movement adjustment trigger operation after visually displaying the panoramic first-scale acoustic image data, and send it to the signal processing, reconstruction, and platform control module; the catheter movement adjustment instruction carries movement adjustment parameters. Specifically, while visually displaying the panoramic first-scale acoustic image data, a catheter movement adjustment control is provided to the user via a display interface or pop-up window. If the user triggers the catheter movement adjustment control, or edits certain movement adjustment parameters therein and triggers submission of these parameters, the catheter movement adjustment trigger operation is executed. Based on this, the generated catheter movement adjustment instruction can be used to control the movement of the in vivo interventional acoustic imaging catheter.

[0055] In one exemplary implementation, the signal processing, reconstruction, and platform control module is further configured to control the movement of the intracorporeal interventional acoustic imaging catheter based on movement adjustment parameters (e.g., path, angle, speed, etc.) according to the catheter movement adjustment instruction. During the movement of the intracorporeal interventional acoustic imaging catheter, an external acoustic sensor, located outside the subject's body, continuously detects the movement path of the intracorporeal interventional acoustic imaging catheter. This allows for continuous monitoring of whether the intracorporeal interventional acoustic imaging catheter is gradually moving into position during the movement adjustment process.

[0056] In an optional implementation, the signal processing reconstruction and platform control module is specifically used to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the internal interventional acoustic imaging catheter, and reconstruct and generate panoramic multi-scale acoustic image data of the area to be measured that fuses the first scale and the second scale. The first scale is the detection scale corresponding to the external acoustic sensor, and the second scale is the detection scale corresponding to the internal interventional acoustic imaging catheter. By fusing the panoramic multi-scale acoustic image data of the area to be measured at the first scale and the second scale, after visualization, a fused panoramic multi-scale acoustic image can be used in the digital twin human-computer interaction module to display the corresponding structural information, pathway information, and functional information of the area to be measured at multiple different detection scales.

[0057] In order to enhance the important value of the integrated acoustic interventional diagnosis and treatment platform in surgical operations, the embodiments of this application also propose that the digital twin human-computer interaction module has the function of simulating surgical operations. The following is an explanation with reference to the embodiments.

[0058] In an optional implementation, the digital twin human-computer interaction module is also used to model, simulate, and visualize information based on panoramic multi-scale acoustic image data and medical tools in the medical scene (such as in vivo interventional acoustic imaging catheters and surgical robot system modules), creating a virtual digital mapping space with the structural environment of the target object's area to be tested and the medical scene. The panoramic multi-scale acoustic image data has been introduced in the previous article and will not be repeated here. The medical tools in the medical scene include but are not limited to catheters, and may also include other tools that may actually come into contact with the target object. In the embodiment of the present application, these medical tools can be modeled in advance, so that after obtaining the panoramic multi-scale acoustic image data, the model of the medical tool can be synchronously combined with the physiological structure of the visually reconstructed area to be tested to construct a virtual digital mapping space with the structural environment of the target object's area to be tested and the medical scene. This virtual digital mapping space provides technical support for doctors to simulate surgical operations through the digital twin human-computer interaction module.

[0059] In an optional implementation, the digital twin human-computer interaction module is also used to respond to the doctor's simulated surgical operation in the virtual digital mapping space, and display the corresponding simulated postoperative effect of the structure of the test area after the simulated surgical operation. For example, the user simulates the control of the movement of the in vivo interventional acoustic imaging catheter along the first path through the operation of the digital twin human-computer interaction module, simulates and calculates the time it takes for the catheter to move along the first path, and simulates the presentation of panoramic first-scale and second-scale acoustic images of the first path in the pathway. Similarly, the user can also simulate the in vivo interventional acoustic imaging catheter to carry out treatment actions after reaching the lesion, such as radiofrequency ablation, through the operation of the digital twin human-computer interaction module, and simulate the blood flow around the lesion tissue after the radiofrequency ablation action is performed.

[0060] Combined with the displayed simulated postoperative effects, doctors can judge whether the simulated path or treatment method is the preferred method, as well as the impact on the target object. In this way, after simulating a suitable path or treatment method, real treatment actions can be achieved through the cooperation of the digital twin human-computer interaction module and the signal processing reconstruction and platform control module, as well as the signal processing reconstruction and platform control module with various modules responsible for detection. With the help of human-computer interaction technology (such as tactile feedback, virtual reality VR, augmented reality AR, etc.), doctors can intuitively manipulate and interact with the treatment environment in the virtual digital mapping space, thereby simulating surgical operations or guiding actual surgical operations. It can be seen that the digital twin human-computer interaction module in the integrated acoustic interventional diagnosis and treatment platform provided in the embodiment of the present application has the characteristics of increasing the diagnosis and treatment efficiency and application value potential of the platform.

[0061] It should be noted that the digital twin human-computer interaction module needs to use a certain amount of computing power to complete the calculation work when simulating surgical operations and simulating postoperative effects. This calculation work can be implemented by the digital twin human-computer interaction module itself. For example, the digital twin human-computer interaction module can be configured with a computing unit; in addition, this calculation work can also be performed by a signal processing reconstruction and platform control module that has a communication connection with the digital twin human-computer interaction module. After the calculation is completed, the signal processing reconstruction and platform control module will return the calculation results to the digital twin human-computer interaction module. The digital twin human-computer interaction module is only responsible for screen rendering.

[0062] In an optional implementation, the digital twin human-computer interaction module is also used to adjust the display mode of the image based on the doctor's display control operation of the displayed image; the display control operation includes at least one of the following: resolution adjustment operation, viewing angle adjustment operation, display time period selection operation, image annotation operation, and comparison display operation. The diverse display control operations supported by the platform introduced above reflect that the platform can meet the diverse display control needs of users. It can be seen that the integrated acoustic interventional diagnosis and treatment platform provided in the embodiment of the present application is very user-friendly and provides users with multi-faceted functional support for the identification and analysis of the detected area.

[0063] In one optional implementation, the integrated acoustic interventional diagnosis and treatment platform further includes: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing, reconstruction, and platform control module. The surgical robot system module is configured to perform a medical procedure on a target subject based on control instructions from the signal processing, reconstruction, and platform control module or medical control actions received directly from a physician; wherein the control instructions are generated in response to the physician's medical control actions in the digital twin human-computer interaction module. As an example, the control instructions or medical control actions may include inserting an intracorporeal interventional acoustic imaging catheter into the target subject's body, rotating the catheter within the body via a motor, or withdrawing the catheter from the body. The surgical robot system module is further configured to transmit feedback information about the execution of the medical procedure back to the signal processing, reconstruction, and platform control module, displaying the execution feedback information through the digital twin human-computer interaction module, or directly contacting the physician's hand to transmit the execution feedback information. By contacting the physician's hand, the surgical robot system module can directly transmit information such as pressure and temperature to the physician's hand, allowing the physician to directly sense the feedback received from the surgical robot system performing the medical procedure. It is convenient for doctors to analyze and judge the execution feedback information in a timely manner, provide further diagnosis and treatment strategies in a timely manner, and ensure the safety of the target objects in medical scenarios.

[0064] The acoustic interventional diagnosis and treatment integrated platform proposed in this application uses acoustic technology to replace radiation and is a radiation-free, green and safe interventional diagnosis and treatment integrated platform. The acoustic interventional diagnosis and treatment integrated platform can perform structural, pathway and functional imaging without the need for contrast agents or using contrast agents with high biocompatibility. The acoustic interventional diagnosis and treatment integrated platform uses a panoramic in vitro acoustic imaging system module and a panoramic in vivo interventional acoustic imaging system module to visualize the target tissue's multi-scale panoramic real-time 4D structure, pathway and functional information. The acoustic interventional diagnosis and treatment integrated platform has the characteristic of no radiation, so it can cover hospitals that do not have the conditions for building a radiographic catheterization room, and is compatible with various non-hospital medical scenarios to achieve disease diagnosis and treatment and interventional intraoperative guidance, which can greatly expand the popularity of interventional diagnosis and treatment. In addition, in conjunction with the surgical robot system module, the signal processing reconstruction and platform control module and the digital twin human-computer interaction module, it can use acoustic media, without or with biocompatible contrast agents, to achieve panoramic multi-scale 4D acoustic disease diagnosis and treatment and interventional intraoperative guidance in multiple clinical scenarios such as natural cavity systems and vascular systems in any flexible occasions. It can be seen that the integrated acoustic interventional diagnosis and treatment platform provided in the embodiment of the present application is an innovative department-level solution for integrated multi-scale interventional diagnosis and treatment based on acoustic technology.

[0065] Figure 3 A schematic diagram of another integrated acoustic interventional diagnosis and treatment platform in a medical scenario provided in an embodiment of the present application. Figure 3 and Figure 2The difference is that the surgical robot system module is also displayed. The signal processing reconstruction and platform control module controls and acquires information from the surgical robot system module. The surgical robot system module can assist the doctor 21 in performing interventional surgery on the patient 22 and transmit feedback to the doctor 21.

[0066] Figure 4 This is a schematic diagram of an integrated platform for acoustic interventional diagnosis and treatment in a medical setting provided by an embodiment of the present application. Figure 4 In the paper, an external acoustic sensor 41, an internal interventional acoustic imaging catheter 42, a surgical robot system module 43, a signal processing reconstruction and platform control module 44, a digital twin human-computer interaction module 45 and a multimodal human-computer interaction interface 46 are displayed. In addition, Figure 4 The illustrated platform may further include a large-area surface or ring array transducer 47. Both the large-area surface or ring array transducer 47 and the in vitro acoustic sensor 41 can be considered components of a panoramic in vitro acoustic imaging system module, and the two have different detection scales, with the former having a larger detection scale than the latter.

[0067] In actual applications, the panoramic in vitro acoustic imaging system module can have a variety of different types of transducers. The large-area surface or ring array transducer 47 is only an example. The number and type of transducers included in the panoramic in vitro acoustic imaging system module are not limited here. Figure 4 As shown in , it is controlled by the signal processing reconstruction and platform control module 44. In addition, the signal processing reconstruction and platform control module 44 can also control the transducers in the panoramic external acoustic imaging system module (such as large-area surface or ring array transducer 47, external acoustic sensor 41), the internal interventional acoustic imaging catheter 42 and the digital twin human-computer interaction module 45. The digital twin human-computer interaction module 45 has an interface that can realize interaction, such as Figure 4 The multimodal human-computer interaction interface 46 shown in the figure has multiple modalities, such as those provided by AR glasses or display screens. The digital twin human-computer interaction module 45 enhances the doctor's understanding of the patient's internal structure, pathways, and functions. Its rich functionality helps doctors provide more accurate diagnosis and treatment services for patients in bed 48.

[0068] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The platform embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative effort.

[0069] 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 integrated platform for acoustic interventional diagnosis and treatment, characterized by: include: A panoramic in vitro acoustic imaging system module, a panoramic in vivo interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing reconstruction and platform control module; wherein the panoramic in vitro acoustic imaging system module includes an in vitro acoustic sensor, and the panoramic in vivo interventional acoustic imaging system module includes an in vivo interventional acoustic imaging catheter; The panoramic in vitro acoustic imaging system module, the panoramic in vivo interventional acoustic imaging system module, and the digital twin human-computer interaction module are all communicatively connected to the signal processing, reconstruction, and platform control module. The external acoustic sensor and the internal interventional acoustic imaging catheter are each used to detect a target area using a transducer, and generate a detection signal to be sent to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is configured to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target area to be measured, and send the data to the digital twin human-computer interaction module; the detection scale corresponding to the panoramic external acoustic imaging system module is larger than the detection scale of the panoramic internal interventional acoustic imaging system module; The digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data.

2. The platform according to claim 1, characterized in that The in vitro acoustic sensor is specifically configured to use its own transducer to perform in vitro detection of the area to be measured to generate a first detection signal, and send the first detection signal to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is specifically configured to perform signal processing and visualization reconstruction based on the first detection signal sent by the in vitro acoustic sensor, generate panoramic first-scale acoustic image data of the target object's test area, and send the data to the digital twin human-computer interaction module; The digital twin human-computer interaction module is specifically used to visualize the panoramic first-scale acoustic image data; and is also used to generate a first detection instruction in response to a first detection trigger operation of a doctor after visually displaying the panoramic first-scale acoustic image data and send it to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is further configured to control the in vivo interventional acoustic imaging catheter to detect the target object according to the first detection instruction.

3. The platform according to claim 2, characterized in that The in vivo interventional acoustic imaging catheter is specifically used to use its own transducer to detect the area to be detected to generate a second detection signal, and send the second detection signal to the signal processing, reconstruction and platform control module; The signal processing, reconstruction and platform control module is specifically configured to perform signal processing and visualization reconstruction based on the second detection signal, generate panoramic second-scale acoustic image data of the target object's test area, and send the data to the digital twin human-computer interaction module; The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

4. The platform according to claim 3, characterized in that The signal processing reconstruction and platform control module is specifically configured to control and guide the in-vivo interventional acoustic imaging catheter from outside the body to the target area in the target object according to the first detection instruction.

5. The platform according to claim 4, characterized in that The digital twin human-computer interaction module is further configured to generate a catheter movement adjustment instruction in response to a catheter movement adjustment trigger operation by a physician after visually displaying the panoramic first-scale acoustic image data, and send the instruction to the signal processing, reconstruction and platform control module; the catheter movement adjustment instruction carries a movement adjustment parameter; The signal processing, reconstruction and platform control module is further configured to control the movement of the in vivo interventional acoustic imaging catheter based on the movement adjustment parameters according to the catheter movement adjustment instruction; wherein, during the movement of the in vivo interventional acoustic imaging catheter, the extracorporeal acoustic sensor is located outside the body of the target object and continuously detects along the movement path of the in vivo interventional acoustic imaging catheter.

6. The platform according to claim 1, characterized in that The signal processing, reconstruction and platform control module is specifically configured to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the internal interventional acoustic imaging catheter, and reconstruct and generate panoramic multi-scale acoustic image data of the area to be measured that fuses the first scale and the second scale; The first scale is a detection scale corresponding to the in vitro acoustic sensor, and the second scale is a detection scale corresponding to the in vivo interventional acoustic imaging catheter.

7. The platform according to claim 1, characterized in that The digital twin human-computer interaction module is also used to perform modeling, simulation, and visualization based on the panoramic multi-scale acoustic imaging data and information about medical tools in the medical scene, to create a structural environment with the target object's area to be tested and a virtual digital mapping space of the medical scene.

8. The platform according to claim 7, characterized in that The digital twin human-computer interaction module is also used to respond to the doctor's simulated surgical operation in the virtual digital mapping space and display the corresponding simulated postoperative effect of the structure of the area to be tested after the simulated surgical operation.

9. The platform according to claim 1, characterized in that The digital twin human-computer interaction module is also used to adjust the display mode of the image based on the doctor's display control operation on the displayed image; The display control operation includes at least one of the following: Resolution adjustment operation, viewing angle adjustment operation, display time selection operation, image annotation operation, and comparative display operation.

10. The platform according to claim 1, characterized in that The platform further comprises: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing reconstruction and platform control module; The surgical robot system module is configured to perform a medical action on the target object according to the control instructions of the signal processing reconstruction and platform control module or the medical control actions directly received from the doctor; wherein the control instructions are generated in response to the medical control actions of the doctor in the digital twin human-computer interaction module; The surgical robot system module is also used to transmit the execution feedback information of the medical action back to the signal processing reconstruction and platform control module, display the execution feedback information through the digital twin human-computer interaction module, or directly contact the doctor's hand to transmit the execution feedback information.

11. The platform according to any one of claims 1, 7-10, characterized in that: The detection signal includes: structural information, pathway information and functional information.

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