A dynamic three-dimensional mapping interpolation method and system

Abstract

The present invention provides an interpolation method and system for a dynamic three-dimensional mapping map, including: performing MRI modeling on a target heart to obtain an MRI three-dimensional endocardial model; performing preliminary mapping on the target heart to obtain an inferior vena cava endocardial model; taking the inferior vena cava endocardial model as a reference, translating, rotating and scaling the MRI three-dimensional endocardial model so that the inferior vena cava endocardial model overlaps with the endocardium of the MRI three-dimensional endocardial model; mapping the beating part of the target heart to obtain three mapping points, as well as the coordinates of the beating starting point and the coordinates of the beating end point of the three mapping points; the beating starting point coordinates of the three mapping points form a starting point triangular plane; the beating end point coordinates of the three mapping points form an end point triangular plane; obtaining the first MRI curved surface corresponding to the three mapping points in the MRI three-dimensional endocardial model; interpolating the starting point triangular plane and the end point triangular plane according to the first MRI curved surface. The above scheme improves the accuracy of the model.

Description

Technical Field

[0001] The present invention relates to the field of medical data processing, and in particular to an interpolation method and system for a dynamic three-dimensional mapping image. Background Art

[0002] Heart modeling can help doctors diagnose diseases and provide parameters for surgery. Some diseases need to take into account the beating of the heart, which can cause changes in the shape and position of the heart. In order to obtain an accurate three-dimensional heart model, dynamic three-dimensional modeling is required. Currently, the main methods for dynamic three-dimensional heart modeling are MRI and mapping.

[0003] The main principle of the MRI method is that the electrocardiogram signal needs to be recorded simultaneously during the MRI scan. The electrocardiogram signal can be used to determine the cardiac phase at each time point and the cycle of the heart. MRI images with high temporal resolution can be obtained using fast imaging technology. Common fast imaging technologies include Fast Gradient Echo (FGRE) and Fast Spin Echo (FSE). By tracking the movement of the heart, the position and shape of the heart at different time points can be determined. Commonly used methods include methods based on region growing, methods based on feature points, methods based on manifold deformation, etc. After determining the position and shape of the heart at different time points, the interpolation method can be used to interpolate the heart images at different time points to obtain a complete three-dimensional model of the heart. In the interpolation process, factors such as the speed and acceleration of the heart movement need to be considered to obtain more accurate results. The MRI method requires the acquisition of multi-temporal cardiac MRI images. On the one hand, the amount of data obtained is large and the model generation process is complex. On the other hand, the two most important moments of the dynamic heart three-dimensional model are the maximum and minimum values ​​of a heart beat cycle, but it is difficult for MRI images to accurately obtain the values ​​of these two moments.

[0004] The basic principle of mapping technology is to place three pairs of electrodes with orthogonal spatial positions on the patient's body surface. The usual positions are the front chest-back, left armpit-right armpit, and the back of the neck-inner thigh. These three pairs of electrodes form a three-dimensional space in space, similar to the xyz three-axis of three-dimensional coordinates. When performing mapping, the catheter is sent to the heart through the thigh vein, and the catheter head has a device for collecting ECG signals. When performing mapping, the physician operates the catheter head to move forward, backward, bend, and rotate so that the catheter head can touch the heart's endothelium and determine the position of the catheter head in the coordinate system formed by the three pairs of electrodes. When the heart beats, the catheter head can beat with the endothelium, so it is easy to record the maximum and minimum values ​​of the same point beating in the coordinate system. After obtaining multiple endothelium points, the position changes of other endothelium points can be completed by interpolation. Interpolation is usually performed through triangulation technology. After obtaining three coordinate points, the three points are connected into a triangle, and the points in the middle of the triangle are filled using B-spline or linear interpolation methods to establish a dynamic three-dimensional model. The mapping method can accurately determine the maximum and minimum values, but the surface of the heart is complex and interpolation of the points in the middle of the triangle is difficult to reflect the changes in the surface. Summary of the invention

[0005] In order to solve the problem of inaccurate dynamic cardiac modeling in the prior art, the present invention provides a method and system for interpolating a dynamic three-dimensional mapping image.

[0006] In one aspect of the present invention, a method for interpolating a dynamic three-dimensional mapping image is provided, characterized in that the method comprises the following steps: performing MRI modeling on a target heart to obtain an MRI three-dimensional endocardial model; performing preliminary mapping on the target heart to obtain an inferior vena cava endocardial model; taking the inferior vena cava endocardial model as a reference, translating, rotating and scaling the MRI three-dimensional endocardial model to make the inferior vena cava endocardial model overlap with the endocardium of the MRI three-dimensional endocardial model; mapping the beating part of the target heart to obtain three mapping points, as well as the beating starting point coordinates and beating ending point coordinates of the three mapping points; the beating starting point coordinates of the three mapping points constitute a starting point triangular plane; the beating ending point coordinates of the three mapping points constitute an ending point triangular plane; obtaining the first MRI surface corresponding to the three mapping points in the MRI three-dimensional endocardial model; and interpolating the starting point triangular plane and the ending point triangular plane according to the first MRI surface.

[0007] Furthermore, obtaining the MRI surfaces corresponding to the three marking points in the MRI three-dimensional endothelial model includes: connecting the jump starting point coordinates and the jump ending point coordinates of each of the three marking points, and the connecting line and the starting point triangular plane and the ending point triangular plane form a pentahedron, and the part of the MRI three-dimensional endothelial model within the pentahedron is the first MRI surface.

[0008] Furthermore, interpolating the maximum value triangular plane and the minimum value triangular plane according to the first MRI curved surface includes: modifying the starting point triangular plane and the end point triangular plane into curved surfaces, so that the modified curved surfaces have a similarity with the first MRI curved surface greater than a first threshold.

[0009] Further, modifying the starting triangular plane and the end triangular plane into a curved surface so that the similarity between the modified curved surface and the first MRI curved surface is greater than a first threshold includes: stepwise modifying the coordinates of each point in the starting triangular plane and the end triangular plane, and calculating the similarity between the modified curved surface and the first MRI curved surface for each modification.

[0010] Calculate the similarity, the expression is

[0011]

[0012] Wherein, H(x, y) represents the similarity between the modified surface and the first MRI surface after each modification, η represents the Gaussian standard deviation, π represents pi, x and y represent the horizontal coordinate difference and vertical coordinate difference between the modified surface and the first MRI surface after each modification, π represents pi, and exp represents the exponential function with the natural constant e as the base in higher mathematics.

[0013] The present invention calculates the similarity between the modified surface and the first MRI surface for each modification, so as to accurately grasp the error after each modification, thereby making the MRI modeling more accurate. The similarity is obtained by calculating the errors of the horizontal and vertical coordinates. The method is simple and easy to understand, has a small amount of calculation, and can effectively improve the accuracy of MRI modeling.

[0014] Furthermore, after the starting point triangular plane and the ending point triangular plane are modified into curved surfaces so that the similarity between the modified curved surfaces and the MRI curved surface is greater than a first threshold, multiple curved surfaces similar to the first MRI curved surface are inserted between the jumping ending point curved surface and the jumping starting point curved surface.

[0015] The present invention also provides an interpolation system for dynamic three-dimensional mapping images, characterized in that the system includes the following modules: a modeling module, used to perform MRI modeling on the target heart to obtain an MRI three-dimensional endocardial model; a first mapping module, used to perform preliminary mapping on the target heart to obtain an inferior vena cava endocardial model; an adjustment module, used to translate, rotate and scale the MRI three-dimensional endocardial model based on the inferior vena cava endocardial model, so that the inferior vena cava endocardial model coincides with the endocardium of the MRI three-dimensional endocardial model; a second mapping module, used to map the beating part of the target heart to obtain three mapping points, as well as the coordinates of the beating starting point and the coordinates of the beating end point of the three mapping points; a first processing module, used to form a starting point triangular plane with the beating starting point coordinates of the three mapping points; and to form an end point triangular plane with the beating end point coordinates of the three mapping points; a second processing module, used to obtain the first MRI surface corresponding to the three mapping points in the MRI three-dimensional endocardial model; and an interpolation module, used to interpolate the starting point triangular plane and the end point triangular plane according to the first MRI surface.

[0016] Furthermore, obtaining the MRI surfaces corresponding to the three marking points in the MRI three-dimensional endothelial model includes: connecting the jump starting point coordinates and the jump ending point coordinates of each of the three marking points, and the connecting line and the starting point triangular plane and the ending point triangular plane form a pentahedron, and the part of the MRI three-dimensional endothelial model within the pentahedron is the first MRI surface.

[0017] Furthermore, interpolating the maximum value triangular plane and the minimum value triangular plane according to the first MRI curved surface includes: modifying the starting point triangular plane and the end point triangular plane into curved surfaces, so that the modified curved surfaces have a similarity with the first MRI curved surface greater than a first threshold.

[0018] Further, modifying the starting triangular plane and the end triangular plane into a curved surface so that the similarity between the modified curved surface and the first MRI curved surface is greater than a first threshold includes: stepwise modifying the coordinates of each point in the starting triangular plane and the end triangular plane, and calculating the similarity between the modified curved surface and the first MRI curved surface for each modification.

[0019] Furthermore, after the starting point triangular plane and the ending point triangular plane are modified into curved surfaces so that the similarity between the modified curved surfaces and the MRI curved surface is greater than a first threshold, multiple curved surfaces similar to the first MRI curved surface are inserted between the jumping ending point curved surface and the jumping starting point curved surface.

[0020] The present invention adopts the above technical scheme, after obtaining the inferior vena cava endothelial model, superimposes the MRI three-dimensional model on the inferior vena cava endothelial model, and when using the mapping points to establish the cardiac endothelial plane, the intermediate internal model surface provided by the MRI three-dimensional model is interpolated and corrected on the triangular plane to obtain a three-dimensional model that can better reflect the curvature of the cardiac endothelial surface;

[0021] In addition, the present invention calculates the similarity between the modified surface and the first MRI surface for each modification, so as to accurately grasp the error after each modification, making the MRI modeling more accurate. The similarity is obtained by calculating the errors of the horizontal and vertical coordinates. The method is simple and easy to understand, with a small amount of calculation, and can effectively improve the accuracy of MRI modeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the method of the present invention;

[0024] Figure 2 It is a schematic diagram of the jumping starting point and the jumping end point;

[0025] Figure 3 It is a schematic diagram of the jumping starting point plane and the jumping end point plane;

[0026] Figure 4 is a schematic diagram of the first MRI surface;

[0027] Figure 5 It is a schematic diagram of the interpolation results of the starting plane and the jumping end plane;

[0028] Figure 6 Schematic diagram of inserting multiple surfaces between the starting surface and the jumping end surface. DETAILED DESCRIPTION

[0029] Below, the invention is preferably described in conjunction with the accompanying drawings and specific implementation methods.

[0030] This embodiment solves the above problem through the following steps:

[0031] In one embodiment, reference Figure 1 , the present invention provides an interpolation method for a dynamic three-dimensional mapping map.

[0032] The method of this embodiment is a further improvement on the existing mapping system. It can be implemented by modifying the source code of the existing mapping system, or by an interface or plug-in program provided by the system. The mapping system described in this embodiment refers to the improved mapping system according to the method of this embodiment.

[0033] Perform MRI modeling on the target heart to obtain an MRI three-dimensional endocardial model.

[0034] The target heart refers to the heart to be three-dimensionally modeled. MRI modeling of the target heart first requires RMI scanning. The scanned structure is usually a plurality of RMI slice image data. And the scanned results are preprocessed, such as removing artifacts, image smoothing, grayscale standardization, etc. These steps can be completed by image processing software. Then, the heart is segmented, and the heart is separated from the MRI image using a segmentation algorithm. Traditional threshold segmentation, edge detection, region growth, horizontal line segmentation and other algorithms can be used, or deep learning methods such as U-Net can be used. After that, the segmented heart data is three-dimensionally reconstructed, and common three-dimensional visualization software such as Amira, Mimics, 3D Slicer, etc. can be used. During the reconstruction process, the slice data needs to be interpolated. It should be noted that the steps and techniques listed in the above MRI modeling are all conventional means in the prior art. As long as cardiac MRI modeling can be achieved, this embodiment does not make too many restrictions. This embodiment mainly models the endothelium of the heart, so the MRI modeling of this embodiment must include the endothelium model of the heart.

[0035] Perform preliminary mapping of the target heart and obtain the inferior vena cava endothelial model.

[0036] When mapping the patient's heart, the catheter is sent into the heart through the vein. When the catheter head contacts the heart's endothelium, the absolute coordinates of the catheter head relative to each electrode can be obtained based on the change in potential, thereby establishing a three-dimensional model of the contact part of the catheter head.

[0037] Exemplarily, taking Carto3 as an example, the catheter usually enters the inferior cavity first, and a three-dimensional model of the inferior cavity can be established by bending and rotating the catheter. Since the heart body is beating, dynamic modeling of the heart body is required. The inferior vena cava is the part that connects the vein to the heart, and it does not beat with the heart, so the model of the inferior vena cava part is stable. This embodiment uses the inferior vena cava as a link to connect the MRI heart model and the mapping heart model.

[0038] The inferior vena cava intima model is a model established in real time by the mapping system, and its coordinate system is determined according to the position of each electrode, so the coordinates of the inferior vena cava intima model are relative to the position of each electrode. The inferior vena cava intima model can be acquired in real time. After each change of the inferior vena cava intima model, the previously acquired intima model can be regarded as the inferior vena cava intima model, and the subsequent steps are executed after each change of the intima model. The inferior vena cava intima model can also be determined actively by the user. For example, when the doctor obtains the preliminary inferior vena cava intima model and determines that the RMI heart model can be matched through the intima model, the acquired intima model is confirmed as the inferior vena cava intima model on the operation interface.

[0039] The inferior vena cava endothelial model is used as a reference, and the MRI three-dimensional endothelial model is translated, rotated and scaled so that the inferior vena cava endothelial model overlaps with the endothelial membrane of the MRI three-dimensional endothelial model.

[0040] The inferior vena cava endothelial model is a real-time model displayed on the mapping system, which is a true reflection of the real heart. Therefore, the inferior vena cava endothelial model needs to be used as a reference, and the standard heart 3D model needs to be loaded into the same coordinate system as the inferior vena cava endothelial model, and have the same rotation and scaling level as the inferior vena cava endothelial model. For example, when the model of the upper chamber of the heart is determined using the mapping system, the upper chamber of the heart is displayed on the operation interface, and at this time, the standard heart 3D model is rotated, scaled, and translated so that the upper chamber of the standard heart 3D model coincides with the upper chamber of the inferior vena cava endothelial model.

[0041] Exemplarily, automatically rotating and scaling the internal model of the standard three-dimensional heart model so that the inferior vena cava endothelial model overlaps with the internal model of the standard three-dimensional heart model can be achieved by the following method:

[0042] Since the heart structure is complex and the curvature of the endocardium varies greatly, the curvature can be used as a feature. First, the feature points of the inferior vena cava endocardium model and the standard heart 3D model are extracted using the Harris Corner Detection algorithm. The similarity of the feature points of the inferior vena cava endocardium model and the standard heart 3D model is calculated, and the feature point pairs with a similarity greater than a certain threshold are determined as corresponding point pairs.

[0043] Corner detection algorithm, the expression is:

[0044]

[0045] Among them, R avg represents the average repeatability of each tested vena cava endothelial model, N o represents the number of corner points in the original test vena cava endothelial model, N t N represents the number of corner points in the transformed vena cava intima model. r Represents the number of corner points that overlap between the original test vena cava intima model and the converted vena cava intima model.

[0046] Feature point positioning error, the expression is:

[0047]

[0048] Among them, L e represents the average distance between the corner points detected in the original test standard heart 3D model and the corresponding corner points detected in the converted standard heart 3D model, represents the corner point pairs corresponding to the original test standard heart 3D model and the converted test standard heart 3D model, and k represents the number of iterations.

[0049] After obtaining the feature point pairs of the two models, the feature point matching algorithm can be used to calculate the transformation matrix; any matching algorithm in the prior art can be used to determine the transformation matrix, such as the RANSAC (RANdom SAmpleConsensus) algorithm, the Iterative Closest Point (ICP) algorithm, the Least Squares algorithm, etc. The specific algorithm is not specifically limited in this embodiment, and any other algorithm other than the above examples can also be used as long as the transformation matrix can be calculated. Based on the transformation matrix, the scaling, translation, and rotation parameters of the standard three-dimensional heart model relative to the inferior vena cava endothelial model can be determined; the standard three-dimensional heart model can be superimposed on the inferior vena cava endothelial model by scaling, translating, and rotating the standard three-dimensional heart model accordingly.

[0050] It should be noted that the above operations are all completed by program automation based on the mapping system, and can be achieved by modifying the source code of the mapping system, calling the API of the mapping system, or using plug-in programs.

[0051] The target heart beating part is mapped to obtain three mapping points and the coordinates of the beating start point and the beating end point of the three mapping points.

[0052] After correctly superimposing the MRI model on the mapping model, the main part of the heart, that is, the beating part, can be mapped. Due to the beating of the heart, when the catheter tip contacts the endothelium, the catheter tip will move with the contraction and expansion of the heart and brain. Figure 2 As shown in the figure, the solid line is the inner membrane of a part of the heart when it contracts to the maximum, and the dotted line is the inner membrane model of the part of the heart when it expands to the maximum. When the heart contracts to the minimum, points A1 and B1 are both points on the inner membrane at this time, which we call the beating starting point. When the heart expands, points A1 and B1 will follow the expansion of the heart and reach points A2 and B2. We call points A2 and B2 the beating end points; when the catheter head moves from A1 to A2 and from B1 to B2 with the beating of the heart, the coordinate values ​​of points A1, A2, B1, and B2 can be measured.

[0053] It should be noted that obtaining three mapping points is only a small step in the entire mapping process. During the mapping process, it is necessary to continuously obtain mapping points, and the mapping system continuously calls the method of this embodiment to perform measurement and interpolation to complete the establishment of the entire model.

[0054] The jump starting point coordinates of the three marking points constitute the starting point triangular plane; the jump ending point coordinates of the three marking points constitute the ending point triangular plane.

[0055] After measuring the three measuring points, the starting point coordinates and the ending point coordinates of the three points can be obtained. Figure 3 As shown, the coordinates of the jump starting points of the three measuring points can be combined into a starting point triangular plane, that is Figure 3 The dot-shaped shaded part in the figure; the coordinates of the three measured points can be combined into the end point triangular plane, that is Figure 3 The triangle in the shaded part of the strip in the figure. The starting triangle plane is the plane when the heart contracts, and the ending triangle plane is the plane when the heart expands.

[0056] Figure 3 Only a small triangle is shown in the figure. After the whole heart and the endocardium are mapped, multiple similar triangles can be obtained. Multiple similar triangles constitute the inner model curve of the whole heart. In the prior art, since there is no coordinate measurement inside the triangle, the coordinates inside the triangle are determined by interpolation, and the triangle is usually a plane. The size of the triangle is determined according to the measured density. This embodiment does not make any special limitation on the measured density. As long as the modeling is performed by the triangulation method, the scheme of this embodiment is applicable.

[0057] The first MRI surface corresponding to the three marking points in the MRI three-dimensional endocardial model is obtained.

[0058] According to the previous analysis, usually the triangle is a plane, but the surface is a curved surface, so the interpolation inside the triangle is inaccurate. The MRI three-dimensional endocardium reflects the heart model at a moment, but it is difficult to dynamically represent the beating of the heart. Figure 4 As shown in the figure, the surface filled with squares is the MRI three-dimensional endocardial surface, which can only reflect a moment in the heart beating process, but it can reflect the surface condition of the triangular part, so the first MRI surface corresponding to the three marking points in the MRI three-dimensional endocardial model is obtained. Figure 4 The filled part of the grid is the first MRI surface.

[0059] Furthermore, the coordinates of the jumping start point and the jumping end point of each of the three measurement points are connected, and the connecting line and the starting point triangular plane and the end point triangular plane form a pentahedron, and the part of the MRI three-dimensional endocardial model within the pentahedron is the first MRI curved surface. Figure 4 As shown in FIG. 1 , the starting triangle plane and the ending triangle plane form a pentahedron, and a part of the MRI three-dimensional endocardial model falls into the pentahedron. The part falling into the pentahedron is the first MRI surface, that is, Figure 4 The part of the grid that is filled.

[0060] The starting point triangular plane and the ending point triangular plane are interpolated according to the first MRI surface.

[0061] Since the MRI surface reflects the curvature of the part of the heart endothelium, the similarity between the mapping model and the real heart can be improved by interpolating the starting triangle plane and the ending triangle plane into a surface similar to the first MRI surface.

[0062] Specifically, the starting triangle plane and the end triangle plane are modified into a curved surface, so that the modified curved surface has a similarity with the first MRI curved surface greater than a first threshold. The coordinates of each point in the starting triangle plane and the end triangle plane can be modified step by step, and the similarity between the modified curved surface and the first MRI curved surface is calculated for each modification. When the similarity is greater than a threshold, it means that the starting triangle plane and the end triangle plane are similar to the MRI curved surface, which can reflect the real endocardial surface. Figure 5 As shown, the modified surface replaces the starting triangle plane and the end triangle plane to improve the accuracy of the model.

[0063] Calculate the similarity, the expression is

[0064]

[0065] Wherein, H(x, y) represents the similarity between the modified surface and the first MRI surface after each modification, η represents the Gaussian standard deviation, π represents pi, x and y represent the horizontal coordinate difference and vertical coordinate difference between the modified surface and the first MRI surface after each modification, π represents pi, and exp represents the exponential function with the natural constant e as the base in higher mathematics.

[0066] The present invention calculates the similarity between the modified surface and the first MRI surface for each modification, so as to accurately grasp the error after each modification, thereby making the MRI modeling more accurate. The similarity is obtained by calculating the errors of the horizontal and vertical coordinates. The method is simple and easy to understand, has a small amount of calculation, and can effectively improve the accuracy of MRI modeling.

[0067] Furthermore, if Figure 6 As shown, multiple surfaces similar to the first MRI surface are inserted between the jumping end point surface and the jumping start point surface ( Figure 6 The dotted line surface in the middle) is used to better show the dynamic beating of the heart.

[0068] It can be predicted that the aforementioned steps are only a method for updating one model point, and in the entire mapping process, the aforementioned steps can be repeated for any number of points that need to be corrected.

[0069] In another embodiment, the present invention further provides a dynamic three-dimensional map interpolation system, characterized in that the system comprises the following modules:

[0070] A modeling module, used for performing MRI modeling of the target heart to obtain an MRI three-dimensional endocardial model;

[0071] A first mapping module is used to perform preliminary mapping of the target heart and obtain an inferior vena cava endothelial model;

[0072] An adjustment module, used to translate, rotate and scale the MRI three-dimensional endothelial model based on the inferior vena cava endothelial model, so that the inferior vena cava endothelial model overlaps with the endothelial membrane of the MRI three-dimensional endothelial model;

[0073] The second mapping module is used to map the target heart beating part to obtain three mapping points and the coordinates of the beating start point and the beating end point of the three mapping points;

[0074] The first processing module is used for the jump starting point coordinates of the three measuring points to form a starting point triangular plane; the jump ending point coordinates of the three measuring points to form an ending point triangular plane;

[0075] The second processing module is used to obtain a first MRI curved surface corresponding to the three marking points in the MRI three-dimensional endocardial model;

[0076] The interpolation module is used to interpolate the starting point triangular plane and the ending point triangular plane according to the first MRI curved surface.

[0077] It should be noted that the detailed implementation principle and further improvement measures of the above-mentioned interpolation system for a dynamic three-dimensional mapping map are the same as the interpolation method of the aforementioned dynamic three-dimensional mapping map, and will not be described in detail in this embodiment. Those skilled in the art can implement it in the interpolation system of the dynamic three-dimensional mapping map based on the interpolation method of the dynamic three-dimensional mapping map according to the prior art.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

[0079] The present invention does not particularly specify the structure of some modules, which shall be subject to the contents recorded in the prior art. The prior art mentioned in the above background technology section and the specific embodiment section of the present invention can be used as part of the present invention to understand the meaning of some technical features or parameters. The scope of protection of the present invention shall be subject to the contents actually recorded in the claims.

Claims

1. A method for interpolating a dynamic three-dimensional map, characterized in that The method comprises the following steps: Perform MRI modeling on the target heart to obtain an MRI three-dimensional endocardial model; Perform preliminary mapping of the target heart to obtain the inferior vena cava endothelial model; Taking the inferior vena cava endothelial model as a reference, translating, rotating and scaling the MRI three-dimensional endothelial model so that the inferior vena cava endothelial model overlaps with the endothelial membrane of the MRI three-dimensional endothelial model; Mapping the target heart beating part to obtain three mapping points and the coordinates of the beating start point and the beating end point of the three mapping points; The coordinates of the jumping starting points of the three measuring points form a starting point triangular plane; the coordinates of the jumping ending points of the three measuring points form an ending point triangular plane; Obtaining a first MRI surface corresponding to the three marking points in the MRI three-dimensional endocardial model; Interpolate the starting triangle plane and the ending triangle plane according to the first MRI surface; Obtaining the MRI surfaces corresponding to the three marking points in the MRI three-dimensional endocardial model includes: connecting the jump starting point coordinates and the jump ending point coordinates of each of the three marking points, and the connecting line and the starting point triangular plane and the ending point triangular plane form a pentahedron, and the part of the MRI three-dimensional endocardial model within the pentahedron is the first MRI surface.

2. A method for interpolating a dynamic three-dimensional map according to claim 1, characterized in that Interpolating the maximum value triangular plane and the minimum value triangular plane according to the first MRI curved surface includes: modifying the starting point triangular plane and the end point triangular plane into curved surfaces, so that the modified curved surfaces have a similarity with the first MRI curved surface greater than a first threshold.

3. The method for interpolating a dynamic three-dimensional map according to claim 2, characterized in that: Modifying the starting point triangular plane and the end point triangular plane into a curved surface so that the similarity between the modified curved surface and the first MRI curved surface is greater than a first threshold includes: stepwise modifying the coordinates of each point in the starting point triangular plane and the end point triangular plane, and calculating the similarity between the modified curved surface and the first MRI curved surface for each modification.

4. A method for interpolating a dynamic three-dimensional map according to claim 2, characterized in that After modifying the starting point triangular plane and the ending point triangular plane into curved surfaces so that the similarity between the modified curved surfaces and the MRI curved surface is greater than a first threshold, multiple curved surfaces similar to the first MRI curved surface are inserted between the jumping ending point curved surface and the jumping starting point curved surface.

5. A dynamic three-dimensional mapping interpolation system, characterized in that The system includes the following modules: A modeling module, used for performing MRI modeling of the target heart to obtain an MRI three-dimensional endocardial model; A first mapping module is used to perform preliminary mapping of the target heart and obtain an inferior vena cava endothelial model; An adjustment module, used to translate, rotate and scale the MRI three-dimensional endothelial model based on the inferior vena cava endothelial model, so that the inferior vena cava endothelial model overlaps with the endothelial membrane of the MRI three-dimensional endothelial model; The second mapping module is used to map the target heart beating part to obtain three mapping points and the coordinates of the beating start point and the beating end point of the three mapping points; The first processing module is used for the jump starting point coordinates of the three measuring points to form a starting point triangular plane; the jump ending point coordinates of the three measuring points to form an ending point triangular plane; The second processing module is used to obtain a first MRI curved surface corresponding to the three marking points in the MRI three-dimensional endocardial model; An interpolation module, for interpolating a starting point triangular plane and an end point triangular plane according to the first MRI curved surface; Obtaining the MRI surfaces corresponding to the three marking points in the MRI three-dimensional endocardial model includes: connecting the jump starting point coordinates and the jump ending point coordinates of each of the three marking points, and the connecting line and the starting point triangular plane and the ending point triangular plane form a pentahedron, and the part of the MRI three-dimensional endocardial model within the pentahedron is the first MRI surface.

6. A dynamic three-dimensional mapping interpolation system according to claim 5, characterized in that Interpolating the maximum value triangular plane and the minimum value triangular plane according to the first MRI curved surface includes: modifying the starting point triangular plane and the end point triangular plane into curved surfaces, so that the modified curved surfaces have a similarity with the first MRI curved surface greater than a first threshold.

7. A dynamic three-dimensional map interpolation system according to claim 6, characterized in that: Modifying the starting point triangular plane and the end point triangular plane into a curved surface so that the similarity between the modified curved surface and the first MRI curved surface is greater than a first threshold includes: stepwise modifying the coordinates of each point in the starting point triangular plane and the end point triangular plane, and calculating the similarity between the modified curved surface and the first MRI curved surface for each modification.

8. A dynamic three-dimensional mapping interpolation system according to claim 6, characterized in that After modifying the starting point triangular plane and the ending point triangular plane into curved surfaces so that the similarity between the modified curved surfaces and the MRI curved surface is greater than a first threshold, multiple curved surfaces similar to the first MRI curved surface are inserted between the jumping ending point curved surface and the jumping starting point curved surface.

Images