Method, apparatus, device and medium for constructing a three-dimensional model of the heart

Abstract

The present application discloses a method, apparatus, device and medium for constructing a three-dimensional cardiac model, relating to the field of computer technology, including: controlling an intracardiac ultrasound catheter to move to a preset cardiac position; wherein, the intracardiac ultrasound catheter includes an ultrasound transducer and a magnetic positioning sensor with double-cross multi-degree-of-freedom, the sound energy radiation surface of the ultrasound transducer is a matching layer without a cutting seam structure, and the outer surface of the matching layer is a metal shielding layer; controlling the ultrasound transducer to perform phased array electronic scanning at each scanning point to generate two-dimensional ultrasound images; using the magnetic positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each scanning point; constructing a target three-dimensional cardiac model according to each first attitude information and each two-dimensional ultrasound image. The quality of the two-dimensional ultrasound images and the accuracy of the attitude information of the intracardiac ultrasound catheter are improved, thereby improving the accuracy of the constructed three-dimensional cardiac model.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and particularly to a method, device, equipment and medium for constructing a three-dimensional cardiac model. Background Art

[0002] During electrophysiological therapy surgeries, when performing various surgeries such as atrial fibrillation radiofrequency ablation, left atrial appendage occlusion, and atrial septal defect occlusion, the operator will simultaneously insert an intracardiac echocardiography (ICE) catheter into the heart for ultrasonic imaging, so as to achieve real-time and clear imaging of the intracardiac structure, accurately display the tissue structures of the heart and adjacent organs, make cardiovascular interventional therapy more intuitive, and shorten the surgical time. Traditional intracardiac echocardiography catheters can only be fluoroscoped by X-rays, and the attitude is subjectively judged by the surgeon, and specific attitude information such as the depth of the intracardiac echocardiography catheter in the X-ray irradiation direction cannot be determined.

[0003] Currently, magnetic positioning sensors have been added to intracardiac echocardiography catheters, but at the same time, more problems have emerged. The two-dimensional ultrasonic images are interfered by the magnetic field, and the magnetic positioning accuracy of the intracardiac echocardiography catheter is poor, resulting in inaccurate attitude information of the intracardiac echocardiography catheter obtained, and thus it is difficult to ensure the accuracy of the three-dimensional cardiac model constructed based on the two-dimensional ultrasonic images and the attitude information of the intracardiac echocardiography catheter.

[0004] In summary, it can be seen that how to improve the quality of two-dimensional ultrasonic images and the accuracy of the attitude information of the intracardiac echocardiography catheter, and thus improve the accuracy of the constructed three-dimensional cardiac model is a problem to be solved in this field. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for constructing a three-dimensional cardiac model, which can improve the quality of two-dimensional ultrasonic images and the accuracy of the attitude information of the intracardiac echocardiography catheter, and thus improve the accuracy of the constructed three-dimensional cardiac model. The specific solutions are as follows:

[0006] In the first aspect, the present application discloses a method for constructing a three-dimensional cardiac model, including:

[0007] Controlling the intracardiac echocardiography catheter to move to a preset cardiac position; wherein, the intracardiac echocardiography catheter includes an ultrasonic transducer and a magnetic positioning sensor with double-cross multi-degrees of freedom, the sound energy radiation surface of the ultrasonic transducer is a matching layer without cutting seams, and the outer surface of the matching layer is a metal shielding layer;

[0008] Controlling the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate two-dimensional ultrasonic images;

[0009] Detect the magnetic field generated by the preset electromagnetic coil using the magnetic positioning sensor to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points;

[0010] Construct a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasound images.

[0011] Optionally, the constructing a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasound images includes:

[0012] Map each pixel point in each of the two-dimensional ultrasound images to the world coordinate space according to each of the first attitude information to obtain respective volume data;

[0013] Construct a target cardiac three-dimensional model using the respective volume data.

[0014] Optionally, the mapping each pixel point in each of the two-dimensional ultrasound images to the world coordinate space according to each of the first attitude information to obtain respective volume data includes:

[0015] Determine the first coordinate transformation relationship between the space of the two-dimensional ultrasound image and the corresponding intracardiac ultrasound catheter space;

[0016] Determine the second coordinate transformation relationship between the intracardiac ultrasound catheter space and the world coordinate space;

[0017] Map each pixel point in each of the two-dimensional ultrasound images to the world coordinate space using the product of the first coordinate transformation relationship and the second coordinate transformation relationship to obtain respective volume data.

[0018] Optionally, the constructing a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasound images includes:

[0019] Use a segmentation algorithm to segment the cardiac chambers in each of the two-dimensional ultrasound images to obtain a segmentation result; wherein, the segmentation algorithm includes a region growing algorithm and a segmentation algorithm based on deep learning;

[0020] Extract the surface of the endocardium from the segmentation result;

[0021] Construct a target cardiac three-dimensional surface model based on each of the first attitude information and the surface of the endocardium.

[0022] Optionally, the method for constructing a cardiac three-dimensional model further includes:

[0023] Obtain the model difference information between the cardiac three-dimensional model constructed based on the magnetic and electrical dual positioning signals and the target cardiac three-dimensional model;

[0024] When receiving a first calibration instruction for the target three-dimensional heart model, calibrate the target three-dimensional heart model by using the model difference information;

[0025] When receiving a second calibration instruction for the three-dimensional heart model constructed based on the magneto-electric dual-positioning signals, calibrate the three-dimensional heart model constructed based on the magneto-electric dual-positioning signals by using the model difference information.

[0026] Optionally, the obtaining of the model difference information between the three-dimensional heart model constructed based on the magneto-electric dual-positioning signals and the target three-dimensional heart model includes:

[0027] Determine a first coordinate of a point to be compared in the three-dimensional heart model constructed based on the magneto-electric dual-positioning signals, and determine a second coordinate of the point to be compared in the target three-dimensional heart model;

[0028] Determine the difference between the first coordinate and the second coordinate as the model difference information between the three-dimensional heart model constructed based on the magneto-electric dual-positioning signals and the target three-dimensional heart model.

[0029] Optionally, the ultrasonic transducer includes piezoelectric materials for emitting and receiving ultrasonic waves, and the back surface of the acoustic energy radiation surface is a backing layer for absorbing the acoustic energy generated by the piezoelectric materials.

[0030] In a second aspect, the present application discloses a device for constructing a three-dimensional heart model, including:

[0031] A catheter control module for controlling an intracardiac ultrasound catheter to move to a preset heart location; wherein, the intracardiac ultrasound catheter includes an ultrasonic transducer and a magneto-positioning sensor with double-cross multi-degree of freedom, the acoustic energy radiation surface of the ultrasonic transducer is a matching layer without a cutting seam, and the outer surface of the matching layer is a metal shielding layer;

[0032] An image generation module for controlling the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image;

[0033] An attitude acquisition module for using the magneto-positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points;

[0034] A model construction module for constructing a target three-dimensional heart model according to each of the first attitude information and each of the two-dimensional ultrasonic images.

[0035] In a third aspect, the present application discloses an electronic device, including:

[0036] A memory for storing a computer program;

[0037] A processor for executing the computer program to implement the steps of the previously disclosed method for constructing a three-dimensional cardiac model.

[0038] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the steps of the previously disclosed method for constructing a three-dimensional cardiac model are implemented.

[0039] The beneficial effects of the present application are as follows: The present application controls an intracardiac ultrasound catheter to move to a preset cardiac site; wherein, the intracardiac ultrasound catheter includes an ultrasound transducer and a magnetic positioning sensor with double-cross multi-degree of freedom, the acoustic energy radiation surface of the ultrasound transducer is a matching layer without a cut seam structure, and the outer surface of the matching layer is a metal shielding layer; controls the ultrasound transducer to perform phased electronic scanning at each scanning point to generate two-dimensional ultrasound images; uses the magnetic positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points; constructs a target three-dimensional cardiac model based on each of the first attitude information and each of the two-dimensional ultrasound images. It can be seen that the acoustic energy radiation surface of the ultrasound transducer in the intracardiac ultrasound catheter of the present application is a matching layer without a cut seam structure, which can perform surface secondary processing, that is, the outer surface of the matching layer can be plated with a metal shielding layer, preventing the metal material of the secondary processing from entering the cut seam and causing the short circuit of the transducer signal and the functional ground. The metal shielding layer realizes the shielding of electromagnetic and optical radiation signals, and high-quality two-dimensional ultrasound images can be obtained in various electromagnetic and optical radiation fields; further, the magnetic positioning sensor with double-cross multi-degree of freedom has the characteristic of high signal-to-noise ratio compared with the single magnetic positioning sensor in the prior art, can improve the accuracy of the attitude information of the intracardiac ultrasound catheter, provides a strong guarantee for constructing a target three-dimensional cardiac model based on each of the attitude information of the intracardiac ultrasound catheter and each of the two-dimensional ultrasound images, and obtains a more accurate target three-dimensional cardiac model. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings according to the provided drawings without creative efforts.

[0041] Figure 1 It is a flowchart of a method for constructing a three-dimensional cardiac model disclosed in the present application;

[0042] Figure 2 It is a schematic diagram of a specific intracardiac ultrasound catheter disclosed in the present application;

[0043] Figure 3 Schematic diagram of a specific intracardiac ultrasound catheter tip disclosed in this application;

[0044] Figure 4 Schematic diagram of a specific ultrasonic transducer disclosed in this application;

[0045] Figure 5 Schematic diagram of a specific construction of a three-dimensional cardiac model disclosed in this application;

[0046] Figure 6 Schematic diagram of the structure of a device for constructing a three-dimensional cardiac model disclosed in this application;

[0047] Figure 7 Schematic diagram of the structure of an electronic device disclosed in this application. Specific embodiments

[0048] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] During electrophysiological treatment surgeries, when performing various surgeries such as atrial fibrillation radiofrequency ablation, left atrial appendage occlusion, and atrial septal defect occlusion, the operator will simultaneously insert an intracardiac ultrasound catheter (Intracardiac Echocardiography, i.e., ICE) into the heart for ultrasonic imaging, so as to achieve real-time and clear imaging of the intracardiac structure, accurately display the tissue structures of the heart and adjacent organs, make cardiovascular interventional treatment more intuitive, and shorten the surgical time. Traditional intracardiac ultrasound catheters can only be fluoroscoped by X-rays, and the attitude is subjectively judged by the surgeon, and specific attitude information such as the depth of the intracardiac ultrasound catheter in the X-ray irradiation direction cannot be determined.

[0050] Currently, magnetic positioning sensors have been added to intracardiac ultrasound catheters, but at the same time, more problems have emerged. The two-dimensional ultrasonic images are interfered by the magnetic field, and the magnetic positioning accuracy of the intracardiac ultrasound catheter is poor, resulting in inaccurate attitude information of the intracardiac ultrasound catheter obtained, and thus it is difficult to ensure the accuracy of the three-dimensional cardiac model constructed based on the two-dimensional ultrasonic images and the attitude information of the intracardiac ultrasound catheter.

[0051] Therefore, this application correspondingly provides a solution for constructing a three-dimensional cardiac model, improving the quality of two-dimensional ultrasonic images and the accuracy of the attitude information of the intracardiac ultrasound catheter, and thus improving the accuracy of the constructed three-dimensional cardiac model.

[0052] SeeFigure 1 As shown in the figure, an embodiment of the present application discloses a method for constructing a three-dimensional cardiac model, including:

[0053] Step S11: Control the intracardiac ultrasound catheter to move to a preset cardiac site; wherein, the intracardiac ultrasound catheter includes an ultrasonic transducer and a magnetic positioning sensor with double-cross multi-degree-of-freedom, the acoustic energy radiation surface of the ultrasonic transducer is a matching layer without a cutting seam, and the outer surface of the matching layer is a metal shielding layer.

[0054] In this embodiment, the ultrasonic transducer includes a piezoelectric material for transmitting and receiving ultrasonic waves, and the back surface of the acoustic energy radiation surface is a backing layer for absorbing the acoustic energy generated by the piezoelectric material. For example Figure 2 As shown in a specific schematic diagram of an intracardiac ultrasound catheter, the intracardiac ultrasound catheter mainly consists of a head end, a catheter body, a handle, and a connector. The handle is operated by a rotating wheel to control the head end of the catheter to bend in 4 directions, enabling the imaging fan surface of the ultrasonic transducer to emit in multiple angles. The connector is mainly used to connect the catheter to a communication cable, making the entire ICE a consumable. For example Figure 3 As shown in a specific schematic diagram of the head end of an intracardiac ultrasound catheter, the head end encapsulates an ultrasonic transducer and a magnetic positioning sensor.

[0055] The ultrasonic transducer consists of a piezoelectric material, a matching layer, a backing layer, a signal communication unit, a surface anti-interference layer, and a lens encapsulation layer. For example Figure 4 As shown in a specific schematic diagram of the ultrasonic transducer, specifically as follows:

[0056] 1) The piezoelectric material converts mechanical waves and electrical signals through the piezoelectric effect, respectively for transmitting and receiving ultrasonic waves;

[0057] 2) The matching layer has no cutting seam structure. On the acoustic energy radiation surface of the piezoelectric material, by matching (transitioning) the acoustic impedance of the piezoelectric material (high acoustic impedance) and the lens (low acoustic impedance), it can better transmit the acoustic energy generated by the piezoelectric material, achieving the effect of reducing acoustic energy loss and improving the sensitivity of the transducer; further, the acoustic energy radiation surface adopts a matching layer with a special non-cutting seam structure, which can perform surface secondary processing, that is, shielding processes such as plating a metal film and covering a metal mesh, without allowing the metal materials for secondary processing to enter the cutting seam, resulting in a short circuit between the transducer signal and the functional ground;

[0058] 3) The backing layer is on the back surface of the acoustic energy radiation surface of the piezoelectric material, and reduces interference to the radiation surface by absorbing the acoustic energy generated on the back surface of the piezoelectric material;

[0059] 4) The signal communication unit is located in the layer below the backing layer and is an FPC flexible printed circuit board (Flexible Printed Circuit Board, i.e., a flexible circuit board) or a coaxial cable. In this embodiment, the sub-arrays of the ultrasonic transducers are arranged in a one-dimensional manner (1 row and N columns) and are composed of dozens to hundreds of sub-elements arranged. Each sub-element can emit ultrasonic waves independently. Through phased array control of the ultrasonic imaging system, electronic scanning imaging is performed. The communication unit plays the role of connecting the sub-elements and the ultrasonic imaging system for signal excitation and signal reception.

[0060] 5) The surface anti-interference layer is on the outer surface of the matching layer. By covering a metal shielding layer, such as a metal thin film or a metal mesh, on the surface of the ultrasonic transducer and connecting it to the ultrasonic imaging system, it can shield external electromagnetic interference without affecting the imaging quality of the ultrasonic image, obtaining a higher-quality ultrasonic image.

[0061] [[ID=[6]]6) The encapsulation lens is usually made of Pebax material with good acoustic energy permeability (a high-performance polymer or nylon elastomer). It can not only protect the distal end of the catheter from water and insulation, etc., but also transmit acoustic energy for ultrasonic imaging.

[0062] In this embodiment, the magnetic positioning sensor adopts a double-cross multi-degree-of-freedom encapsulation method. As Figure 3 shown, the double-cross magnetic positioning sensor does not increase the physical size and can preset the crossing angle according to specific usage requirements. The larger the crossing angle, the greater the accuracy of the obtained attitude information and the higher the signal-to-noise ratio. Therefore, in this embodiment, the accuracy of the attitude information of the intracardiac ultrasonic catheter can be improved without increasing the outer diameter of the intracardiac ultrasonic catheter.

[0063] Step S12: Control the ultrasonic transducer to perform phased array electronic scanning at each scanning point to generate a two-dimensional ultrasonic image.

[0064] For example Figure 5 As shown in a specific schematic diagram of constructing a three-dimensional model of the heart, after the intracardiac ultrasonic catheter punctures the femoral vein to establish a channel, it is sent to the heart through the blood vessel and used in cooperation with a supporting ultrasonic diagnostic instrument. Control the ultrasonic transducer to emit mechanical ultrasonic waves. The sound waves propagate through the medium and generate echoes where the density changes. Then, the received echoes are processed by a computer to provide real-time high-resolution image information. That is, the ultrasonic transducer emits mechanical ultrasonic waves to the tissue, receives the echoes generated by the tissue, and then transmits the echoes to the ultrasonic imaging system for two-dimensional imaging of the tissue, obtaining two-dimensional ultrasonic images corresponding to each scanning point. The ultrasonic imaging component uses a phased array transducer, and the array element material is single-crystal ceramic, which is encapsulated inside the distal end of the catheter.

[0065] Step S13: Detect the magnetic field generated by a preset electromagnetic coil using the magnetic positioning sensor, so as to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points.

[0066] An electromagnetic coil is pre-set in the operating room. For example, an electromagnetic coil is installed under the operating table. The electromagnetic coil generates a spatially encoded magnetic field. By detecting this magnetic field using the magnetic positioning sensor, the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points can be obtained.

[0067] Step S14: Construct a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasound images.

[0068] In a specific embodiment, the constructing a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasound images includes: mapping each pixel point in each of the two-dimensional ultrasound images to the world coordinate space according to each of the first attitude information, so as to obtain each volume data; constructing a target cardiac three-dimensional model using each of the volume data. In this embodiment, each pixel point in each of the two-dimensional ultrasound images is mapped to the world coordinate space according to each of the first attitude information, so as to obtain each volume data, completing the reconstruction of the volume data; there is no need to first perform segmentation of the cardiac chambers. Instead, by directly sampling the data points of the entire reconstructed volume and combining transparency and color information to visually represent different tissue densities and types, this way of directly rendering the reconstructed volume data into an image will supplement the display result as the number of sector scans increases, and the spatial relationships of all structures within the target area can be viewed from any angle.

[0069] In this embodiment, the mapping each pixel point in each of the two-dimensional ultrasound images to the world coordinate space according to each of the first attitude information, so as to obtain each volume data includes: determining a first coordinate transformation relationship between the space of the two-dimensional ultrasound image and the corresponding intracardiac ultrasound catheter space; determining a second coordinate transformation relationship between the intracardiac ultrasound catheter space and the world coordinate space; using the product of the first coordinate transformation relationship and the second coordinate transformation relationship to map each pixel point in each of the two-dimensional ultrasound images to the world coordinate space, so as to obtain each volume data. Determine the first coordinate transformation relationship A between the space of the two-dimensional ultrasound image and the corresponding intracardiac ultrasound catheter space. The coordinates in the space of the two-dimensional ultrasound image are represented as (X us , Y us , Z us ), and the coordinates in the intracardiac ultrasound catheter space are represented as (X sensor , Y sensor , Z sensor), further, determining a second coordinate transformation relationship R between the intracardiac ultrasound catheter space and the world coordinate space probe , the coordinates in the world coordinate space are represented as (X 3D , Y 3D , Z 3D ), and then mapping each pixel point T in each two-dimensional ultrasound image us to the world coordinate space to obtain the coordinates T 3D in the world coordinate space, that is, the volume data. The specific formula is as follows:

[0070] T 3D = R probe · A · T us .

[0071] In another specific embodiment, the constructing the target cardiac three-dimensional model according to each of the first pose information and each of the two-dimensional ultrasound images includes: using a segmentation algorithm to perform cardiac chamber segmentation on each of the two-dimensional ultrasound images to obtain a segmentation result; wherein, the segmentation algorithm includes a region growing algorithm and a deep learning-based segmentation algorithm; extracting the surface of the endocardium from the segmentation result; constructing a target cardiac three-dimensional surface model according to each of the first pose information and the surface of the endocardium. First, it is necessary to segment the cardiac chambers. There are various segmentation algorithms. For example, using the region growing algorithm to perform cardiac chamber segmentation on each two-dimensional ultrasound image. Since the position and pixel values of the cardiac chambers in the body are relatively fixed, the seed points of region growing are within a predetermined area, and as the number of fan scans increases, the three-dimensional ultrasound reconstruction result becomes more perfect, and the region growing result will also be adjusted accordingly with the improvement of the reconstruction result. Another example is using a deep learning-based segmentation algorithm to perform cardiac chamber segmentation on each two-dimensional ultrasound image, automatically identifying the cardiac chamber region, and adjusting the segmentation result as the fan increases. After segmenting the cardiac chamber results, the surface of the endocardium is extracted, and then these surfaces are rendered into images, and finally, these data points are used to generate an endocardial three-dimensional surface model.

[0072] In this embodiment, it further includes: obtaining model difference information between the cardiac three-dimensional model constructed based on the magneto-electric dual positioning signal and the target cardiac three-dimensional model; when receiving a first calibration instruction for the target cardiac three-dimensional model, calibrating the target cardiac three-dimensional model using the model difference information; when receiving a second calibration instruction for the cardiac three-dimensional model constructed based on the magneto-electric dual positioning signal, calibrating the cardiac three-dimensional model constructed based on the magneto-electric dual positioning signal using the model difference information. The cardiac three-dimensional model constructed based on the magneto-electric dual positioning signal mainly refers to using a conventional catheter equipped with a magnetic positioning sensor and an electric positioning sensor. Since this catheter uses multiple groups of sensors, the positioning accuracy is relatively high. By moving the catheter on the cardiac chamber wall, the cardiac chamber wall in the world coordinate system T3D2 The position information therein (coordinates are represented as X 3D2 , Y 3D2 , Z 3D2 ), as the position data increases, the geometric shape of the cardiac chamber becomes more plump and more consistent with the actual cardiac chamber. However, there is complementary information between the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal and the target three-dimensional cardiac model constructed based on ultrasound in this embodiment. Therefore, the model calibration can be performed using the model difference information between them. That is to say, if the user issues a calibration instruction for the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal, the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal is calibrated using the model difference information. If the user issues a calibration instruction for the target three-dimensional cardiac model, the target three-dimensional cardiac model is calibrated using the model difference information.

[0073] In this embodiment, obtaining the model difference information between the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal and the target three-dimensional cardiac model includes: determining the first coordinates of the points to be compared in the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal, and determining the second coordinates of the points to be compared in the target three-dimensional cardiac model; determining the difference between the first coordinates and the second coordinates as the model difference information between the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal and the target three-dimensional cardiac model. Since the three-dimensional cardiac model constructed based on the magnetoelectric dual-positioning signal and the target three-dimensional cardiac model in this embodiment are in the same three-dimensional space, their cardiac chamber models should theoretically be the same. At any position (i.e., the point to be compared), by calculating T 3D2 -T 3D to obtain the difference T between the three-dimensional cardiac model based on ultrasound and the three-dimensional model constructed based on magnetic signal positioning 3D_diff .

[0074] The beneficial effects of this application are as follows: This application controls an intracardiac ultrasound catheter to move to a preset cardiac location. Among them, the intracardiac ultrasound catheter includes an ultrasonic transducer and a magnetic positioning sensor with a double-cross multi-degree-of-freedom. The acoustic energy radiation surface of the ultrasonic transducer is a matching layer without a cutting seam, and the outer surface of the matching layer is a metal shielding layer. Control the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image. Use the magnetic positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each scanning point. Construct a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasonic images. Thus, it can be seen that the acoustic energy radiation surface of the ultrasonic transducer in the intracardiac ultrasound catheter of this application is a matching layer without a cutting seam, which can perform surface secondary processing. That is, the outer surface of the matching layer can be plated with a metal shielding layer to prevent the metal material of the secondary processing from entering the cutting seam, resulting in a short circuit between the transducer signal and the functional ground. The metal shielding layer realizes the shielding of electromagnetic and optical radiation signals, and high-quality two-dimensional ultrasonic images can be obtained in various electromagnetic and optical radiation fields. Further, compared with the single magnetic positioning sensor in the prior art, the magnetic positioning sensor with a double-cross multi-degree-of-freedom has the characteristic of high signal-to-noise ratio, can improve the accuracy of the attitude information of the intracardiac ultrasound catheter, provides a strong guarantee for constructing a target cardiac three-dimensional model based on each intracardiac ultrasound catheter attitude information and each two-dimensional ultrasonic image, and obtains a more accurate target cardiac three-dimensional model.

[0075] See Figure 6 As shown, an embodiment of this application discloses a device for constructing a cardiac three-dimensional model, including:

[0076] A catheter control module 11 for controlling an intracardiac ultrasound catheter to move to a preset cardiac location. Among them, the intracardiac ultrasound catheter includes an ultrasonic transducer and a magnetic positioning sensor with a double-cross multi-degree-of-freedom. The acoustic energy radiation surface of the ultrasonic transducer is a matching layer without a cutting seam, and the outer surface of the matching layer is a metal shielding layer;

[0077] An image generation module 12 for controlling the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image;

[0078] An attitude acquisition module 13 for using the magnetic positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each scanning point;

[0079] A model construction module 14 for constructing a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasonic images.

[0080] The beneficial effects of this application are as follows: This application controls the intracardiac ultrasound catheter to move to a preset cardiac site. Among them, the intracardiac ultrasound catheter includes an ultrasonic transducer and a magnetic positioning sensor with double-cross multi-degree of freedom. The acoustic energy radiation surface of the ultrasonic transducer is a matching layer without a cutting seam, and the outer surface of the matching layer is a metal shielding layer. Control the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image. Use the magnetic positioning sensor to detect the magnetic field generated by a preset electromagnetic coil to obtain the first attitude information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each scanning point. Construct a target cardiac three-dimensional model based on each of the first attitude information and each of the two-dimensional ultrasonic images. It can be seen that the acoustic energy radiation surface of the ultrasonic transducer in the intracardiac ultrasound catheter of this application is a matching layer without a cutting seam, which can perform surface secondary processing. That is, the outer surface of the matching layer can be plated with a metal shielding layer to prevent the metal material of the secondary processing from entering the cutting seam, resulting in a short circuit between the transducer signal and the functional ground. The metal shielding layer realizes the shielding of electromagnetic and optical radiation signals, and high-quality two-dimensional ultrasonic images can be obtained in various electromagnetic and optical radiation fields. Further, compared with the single magnetic positioning sensor in the prior art, the magnetic positioning sensor with double-cross multi-degree of freedom has the characteristic of high signal-to-noise ratio, which can improve the accuracy of the attitude information of the intracardiac ultrasound catheter, provide a strong guarantee for constructing a target cardiac three-dimensional model based on each intracardiac ultrasound catheter attitude information and each two-dimensional ultrasonic image, and obtain a more accurate target cardiac three-dimensional model.

[0081] Further, the embodiment of this application also provides an electronic device. Figure 7 It is a structural diagram of an electronic device 20 shown according to an exemplary embodiment. The content in the figure cannot be regarded as any limitation on the scope of use of this application.

[0082] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. Among them, the memory 22 is used to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the cardiac three-dimensional model construction method executed by the electronic device disclosed in any of the foregoing embodiments.

[0083] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device; the communication interface 24 can create a data transmission channel between the electronic device and external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of this application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is imposed here.

[0084] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0085] In addition, as a carrier for resource storage, the memory 22 may be a read-only memory, a random access memory, a disk, or an optical disc, etc. The resources stored thereon include an operating system 221, a computer program 222, and data 223, etc. The storage method may be short-term storage or permanent storage.

[0086] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device, so as to implement the operation and processing of the massive data 223 in the memory 22 by the processor 21. It may be Windows, Unix, Linux, etc. In addition to the computer program that can be used to complete the method for constructing a three-dimensional heart model performed by the electronic device disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program that can be used to complete other specific tasks. The data 223 may include not only the data transmitted by external devices received by the electronic device, but also the data collected by its own input / output interface 25, etc.

[0087] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the method for constructing a three-dimensional heart model disclosed above is implemented. For the specific steps of this method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details will not be repeated here.

[0088] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0089] Those skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application. The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable EPROM (Erasable Programmable Read Only Memory), electrically erasable programmable EEPROM (Electrically Erasable Programmable read only memory), registers, hard disks, removable disks, CD-ROM (Compact Disc Read-Only Memory), or any other form of storage medium well-known in the technical field.

[0090] Finally, it should also be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0091] The above has introduced in detail a method, device, equipment and medium for constructing a three-dimensional heart model. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for constructing a three-dimensional heart model, characterized in that: include: Controlling the movement of an intracardiac ultrasound catheter to a preset cardiac location; wherein the intracardiac ultrasound catheter comprises an ultrasonic transducer and a double-cross multi-degree-of-freedom magnetic positioning sensor, the acoustic energy radiation surface of the ultrasonic transducer being a matching layer with a non-cutting seam structure, and the outer surface of the matching layer being a metal shielding layer; controlling the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image; Utilizing the magnetic positioning sensor to detect the magnetic field generated by the preset electromagnetic coil, so as to obtain first posture information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points; constructing a three-dimensional model of the target heart according to each piece of the first posture information and each of the two-dimensional ultrasound images; The step of constructing a three-dimensional model of the target heart according to each of the first posture information and each of the two-dimensional ultrasound images includes: Mapping each pixel point in each of the two-dimensional ultrasound images to a world coordinate space according to each of the first posture information to obtain each volume data; and constructing a three-dimensional model of the target heart using each of the volume data; The constructing of a three-dimensional model of the target heart according to each of the first posture information and each of the two-dimensional ultrasound images includes: Performing cardiac chamber segmentation on each of the two-dimensional ultrasound images using a segmentation algorithm to obtain a segmentation result; wherein the segmentation algorithm includes a region growing algorithm and a deep learning-based segmentation algorithm; extracting a surface of the cardiac cavity endocardium from the segmentation result; and constructing a three-dimensional surface model of the target heart based on each of the first posture information and the surface of the cardiac cavity endocardium; The method for constructing a three-dimensional heart model further includes: Rendering the volume data by combining transparency and color information to represent different tissue densities and types; The method for constructing a three-dimensional heart model further includes: Obtain model difference information between the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal and the target three-dimensional heart model; if a first calibration instruction for the target three-dimensional heart model is received, calibrate the target three-dimensional heart model using the model difference information; if a second calibration instruction for the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal is received, calibrate the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal using the model difference information.

2. The method for constructing a three-dimensional heart model according to claim 1, wherein: Mapping each pixel point in each of the two-dimensional ultrasound images to a world coordinate space according to each of the first posture information to obtain each volume data includes: Determining a first coordinate transformation relationship between the space of the two-dimensional ultrasound image and the corresponding space of the intracardiac ultrasound catheter; Determining a second coordinate transformation relationship between the intracardiac ultrasound catheter space and the world coordinate space; Each pixel point in each of the two-dimensional ultrasound images is mapped to a world coordinate space by multiplying the first coordinate transformation relationship by the second coordinate transformation relationship to obtain each volume data.

3. The method for constructing a three-dimensional heart model according to claim 1, wherein: The acquiring of model difference information between the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal and the target three-dimensional heart model includes: Determining first coordinates of a point to be compared in a three-dimensional heart model constructed based on the magnetoelectric dual positioning signal, and determining second coordinates of the point to be compared in the three-dimensional heart model of the target heart; The difference between the first coordinate and the second coordinate is determined as model difference information between the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal and the target three-dimensional heart model.

4. The method for constructing a three-dimensional heart model according to claim 1, wherein: The ultrasonic transducer includes a piezoelectric material for emitting and receiving ultrasonic waves, and the back side of the acoustic energy radiation surface is a backing layer for absorbing the acoustic energy generated by the piezoelectric material.

5. A device for constructing a three-dimensional heart model, characterized in that: include: a catheter control module, configured to control the movement of an intracardiac ultrasound catheter to a predetermined cardiac location; wherein the intracardiac ultrasound catheter comprises an ultrasound transducer and a double-cross multi-degree-of-freedom magnetic positioning sensor; the acoustic energy radiation surface of the ultrasound transducer is a matching layer with a non-cutting seam structure, and the outer surface of the matching layer is a metal shielding layer; an image generation module, configured to control the ultrasonic transducer to perform phased electronic scanning at each scanning point to generate a two-dimensional ultrasonic image; a posture acquisition module, configured to use the magnetic positioning sensor to detect the magnetic field generated by the preset electromagnetic coil, so as to acquire first posture information of the intracardiac ultrasound catheter in the intracardiac ultrasound catheter space corresponding to each of the scanning points; a model building module, configured to build a three-dimensional model of the target heart according to each of the first posture information and each of the two-dimensional ultrasound images; Wherein, the model building module is specifically used to: Mapping each pixel point in each of the two-dimensional ultrasound images to a world coordinate space according to each of the first posture information to obtain each volume data; and constructing a three-dimensional model of the target heart using each of the volume data; The model building module is specifically used to: Performing cardiac chamber segmentation on each of the two-dimensional ultrasound images using a segmentation algorithm to obtain a segmentation result; wherein the segmentation algorithm includes a region growing algorithm and a deep learning-based segmentation algorithm; extracting a surface of the cardiac cavity endocardium from the segmentation result; and constructing a three-dimensional surface model of the target heart based on each of the first posture information and the surface of the cardiac cavity endocardium; The device for constructing a three-dimensional heart model is specifically used for: Rendering the volume data by combining transparency and color information to represent different tissue densities and types; The device for constructing a three-dimensional heart model is specifically used for: Obtain model difference information between the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal and the target three-dimensional heart model; if a first calibration instruction for the target three-dimensional heart model is received, calibrate the target three-dimensional heart model using the model difference information; if a second calibration instruction for the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal is received, calibrate the three-dimensional heart model constructed based on the magnetoelectric dual positioning signal using the model difference information.

6. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is configured to execute the computer program to implement the steps of the method for constructing a three-dimensional heart model according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that Used to store a computer program; wherein, when the computer program is executed by a processor, the steps of the method for constructing a three-dimensional heart model according to any one of claims 1 to 4 are implemented.

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