Non-contact cardiac electrophysiological three-dimensional mapping method, system, medium and equipment

Abstract

The present application discloses a non-contact cardiac electrophysiology three-dimensional mapping method, system, medium and equipment. The non-contact cardiac electrophysiology three-dimensional mapping method includes: using intracardiac ultrasound to establish a three-dimensional model of the endocardium; using an electrode catheter to obtain a continuous potential signal of the intracardiac electrode in one heartbeat cycle; using a triangular mesh to approximate the three-dimensional model of the endocardium, and obtaining the centroid, normal vector and area of ​​each triangular mesh; according to the potential signal, the centroid, the normal vector and the area, the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle is calculated. The intracardiac ultrasound probe of the present application can perform spatial scanning through electronic deflection beams instead of mechanical deflection, so the three-dimensional modeling is simple and time-saving. In addition, the three-dimensional mapping catheter of the present application does not include an ultrasound probe, but only includes electrodes, which not only reduces the cost, but also has a thinner catheter diameter and is safer.

Description

Technical Field

[0001] The present application relates to the field of electrocardiography, and in particular to a non-contact three-dimensional cardiac electrophysiological mapping method, system, medium and equipment. Background Art

[0002] Electrophysiological heart disease (i.e., arrhythmic heart disease) is an important clinical problem. Electrophysiological heart disease usually results from abnormal amplitude and conduction sequence of myocardial cell depolarization and repolarization due to abnormal cardiac charge transmission, thus causing serious clinical diseases (including atrial fibrillation, supraventricular tachycardia, and ventricular arrhythmia, etc.). The safest and most effective treatment for electrophysiological heart disease currently recognized in clinical practice is to use catheter intervention to perform three-dimensional electrophysiological mapping of intracardiac potentials to find lesions and use catheters to ablate lesion targets. Three-dimensional electrophysiological mapping is the difficulty of this program. Generally, intracardiac measurement electrodes are used to perform contact measurements of the potential transmitted on the endocardium to obtain a three-dimensional distribution of the maximum amplitude of the potential on the endocardium and an excitation conduction sequence map, thereby guiding doctors to find targets of abnormal excitation transmission for ablation and treat heart diseases such as arrhythmias.

[0003] At present, three-dimensional electrophysiological mapping of the heart often requires the use of multiple multi-electrode mapping catheters, which enter the heart cavity in a minimally invasive manner through the femoral vein. The electrodes directly contact the endocardium to measure the potential signal of the contact point within one cardiac cycle (the potential signal is conducted from the endocardium to the blood flow in the heart cavity). After measuring one cardiac cycle, the catheter is moved to another endocardial position for contact measurement, and the three-dimensional spatial coordinates of the contact point are recorded until the clinical area of ​​interest is measured. The measured potential signals and activation sequence at different positions are synchronized with the ECG and respiratory gating data obtained by the monitor to establish the potential signal amplitude and activation sequence diagram of the three-dimensional mapping map during the cardiac activation process. However, this contact mapping scheme has the following problems: 1. Due to the complex three-dimensional structure of the heart, multiple mapping catheters of different shapes are usually required to achieve better endocardial adhesion. However, the price of a single mapping catheter is very expensive and is disposable, which is costly; 2. The operator needs to have a deep understanding of the three-dimensional structure of the endocardium, catheter operation, and cardiac potential conduction, and the operation is difficult.

[0004] A non-contact mapping technology is also proposed in the related art. Compared with the above-mentioned contact mapping, which often requires the use of multiple mapping catheters, non-contact mapping only requires one mapping catheter, which reduces the difficulty of operation. Multiple electrophysiological electrodes and multiple single-element ultrasonic probes are integrated on a cardiac interventional mapping catheter, which enters the heart in a minimally invasive manner through the femoral vein. The three-dimensional structure of the heart is modeled by the ultrasonic probe, and then the potential signal within a cardiac cycle is collected through the electrode, and the inverse problem of the Poisson equation is solved to obtain the potential signal of the endocardium within a cardiac cycle. However, the non-contact mapping technology is an A-mode modeling of a single-element ultrasonic probe, and its emission angle is fixed. It is impossible to change the direction of ultrasonic beam emission by electronic deflection. It can only offset the imaging ultrasonic beam by mechanically deflecting the catheter to collect potential signals at multiple different positions, which increases the difficulty and time of the operation. In addition, since the thinner the cardiovascular interventional catheter, the safer it is, and the catheter integrates multiple electrophysiological electrodes and multiple single-element ultrasonic probes, the diameter of the wire bundle is thicker, resulting in a thicker diameter of the catheter, thereby increasing the risk of damaging the heart during the interventional surgery. Summary of the invention

[0005] Based on this, it is necessary to propose a non-contact cardiac electrophysiological three-dimensional mapping method, system, medium and equipment to address the above problems.

[0006] The present application provides a non-contact cardiac electrophysiological three-dimensional mapping method, the method comprising:

[0007] Establish a three-dimensional model of the endocardium using intracardiac ultrasound;

[0008] The electrode catheter is used to obtain the continuous potential signal of the electrode in the cardiac cavity during a heartbeat cycle;

[0009] Using triangular meshes to approximate the endocardial three-dimensional model, and obtaining the centroid, normal vector and area of ​​each triangular mesh;

[0010] The three-dimensional distribution information of the charge density of the endocardium at different times in a heartbeat cycle is calculated according to the electric potential signal, the center of mass, the normal vector and the area.

[0011] In some embodiments, the method of establishing a three-dimensional endocardial model using intracardiac ultrasound comprises:

[0012] Acquire multiple endocardial two-dimensional images at different angles and their spatial position information collected by an intracardiac ultrasound probe;

[0013] The electrocardiogram (ECG) signals are used to synchronize the two-dimensional images of the endocardium in different heartbeat cycles to the same heartbeat cycle.

[0014] A three-dimensional model of the endocardium at the end of expiration and end of diastole is established according to the plurality of two-dimensional endocardium images and their spatial position information.

[0015] In some embodiments, the method of obtaining a continuous potential signal of an electrode in a cardiac cavity during a cardiac cycle by using an electrode catheter includes:

[0016] Acquire continuous potential signals of electrodes in the heart cavity collected by the electrode catheter at different positions at different times during a heartbeat cycle;

[0017] The electrocardiogram (ECG) signals collected by the electrocardiogram (ECG) are used to synchronize the potential signals in different heartbeat cycles to the same heartbeat cycle.

[0018] In some embodiments, the calculating the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area comprises:

[0019] The charge density of the endocardium in one heartbeat cycle is calculated using the following formula:

[0020]

[0021] in, is the three-dimensional coordinate of the electrode, is the 3D coordinate of the centroid of the triangular mesh, is the potential signal on the electrode, is the charge density, is the normal vector of the triangle mesh and the vector The angle of is the area of ​​the triangular mesh.

[0022] In some embodiments, the calculating the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area further includes:

[0023] Discretize formula (1) to obtain the following matrix expression (2):

[0024] A*d=v (2)

[0025] Among them, the coefficient matrix A∈R M×N , the charge density scalar d∈R N , the potential scalar v∈R M , M is the number of electrodes, N is the number of triangular meshes;

[0026] Using regularization, we can solve the matrix expression (2) using the least squares method:

[0027]

[0028] In some embodiments, the centroid of the triangular mesh is an average of three-dimensional coordinates of vertices of the triangular mesh.

[0029] The present application also provides a non-contact cardiac electrophysiological three-dimensional mapping system, the system comprising:

[0030] Rotating transmission parts;

[0031] A bending adjustment component connected to the rotating transmission component;

[0032] An ICE catheter is provided with an intracardiac ultrasound probe, a first positioning sensor and a torque transmission coil, wherein the bending adjustment component is connected to the torque transmission coil, the torque transmission coil is connected to the intracardiac ultrasound probe, and the intracardiac ultrasound probe is fixedly connected to the first positioning sensor;

[0033] An electrode catheter, comprising a second positioning sensor and a plurality of electrodes, wherein the electrodes are used to continuously collect electrical potential signals at different positions in a heart chamber at different times during a heartbeat cycle;

[0034] The terminal device is connected to the rotating transmission component, the intracardiac ultrasound probe, and the electrode catheter respectively.

[0035] In some embodiments, the intracardiac ultrasound probe is at least one of a rotating linear array ultrasound probe, a rotating circular array ultrasound probe, a rotating convex array ultrasound probe, and an ultrasound plane array probe. The material of the probe may be PZT ceramic, composite material, CMUT or PMUT.

[0036] The present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the non-contact cardiac electrophysiological three-dimensional mapping method as described in any one of the above items.

[0037] The present application also provides a terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the non-contact cardiac electrophysiological three-dimensional mapping method as described in any one of the above items.

[0038] The embodiment of the present application has the following beneficial effects: the non-contact cardiac electrophysiological three-dimensional mapping method of the embodiment of the present application uses intracardiac ultrasound to establish a three-dimensional model of the endocardium, uses an electrode catheter to obtain the potential signal of the intracardiac electrode in one heartbeat cycle, uses a triangular mesh to approximate the three-dimensional model of the endocardium, obtains the centroid, normal vector and area of ​​each triangular mesh, and calculates the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the potential signal, centroid, normal vector and area. The intracardiac ultrasound probe of the embodiment of the present application can perform spatial scanning by electronic deflection beam instead of mechanical deflection, so the three-dimensional modeling operation is simple and the time is short; while the ultrasound modeling in the prior art can only change the direction of beam emission by mechanical movement, and the modeling requires complex catheter operation, which increases the operation time. In addition, the non-contact mapping catheter in the prior art has a thicker catheter diameter due to the integration of electrodes and ultrasound probes, which can easily damage the heart during interventional surgery. The electrode catheter of the embodiment of the present application does not include an ultrasound probe, but only includes electrodes, which not only reduces the cost, but also has a thinner catheter diameter and is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0040] in:

[0041] Figure 1 This is a schematic diagram of a process of a non-contact cardiac electrophysiological three-dimensional mapping method in one embodiment of the present application;

[0042] Figure 2 This is a flow chart of step S100 in one embodiment of the present application;

[0043] Figure 3 This is a flow chart of step S200 in one embodiment of the present application;

[0044] Figure 4 This is a schematic structural diagram of a non-contact cardiac electrophysiological three-dimensional mapping system in one embodiment of the present application;

[0045] Figure 5 This is a schematic diagram of the structure of an electrode catheter in one embodiment of the present application;

[0046] Figure 6 This is a diagram of the internal structure of a terminal device in one embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] The embodiment of the present application provides a non-contact three-dimensional cardiac electrophysiological mapping method. Figure 1 This is a flow chart of a non-contact cardiac electrophysiological three-dimensional mapping method in one embodiment of the present application. Figure 1 The non-contact cardiac electrophysiology three-dimensional mapping method may include:

[0049] S100: Establish a three-dimensional model of the endocardium using intracardiac ultrasound.

[0050] The execution subject of the electrophysiological three-dimensional mapping method of the embodiment of the present application may be a terminal device, or a control device arranged in the terminal device. Optionally, the control device may be implemented by software, or by a combination of software and hardware.

[0051] The intracardiac ultrasound probe of the embodiment of the present application can perform spatial scanning through electronic deflection beam rather than mechanical deflection, so the three-dimensional modeling operation is simple and time-saving; while the ultrasound modeling in the prior art can only change the beam direction through mechanical movement, and the modeling requires complex catheter operation, which increases the operation time.

[0052] In some embodiments, Figure 2 This is a flow chart of step S100 in one embodiment of the present application. Figure 2 Step S100 of establishing a three-dimensional endocardial model using intracardiac ultrasound may include the following steps:

[0053] S110: Acquire multiple endocardial two-dimensional images at different angles acquired by an intracardiac ultrasound probe and their spatial position information;

[0054] S120: Synchronizing the endocardial two-dimensional images in different heartbeat cycles to the same heartbeat cycle using the electrocardiogram signal collected by the electrocardiogram;

[0055] S130: Establishing a three-dimensional endocardial model at the end of expiration and end of diastole according to the multiple two-dimensional endocardial images and their spatial position information.

[0056] Specifically, the embodiment of the present application obtains multiple endocardial two-dimensional images of different angles acquired by the linear array ultrasound probe and their spatial position information, and uses the ECG electrocardiogram to synchronize the multiple endocardial two-dimensional images. The reason is that the heartbeat frequency is very fast, and the intracardiac ultrasound probe may acquire endocardial two-dimensional images within multiple heartbeat cycles at once. After synchronization, the multiple endocardial two-dimensional images can be synchronized into an endocardial two-dimensional image within one heartbeat cycle.

[0057] Optionally, the terminal device may obtain multiple endocardial two-dimensional images of different angles acquired by the intracardiac ultrasound probe and their spatial position information in a manner as follows: the intracardiac ultrasound probe is used to automatically scan the endocardium at 360° and perform three-dimensional modeling, and a three-dimensional spatial positioning sensor is used to record the orientation of the imaging (i.e., spatial position information), and then the intracardiac ultrasound probe sends the scanned multiple endocardial two-dimensional images to the terminal device, and the positioning sensor also sends the spatial position information of each endocardial two-dimensional image to the terminal device. The terminal device establishes a three-dimensional model of the endocardium at the end of expiration and the end of diastole based on the multiple endocardial two-dimensional images and their corresponding spatial position information. Since the heartbeat is slowest at the end of expiration and the end of diastole, the motion artifact is minimal.

[0058] In some embodiments, the intracardiac ultrasound probe can be built into an ICE (Intracardiac Echocardiography) catheter. During collection, the ICE catheter is inserted into the heart cavity through peripheral vascular intervention, and a two-dimensional image of the endocardium can be collected through the intracardiac ultrasound probe.

[0059] Optionally, the intracardiac ultrasound probe may be at least one of a rotating linear array ultrasound probe, a rotating circular array ultrasound probe, a rotating convex array ultrasound probe, and an ultrasound surface array probe, and its material may be PZT ceramic, a composite material, PMUT or CMUT, etc.

[0060] It should be noted that post-processing algorithms (including but not limited to artificial intelligence methods) can be used for image enhancement and three-dimensional modeling to improve the modeling effect.

[0061] S200: Acquire a continuous electric potential signal of an electrode in a cardiac cavity during a cardiac cycle using an electrode catheter.

[0062] The non-contact mapping catheter in the prior art integrates electrodes and ultrasonic probes, and the catheter diameter is relatively thick, which poses a risk of damaging the heart during interventional surgery. However, the electrode catheter of the embodiment of the present application does not include an ultrasonic probe, but only includes electrodes, which not only reduces costs, but also has a thinner catheter diameter and is safer.

[0063] In some embodiments, Figure 3 This is a flow chart of step S200 in one embodiment of the present application. Figure 3 Step S200 uses the electrode catheter to obtain a continuous potential signal of the electrode in the cardiac cavity during a heartbeat cycle, including:

[0064] S210: Acquiring continuous potential signals of the intracardiac electrode collected by the electrode catheter at different positions at different times within a heartbeat cycle;

[0065] S220: Synchronize the electric potential signals in different heartbeat cycles into the same heartbeat cycle using the electrocardiogram signal collected by the electrocardiogram.

[0066] There are multiple electrodes on the electrode catheter, and the multiple electrodes collect continuous potential signals in one heart cycle at multiple locations in the heart cavity. The position of the electrode catheter is changed, and the potential signals in the next heart cycle are collected at multiple other locations in the heart cavity. Then, the electrocardiogram collected electrocardiogram signals are used to synchronize the potential signals at multiple locations in different heart cycles to the same heart cycle. After synchronization, the potential signals at multiple locations in different heart cycles can be converted into potential signals at multiple locations in one heart cycle, which is simple and efficient. The electrode catheter then sends the potential signals on each electrode in one heart cycle to the terminal device.

[0067] Optionally, the front end of the electrode catheter is provided with a plurality of electrodes, so that the number of potential signals can be collected. During collection, the electrode catheter is inserted into the heart cavity through peripheral vascular intervention.

[0068] S300: Approximately express the endocardial three-dimensional model using triangular meshes, and obtain the centroid, normal vector and area of ​​each triangular mesh.

[0069] The endocardial surface of the endocardial three-dimensional model in the three-dimensional space is approximately expressed by using triangular meshes, and the centroid, normal vector and area of ​​each triangular mesh are obtained. The centroid of the triangular mesh can be the average value of the three-dimensional coordinates of each vertex of the triangular mesh, or a value obtained by other calculation methods.

[0070] S400: Calculate the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area.

[0071] The relationship between the potential on the electrode and the charge density on the endocardial surface can be expressed as:

[0072]

[0073] in, is the three-dimensional coordinate of the electrode, is the 3D coordinate of the centroid of the triangular mesh, is the potential signal on the electrode, is the charge density, is the normal vector and vector of the triangle mesh The angle of is the area of ​​the triangular mesh. After calculating multiple charge densities on the endocardial surface, the three-dimensional distribution information of the charge density of the endocardium in a heartbeat cycle can be obtained.

[0074] 3D coordinates of electrodes Can be preset known coordinates. The 3D coordinates of the centroid of the triangular mesh After modeling, it can be known.

[0075] Assume that after ECG time synchronization, the number of electrode measurement points obtained is M and the number of triangular meshes is N. Discretize formula (1) to obtain the following matrix expression (2):

[0076] A*d=v (2)

[0077] Among them, the coefficient matrix A∈R M×N , the charge density scalar d∈R N , the potential scalar v∈R M .

[0078] Formula (2) is an ill-conditioned matrix, and the charge density d cannot be calculated by matrix inversion. It is usually necessary to use Tikhonov regularization to solve the least squares solution of formula (2):

[0079]

[0080] It should be noted that other algorithms may also be used to obtain the least squares solution of formula (2), such as the TSVD (Truncated SVD) algorithm.

[0081] The above calculations are performed at different sampling moments within a heartbeat cycle to obtain the changes in the three-dimensional distribution of the charge density d at different moments. Subsequently, the three-dimensional distribution of the charge density on the endocardium is dynamically displayed in three dimensions to guide doctors in performing intracardiac ablation surgery.

[0082] The embodiment of the present application also provides a non-contact cardiac electrophysiological three-dimensional mapping system. Figure 4 This is a schematic diagram of the structure of a non-contact cardiac electrophysiological three-dimensional mapping system in one embodiment of the present application. Figure 4 The non-contact cardiac electrophysiology three-dimensional mapping system includes:

[0083] Rotating transmission component 100;

[0084] The bending adjustment component 200 is connected to the rotation transmission component 100;

[0085] The ICE catheter 300 has an intracardiac ultrasound probe 310, a first positioning sensor 320 and a torque transmission coil 330 built therein, the bending adjustment component 200 is connected to the torque transmission coil 330, the torque transmission coil 330 is connected to the intracardiac ultrasound probe 310, and the intracardiac ultrasound probe 310 is fixedly connected to the first positioning sensor 320;

[0086] An electrode catheter, comprising a second positioning sensor and a plurality of electrodes, wherein the electrodes are used to continuously collect electrical potential signals at different positions in a heart chamber at different times during a heartbeat cycle;

[0087] The terminal device is connected to the rotating transmission component 100, the intracardiac ultrasound probe 310, and the electrode catheter respectively.

[0088] Figure 5 This is a schematic diagram of the structure of an electrode catheter in one embodiment of the present application. Figure 5 , the left side is a lantern-shaped non-contact electrode catheter, and the right side is a claw-shaped non-contact electrode catheter. The electrode catheter is a non-contact mapping electrode catheter, including a second positioning sensor 510, and a plurality of electrodes 520 are arranged at the front end. The second positioning sensor 510 is used to record the spatial position of each electrode at the time of potential acquisition. The electrode catheter can also be a catheter of other arrangement forms, which is not specifically limited in this embodiment.

[0089] In some embodiments, the process of non-contact cardiac electrophysiological three-dimensional mapping is as follows:

[0090] (1) First, Figure 4The ICE catheter 300 shown is inserted into the heart cavity through peripheral vascular intervention. The terminal device outputs a rotation control signal to the rotation transmission component 100 (such as a rotation driver, etc.), and the rotation transmission component 100 controls the bending component 200 (such as a bending handle, etc.) according to the rotation control signal to adjust the torque transmission coil 330, and then drives the intracardiac ultrasound probe 310 to rotate through the torque transmission coil 330, and performs 360° automatic scanning and three-dimensional modeling of the endocardium. The first positioning sensor 320 is used to record the imaging orientation (i.e., spatial position information), and then the intracardiac ultrasound probe 310 sends the scanned multiple endocardial two-dimensional images to the terminal device, and the first positioning sensor 320 also sends the spatial position information of each endocardial two-dimensional image to the terminal device. The terminal device establishes a three-dimensional model of the endocardium at the end of expiration and end of diastole according to the multiple endocardial two-dimensional images and their corresponding spatial position information. Then the endocardial three-dimensional model is approximated by a triangular mesh, and the centroid, normal vector and area of ​​each triangular mesh are obtained. For the specific implementation process, please refer to the relevant description of the above embodiment, which will not be repeated here. It should be noted that the ICE catheter 300 itself remains stationary during the rotation of the intracardiac ultrasound probe 310. Compared with the prior art of three-dimensional modeling by rotating the catheter, three-dimensional modeling can be achieved without rotating the catheter, reducing the risk of damaging the cardiac cavity.

[0091] (2) Figure 5 The electrode catheter shown is inserted into the heart cavity through peripheral vascular intervention, and the electrode catheter sends the potential signal collected by each electrode to the terminal device. The terminal device calculates the charge density of the endocardium in one heartbeat cycle based on the potential signal, the centroid, normal vector and area of ​​the triangular mesh. For the specific implementation process, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0092] Optionally, the intracardiac ultrasound probe 310 may be at least one of a rotating linear array ultrasound probe, a rotating circular array ultrasound probe, a rotating convex array ultrasound probe, and an ultrasound plane array probe. The material of the probe may be PZT ceramic, composite material, CMUT, or PMUT. The intracardiac ultrasound probe can perform spatial scanning by electronically deflecting the beam rather than mechanically deflecting it, so the modeling is simple; whereas the ultrasound modeling in the prior art can only change the direction of beam emission by mechanical movement, and the modeling requires complex catheter operation, which increases the operation time.

[0093] It is understandable that the parameters of the intracardiac ultrasound probe are not limited, and arrays with different frequencies, numbers of array elements, array element spacing, array element distribution schemes, etc. can be selected according to various application environments. The intracardiac ultrasound probe can transmit sound waves by sequentially transmitting multiple focused ultrasound beams for plane scanning, or by sequentially transmitting multiple non-focused plane waves or divergent waves for plane scanning.

[0094] In addition, the non-contact mapping catheter in the prior art has a relatively thick diameter because it integrates electrodes and ultrasonic probes, which can easily damage the heart during interventional surgery. However, the electrode catheter of the embodiment of the present application does not include an ultrasonic probe, but only includes electrodes, which not only reduces costs, but also has a thinner diameter and is safer.

[0095] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the non-contact cardiac electrophysiological three-dimensional mapping method as described in any one of the above items.

[0096] An embodiment of the present application also provides a terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the non-contact cardiac electrophysiological three-dimensional mapping method as described in any one of the above items.

[0097] Figure 6 This is an internal structure diagram of a terminal device in one embodiment of the present application. Figure 6 As shown, the terminal device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the terminal device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement the non-contact three-dimensional cardiac electrophysiological mapping method as described above. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement the non-contact three-dimensional cardiac electrophysiological mapping method as described above. Those skilled in the art will appreciate that Figure 6 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal device to which the scheme of the present application is applied. The specific terminal device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0099] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A non-contact cardiac electrophysiological three-dimensional mapping system, characterized in that: The system comprises: a rotating transmission component; a bending adjustment component connected to the rotating transmission component; an ICE catheter having an intracardiac ultrasound probe, a first positioning sensor and a torque transmission coil built therein, the bending adjustment component being connected to the torque transmission coil, the torque transmission coil being connected to the intracardiac ultrasound probe, and the intracardiac ultrasound probe being fixedly connected to the first positioning sensor; an electrode catheter comprising a second positioning sensor and a plurality of electrodes, the electrodes being used to continuously collect potential signals at different times at a plurality of different positions in a heart cycle in a heart cavity; and a terminal device being respectively connected to the rotating transmission component, the intracardiac ultrasound probe and the electrode catheter; The system is used to perform the following steps: Establish a three-dimensional model of the endocardium using intracardiac ultrasound; The electrode catheter is used to obtain the continuous potential signal of the electrode in the cardiac cavity during a heartbeat cycle; Using spatial triangular meshes to approximate the endocardial three-dimensional model, and obtaining the centroid, normal vector and area of ​​each triangular mesh; Calculating three-dimensional distribution information of charge density of the endocardium at different times in a heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area; Wherein, the use of intracardiac ultrasound to establish a three-dimensional endocardial model comprises: Acquire multiple two-dimensional images of the endocardium at different angles acquired by an intracardiac ultrasound probe and their spatial position information, wherein the spatial position information is the imaging orientation of the two-dimensional images of the endocardium recorded by a three-dimensional spatial positioning sensor; The electrocardiogram (ECG) signals are used to synchronize the two-dimensional images of the endocardium in different heartbeat cycles to the same heartbeat cycle. A three-dimensional model of the endocardium at the end of expiration and end of diastole is established according to the plurality of two-dimensional endocardium images and their spatial position information.

2. The system according to claim 1, characterized in that The method of obtaining a continuous electric potential signal of an electrode in a cardiac cavity during a cardiac cycle by using an electrode catheter comprises: Acquire continuous potential signals of electrodes in the heart cavity collected by the electrode catheter at different positions at different times during a heartbeat cycle; The electrocardiogram (ECG) signals collected by the electrocardiogram (ECG) are used to synchronize the potential signals in different heartbeat cycles to the same heartbeat cycle.

3. The system according to claim 1, characterized in that The step of calculating the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area includes: The charge density of the endocardium in one heartbeat cycle is calculated using the following formula (1): （1） in, is the three-dimensional coordinate of the electrode, is the 3D coordinate of the centroid of the triangular mesh, is the potential signal on the electrode, is the charge density, is the normal vector of the triangle mesh and the vector ( ), is the area of ​​the triangular mesh.

4. The system according to claim 3, characterized in that The calculating of the three-dimensional distribution information of the charge density of the endocardium in one heartbeat cycle according to the electric potential signal, the center of mass, the normal vector and the area further includes: Discretize formula (1) to obtain the following matrix expression (2): （2） Among them, the coefficient matrix , the charge density scalar , electric potential scalar , M is the number of electrodes, N is the number of triangular meshes; Using regularization, we can solve the matrix expression (2) using the least squares method: （3）。 5. The system according to any one of claims 1 to 4, characterized in that The centroid of the triangular mesh is the average value of the three-dimensional coordinates of each vertex of the triangular mesh.

6. The system according to claim 5, characterized in that The intracardiac ultrasound probe is at least one of a rotating linear array ultrasound probe, a rotating circular array ultrasound probe, a rotating convex array ultrasound probe, and an ultrasound surface array probe. The material used for the intracardiac ultrasound probe is any one of PZT ceramics, composite materials, PMUT, and CMUT.

Images