Control method and control device of intracardiac ultrasound catheter and electronic equipment

Abstract

The invention discloses a control method and device of an intracardiac ultrasound catheter and electronic equipment, and belongs to the field of cardiac interventional therapy. The control method of the intracardiac ultrasound catheter comprises the following steps: determining a to-be-moved target position of the end part of the catheter, wherein the target position is a position reached by the end part of the catheter after movement; determining the corresponding relation between the operation of the operation end and the moving track of the end part of the catheter; based on the corresponding relation and the target position, the operation end is controlled to operate, so that the end of the catheter moves to the target position. In the embodiment of the invention, the doctor does not need to spend a long time in learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient, and the treatment efficiency of the patient is improved.

Description

Technical Field

[0001] The present application belongs to the field of cardiac interventional therapy, and specifically relates to a control method, a control device, a device and a storage medium for an intracardiac ultrasonic catheter. Background Art

[0002] In cardiology treatment, specifically in cardiac interventional treatment, intracardiac ultrasound catheters have become an indispensable imaging display device, which introduces high-definition ultrasound probes into the heart through vascular intervention to provide high-resolution, real-time intracardiac ultrasound images. Intracardiac ultrasound catheters can achieve spatial movements such as translation, rotation, forward / backward bending, and left / right bending through a control handle, and can obtain ultrasound images at various angles in the heart cavity. However, due to material reasons, the movement of ultrasound catheters cannot achieve high-precision motion control. Doctors need a long learning period before using intracardiac ultrasound catheters for surgery, resulting in low treatment efficiency for patients. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a control method, a control device, an electronic device and a storage medium for an intracardiac ultrasound catheter, which can solve the problem that it is difficult for doctors to operate an intracardiac ultrasound catheter and the learning cycle is long, resulting in low treatment efficiency for patients.

[0004] In a first aspect, an embodiment of the present application provides a control method for an intracardiac ultrasound catheter, which is used to control an intracardiac ultrasound catheter, wherein the intracardiac ultrasound catheter comprises an operating end and a catheter, wherein the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter; the control method comprises: Determining a target position to which the end of the catheter is to be moved, the target position being a position to be reached by the end of the catheter after the movement; Determining a correspondence between an operation of the operating end and a movement trajectory of the end of the catheter; Based on the corresponding relationship and the target position, the operation end is controlled to operate so that the end of the catheter moves to the target position.

[0005] Optionally, the operating end has an operating handle, the operating handle can rotate relative to the operating end, and the operating handle operates the catheter to move according to a first operation, a second operation, and a third operation respectively, and the determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter includes: Constructing a coordinate system associated with the end of the catheter, the coordinate system comprising three mutually perpendicular coordinate axes, the three coordinate axes comprising an X-axis, a Y-axis, and a Z-axis; Determine a first angle at which the end of the catheter is bent in a direction perpendicular to the Y axis when the operating handle moves the catheter according to the first operating operation, determine a second angle at which the end of the catheter is bent in a direction perpendicular to the X axis when the operating handle moves the catheter according to the second operating operation, and determine a third angle at which the end of the catheter is bent in a direction perpendicular to the Z axis when the operating handle moves the catheter according to the third operating operation; Based on the first angle, the second angle, and the third angle, a correspondence between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

[0006] Optionally, the determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter based on the first angle, the second angle, the third angle and the moving distance includes: determining the size of the radius of the conduit and the length of the curved section of the conduit; determining a curvature of an end portion of the conduit based on a size of a radius of the conduit; determining a radius of curvature of the catheter based on the curvature of the end of the catheter and the length of the curved section of the catheter; determining the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; Based on the spatial coordinates of the end of the catheter, the first angle, and the second angle, a corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

[0007] Optionally, determining the curvature of the end of the catheter based on the radius of the catheter comprises: Determine a first wire-pulling change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to the first operation; Determining a second wire-pulling change amount of the end of the catheter in a direction perpendicular to the Y-axis when the operating handle moves the catheter according to the second operation; The curvature of the end of the catheter is determined based on the first pull-wire variation, the second pull-wire variation, the size of the radius of the catheter, and the length of the curved section of the catheter.

[0008] Optionally, the operating end is provided with an operating handle, the operating handle can rotate relative to the operating end, the end of the catheter is provided with a positioning sensor, and the determining the correspondence between the operation of the operating end and the movement track of the end of the catheter includes: Acquiring initial data of the positioning sensor, and determining an initial spatial position of the end of the catheter based on the initial data of the positioning sensor; When the operating handle moves, obtaining movement data of the positioning sensor, determining the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determining the calculation space position of the end of the catheter; Training a target model through the calculation space position and the operation space position; The corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined by the target model.

[0009] Optionally, based on the corresponding relationship and the target position, controlling the operation end to operate so that the end of the catheter moves to the target position includes: Based on the corresponding relationship and the target position, controlling the operation end to operate so as to move the end of the catheter; The movement of the end of the catheter is compensated so that the end of the catheter moves to the target location.

[0010] Optionally, after controlling the operation end to operate based on the corresponding relationship and the target position so that the end of the catheter moves to the target position, the control method of the intracardiac ultrasound catheter further includes: identifying a cardiac anatomical structure image at the target location; determining a relevance of the cardiac anatomical image to a treatment plan for the patient; If the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold, marking the target position; When the end of the catheter moves to a position outside the marked target position, determining a first movement path between a current position of the end of the catheter and the marked target position; The second movement path is displayed, or the end of the catheter is moved to the marked target position according to the second movement path.

[0011] Optionally, after controlling the operation end to operate based on the corresponding relationship and the target position so that the end of the catheter moves to the target position, the control method of the intracardiac ultrasound catheter further includes: determining that the tip of the catheter moves to the image of the cardiac anatomical structure at the target location; A three-dimensional model of the heart is constructed based on the plurality of images of the heart anatomical structure at the target position.

[0012] Optionally, after controlling the operation end to operate based on the corresponding relationship and the target position so that the end of the catheter moves to the target position, the control method of the intracardiac ultrasound catheter may further include: determining an ultrasound image at which the end of the catheter moves to the target position; Determine treatment options for patients; Based on the treatment plan and the ultrasound image, determining a second movement path of the end of the catheter from the target position; The end of the catheter is controlled to move according to the second moving path, or an operation method of the operation end corresponding to the second moving path is displayed.

[0013] In a second aspect, an embodiment of the present application provides a control device for an intracardiac ultrasound catheter, which is used to control the intracardiac ultrasound catheter, wherein the intracardiac ultrasound catheter comprises an operating end and a catheter, wherein the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter; the control device comprises: A first determining module is used to determine a target position to which the end of the catheter is to be moved, wherein the target position is a position to which the end of the catheter reaches after the movement; A second determination module is used to determine the correspondence between the operation of the operating end and the movement track of the end of the catheter; The first control module is used to control the operation end to operate based on the corresponding relationship and the target position, so as to move the end of the catheter to the target position.

[0014] Optionally, the operating end is provided with an operating handle, the operating handle can rotate relative to the operating end, and the operating handle can respectively operate the catheter to move according to the first operation, the second operation and the third operation, and the second determining module includes: A construction unit, used to construct a coordinate system related to the end of the catheter, wherein the coordinate system includes three mutually perpendicular coordinate axes, and the three coordinate axes include an X-axis, a Y-axis, and a Z-axis; a first determining unit, configured to determine a first angle at which the end of the catheter is bent in a direction perpendicular to the Y axis when the operating handle moves the catheter according to the first operating operation, determine a second angle at which the end of the catheter is bent in a direction perpendicular to the X axis when the operating handle moves the catheter according to the second operating operation, and determine a third angle at which the end of the catheter is bent in a direction perpendicular to the Z axis when the operating handle moves the catheter according to the third operating operation; The second determining unit is used to determine the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter based on the first angle, the second angle and the third angle.

[0015] Optionally, the second determining unit includes: A first determining subunit, used to determine the size of the radius of the catheter and the length of the curved section of the catheter; a second determining subunit, configured to determine the curvature of the end of the conduit based on the size of the radius of the conduit; a third determining subunit, configured to determine a radius of curvature of the catheter based on a curvature of an end portion of the catheter and a length of a curved section of the catheter; a fourth determining subunit, configured to determine the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; The fifth determining subunit is used to determine the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter based on the spatial coordinates of the end of the catheter, the first angle, and the second angle.

[0016] Optionally, the second determining subunit is further used for: Determine a first wire-pulling change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to the first operation; Determining a second wire-pulling change amount of the end of the catheter in a direction perpendicular to the Y-axis when the operating handle moves the catheter according to the second operation; The curvature of the end of the catheter is determined based on the first pull-wire variation, the second pull-wire variation, the size of the radius of the catheter, and the length of the curved section of the catheter.

[0017] Optionally, the operating end is provided with an operating handle, and the operating handle can rotate relative to the operating end, and the end of the catheter is provided with a positioning sensor, and the second determining module includes: A first acquisition module, used to acquire initial data of the positioning sensor, and determine an initial spatial position of the end of the catheter based on the initial data of the positioning sensor; A second acquisition module, configured to acquire movement data of the positioning sensor when the operating handle moves, determine the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determine the calculation space position of the end of the catheter; A training module, used for training a target model through the calculation space position and the operation space position; The third determining unit is used to determine the corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter through the target model.

[0018] Optionally, the control module is further used for: Based on the corresponding relationship and the target position, controlling the operation end to operate so as to move the end of the catheter; The movement of the end of the catheter is compensated so that the end of the catheter moves to the target location.

[0019] Optionally, the control device of the intracardiac ultrasound catheter further includes: A recognition module, used for recognizing the cardiac anatomical structure image at the target position; A third determination module is used to determine the correlation between the cardiac anatomical structure image and the patient's treatment plan; a marking module, configured to mark the target position if the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold; a fourth determination module, configured to determine a first movement path between a current position of the end of the catheter and the target position when the end of the catheter moves to a position outside the marked target position; The display module is used to display the second moving path, or to move the end of the catheter to the marked target position according to the second moving path.

[0020] Optionally, the control device of the intracardiac ultrasound catheter further includes: a fifth determination module, configured to determine that the end of the catheter moves to the cardiac anatomical structure image at the target position; A construction module is used to construct a three-dimensional model of the heart based on the plurality of cardiac anatomical structure images at the target positions.

[0021] Optionally, the control device of the intracardiac ultrasound catheter further includes: a sixth determination module, configured to determine an ultrasonic image when the end of the catheter moves to the target position; A seventh determination module is used to determine a treatment plan for the patient; an eighth determination module, configured to determine a second movement path of the end of the catheter from the target position based on the treatment plan and the ultrasound image; The second control module is used to control the end of the catheter to move according to the second moving path, or to display the operation method of the operation end corresponding to the second moving path.

[0022] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0023] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0024] In a fifth aspect, an embodiment of the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect.

[0025] In a sixth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and is executed by at least one processor to implement the method described in the first aspect.

[0026] In the embodiment of the present application, by determining the target position to be moved by the end of the catheter, the target position is the position reached by the end of the catheter after the movement; determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; based on the correspondence and the target position, controlling the operation of the operating end to move the end of the catheter to the target position. That is, in the embodiment of the present application, the operating end can be controlled so that the end of the catheter moves to the target position, avoiding the problem that the doctor needs a long learning cycle to learn the high-precision control of the operation of the intracardiac ultrasound catheter, that is, in the embodiment of the present application, the doctor does not need to spend a long time learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient and improve the treatment efficiency of the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A flow chart showing a method for controlling an intracardiac ultrasound catheter provided by an embodiment of the present application; Figure 2 A schematic diagram showing a control device for an intracardiac ultrasound catheter provided in an embodiment of the present application; Figure 3 A schematic diagram showing an electronic device provided in an embodiment of the present application; Figure 4 A schematic diagram showing the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0029] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0030] The control method of the intracardiac ultrasound catheter provided by the embodiment of the present application is described in detail below through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0031] Reference Figure 1 , shows a flow chart of a control method of an intracardiac ultrasound catheter provided in an embodiment of the present application, the control method of the intracardiac ultrasound catheter is used to control the intracardiac ultrasound catheter, the intracardiac ultrasound catheter includes an operating end and a catheter, the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter; Figure 1 As shown, the control method of the intracardiac ultrasound catheter includes: Step 101: Determine a target position to which the end of the catheter is to be moved, where the target position is the position to be reached by the end of the catheter after the movement.

[0032] In intracardiac interventional surgeries, more and more surgeries require the use of intracardiac ultrasound catheters for preoperative risk screening and intraoperative operation guidance. Intracardiac ultrasound catheters introduce high-definition ultrasound probes into the heart through vascular intervention to provide high-resolution, real-time cardiac ultrasound images. In the process of treating patients, it is usually necessary to determine the target position to which the end of the catheter is to be moved, so that after the end of the catheter reaches the target position, the cardiac ultrasound image at the target position can be obtained.

[0033] Step 102: Determine the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter.

[0034] Since the intracardiac ultrasound catheter includes an operating end and a catheter, the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter. When the operating end is operated, the displacement of the operating end is different from the displacement of the end of the catheter, that is, the displacement of the operating end is different from the movement trajectory of the end of the catheter. Therefore, it is necessary to determine the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter, so that when medical staff operate the intracardiac ultrasound catheter subsequently, after the medical staff operates the operating end, the end of the catheter can be moved to the target position more accurately.

[0035] The operation of the operating end includes but is not limited to rotating the operating end and moving the operating end. For example, when the operating end is rotated, the corresponding relationship between the rotation angle of the operating end and the movement track of the end of the catheter can be determined. For example, after the operating end is rotated so that the operating end rotates 1 degree and the displacement of the end of the catheter is determined, the corresponding relationship between the operation of the operating end and the movement track of the end of the catheter can be determined.

[0036] In addition, in some implementations, an operating handle is provided on the operating end, the operating handle can rotate relative to the operating end, and the operating handle can respectively operate the catheter to move according to the first operation, the second operation, and the third operation. The implementation method of step 102 can be: constructing a coordinate system related to the end of the catheter, the coordinate system includes three coordinate axes perpendicular to each other, and the three coordinate axes include an X-axis, a Y-axis, and a Z-axis; determining a first angle at which the end of the catheter is bent in a direction perpendicular to the Y-axis when the operating handle is used to move the catheter according to the first operation, determining a second angle at which the end of the catheter is bent in a direction perpendicular to the X-axis when the operating handle is used to move the catheter according to the second operation, and determining a third angle at which the end of the catheter is bent in a direction perpendicular to the Z-axis when the operating handle is used to move the catheter according to the third operation; and determining a correspondence between the operation of the operating end and the movement trajectory of the end of the catheter based on the first angle, the second angle, and the third angle.

[0037] Among them, the X-axis is perpendicular to the Y-axis, and the Z-axis is perpendicular to both the X-axis and the Y-axis.

[0038] In addition, in the embodiment of the present application, the first operation is that the operating handle is operated according to the first operation button, the second operation is that the operating handle is operated according to the second operation button, and the third operation is that the operating handle is rotated as a whole, and the first operation button is different from the second operation button, so the first operation is different from the second operation. For example, the first operation button is the "P / A" knob on the intracardiac ultrasound catheter, and the second operation button is the "R / L" knob on the intracardiac ultrasound catheter.

[0039] In addition, when the catheter is operated according to the first operation, the second operation, and the third operation, after the end of the catheter moves, the bending angle of the end of the catheter in the direction perpendicular to the X-axis, the bending angle in the direction perpendicular to the Y-axis, and the bending angle in the direction perpendicular to the Z-axis can be determined, that is, it is equivalent to determining the first angle, the second angle, and the third angle, so as to facilitate the subsequent determination of the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter through the first angle, the second angle, and the third angle.

[0040] In addition, in some implementations, the implementation method for determining the correspondence between the operation of the operating end and the moving trajectory of the end of the catheter based on the first angle, the second angle, the third angle and the moving distance may be: determining the size of the radius of the catheter and the length of the curved section of the catheter; determining the curvature of the end of the catheter based on the size of the radius of the catheter; determining the radius of curvature of the catheter based on the curvature of the end of the catheter and the length of the curved section of the catheter; determining the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; determining the correspondence between the operation of the operating end and the moving trajectory of the end of the catheter based on the spatial coordinates of the end of the catheter, the first angle and the second angle.

[0041] When the intracardiac ultrasound catheter needs to be operated or controlled, the catheter information on the intracardiac ultrasound catheter can be directly measured, that is, the size of the catheter radius and the length of the catheter bending section can be directly determined. Then, the curvature of the end of the catheter can be determined based on the size of the catheter radius and the length of the catheter bending section.

[0042] In addition, in some implementations, the implementation method for determining the curvature of the end of the catheter based on the size of the radius of the catheter and the length of the curved section of the catheter can be: determining a first pull-wire change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to a first operation; determining a second pull-wire change amount of the end of the catheter in a direction perpendicular to the Y-axis when the operating handle moves the catheter according to a second operation; determining the curvature of the end of the catheter based on the first pull-wire change amount, the second pull-wire change amount, and the size of the radius of the catheter.

[0043] Wherein, based on the first pull-wire variation, the second pull-wire variation, and the radius of the catheter, the curvature of the end of the catheter may be determined as shown in the following formula: ; in, represents the change of the first pull line, Indicates the change of the second pull line, represents the size of the radius of the conduit, Represents curvature.

[0044] In addition, in some implementations, based on the curvature of the end of the catheter and the length of the curved section of the catheter, the implementation method of determining the curvature radius of the catheter may be as shown in the following formula: ; Wherein, R represents the radius of curvature, and L represents the length of the curved section of the catheter.

[0045] In addition, in some implementations, based on the curvature radius of the catheter, the spatial coordinates of the end of the catheter may be determined as shown in the following formula: ; ; ; Among them, X represents the coordinate of the end on the X axis, Y represents the coordinate of the end on the Y axis, and Z represents the coordinate of the end on the Z axis. represents the angle between the bending plane where the end of the catheter is located and the XZ plane. ; in, represents the bending angle of the end of the catheter in the direction perpendicular to the Y axis, that is, the first angle, represents the bending angle of the end of the catheter in a direction perpendicular to the X-axis, that is, represents the second angle.

[0046] In addition, in the embodiment of the present application, the first wire pull variation and the second wire pull variation can be determined according to the following formula: ; ; In addition, in some implementations, the implementation method of determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter based on the spatial coordinates of the end of the catheter, the first angle, and the second angle may be: the spatial coordinates of the end of the catheter, the first angle, and the second angle are transformed by a matrix to determine the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter. The correspondence may be the determined matrix transformation amount.

[0047] Of course, in the embodiment of the present application, the corresponding relationship can also be of other types, which is not limited in the embodiment of the present application.

[0048] In addition, in some implementations, an operating handle is provided on the operating end, the operating handle can rotate relative to the operating end, and a positioning sensor is provided at the end of the catheter. The implementation method of step 102 can be: obtaining initial data of the positioning sensor, and determining the initial spatial position of the end of the catheter based on the initial data of the positioning sensor; when the operating handle moves, obtaining movement data of the positioning sensor, determining the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determining the calculation space position of the end of the catheter; training a target model through the calculation space position and the operation space position; and determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter through the target model.

[0049] Among them, a positioning sensor is provided at the end of the catheter, so that after the catheter is placed in a monitorable observation space, the position of the end of the catheter can be determined in real time. Specifically, after the catheter is placed in a detectable observation space, when the operating end is not operated, that is, when the end of the catheter is not moved, the position of the operating handle of the operating end is recorded as the zero position, and the spatial position of the catheter is recorded as the initial spatial position. The positioning sensor can locate the end of the catheter in real time, and then the position of the end of the catheter can be determined in real time.

[0050] For example, the initial spatial position of the catheter is recorded as .

[0051] When the operating handle moves, the end of the catheter will move, for example, the end of the catheter will translate, rotate, bend, etc. During the movement of the end of the catheter, the movement data of the positioning sensor can be obtained in real time, so that the operation space position of the end of the catheter can be determined based on the movement data of the positioning sensor, and the operation space position can represent the actual movement position of the end of the catheter. In addition, based on the above calculation, the calculated space position of the catheter can be calculated. The above calculation refers to the calculation process of "determining the spatial coordinates of the end of the catheter based on the curvature radius of the catheter" in the above implementation method.

[0052] The operation end may be operated multiple times to determine multiple calculation space positions and multiple operation space positions of the catheter, and then a model may be trained based on the multiple calculation space positions and multiple operation space positions, that is, a neural network model. Specifically, the multiple calculation space positions and multiple operation space positions may be input into the neural network model to be trained, and the neural network model to be trained, that is, the target model is trained, and then the corresponding relationship between the operation of the operation end and the movement trajectory of the end of the catheter may be determined based on the trained target model.

[0053] It should be noted that the neural network model to be trained can be an existing MLP model, and of course, can also be other types of neural network models, for example, a CNN model. This embodiment of the present application does not limit this.

[0054] In addition, in the embodiment of the present application, the positioning sensor may use a laser sensor, or may use a camera or other sensors. The embodiment of the present application does not limit the specific type of the positioning sensor, and only requires that the positioning sensor can perform positioning.

[0055] In addition, in an embodiment of the present application, a plurality of positioning sensors may be provided on the catheter, and the plurality of positioning sensors may be distributed along the length direction of the catheter, so that not only the position of the end of the catheter but also the bending state of the catheter may be determined, thereby facilitating medical personnel to better operate the operating end.

[0056] Step 103: Based on the corresponding relationship and the target position, the operation end is controlled to operate so that the end of the catheter moves to the target position.

[0057] After the corresponding relationship and the target position are determined, the operation end can be directly controlled to operate, so that the catheter is operated through the operation end, so that the end of the catheter moves to the target position.

[0058] It should be noted that when the operating end is controlled to operate, the operating end may be connected to a driving member, which may be a motor, and the types of motors include but are not limited to servo motors, stepper motors, etc. Thus, the motor can be controlled so that the motor drives the operating end to rotate or move, so that the catheter moves, and the catheter moves to the target position.

[0059] In some implementations, step 103 may be implemented by: based on the correspondence and the target position, controlling the operation end to move the end of the catheter; and compensating for the movement of the end of the catheter to move the end of the catheter to the target position.

[0060] After determining the corresponding relationship and the target position, the operation end can be controlled to run. Once the operation end starts running, the end of the catheter can be moved. During the movement of the end of the catheter, the end of the catheter can be compensated so that the end of the catheter moves accurately to the target position. When compensating the end of the catheter, the compensation amount can be determined based on a trained neural network model, that is, the neural network model is pre-trained, and the compensation amount of the catheter during the movement is determined by the neural network model, so that the catheter is compensated according to the compensation material so that the catheter moves to the target position.

[0061] In addition, in some implementations, after step 103, the control method of the intracardiac ultrasound catheter may further include: determining that the end of the catheter moves to a cardiac anatomical structure image at a target position; and constructing a three-dimensional model of the heart based on the cardiac anatomical structure images at multiple target positions.

[0062] Among them, once the end of the catheter moves to the target position, the intracardiac ultrasound catheter can determine the cardiac anatomical image at the position where the end of the catheter is located based on the position of the end of the catheter, so that the cardiac anatomical structure image at the target position where the end of the catheter moves can be directly determined, that is, the ultrasonic image of the heart. The operating end can be operated to obtain cardiac anatomical structure images at multiple angles, which is equivalent to moving the end of the catheter to multiple target positions, and the multiple target positions have different angles relative to the operating end, so as to obtain cardiac anatomical structure images at multiple target positions. After obtaining the cardiac anatomical structure images at multiple target positions, a three-dimensional model of the heart can be constructed based on the cardiac anatomical structure images at multiple target positions, so that medical staff can know the patient's heart shape more accurately, and then it is convenient for medical staff to treat the patient more effectively.

[0063] Among them, when constructing a three-dimensional model of the heart based on the cardiac anatomical structure images at multiple target positions, the cardiac anatomical structure image at each target position can represent a section of the heart, so that the cardiac anatomical structure images at multiple target positions are equivalent to multiple sections, and the multiple sections can be spliced ​​or the edges of multiple sections can be spliced ​​to obtain a three-dimensional model of the heart.

[0064] In addition, in some implementations, after step 103, the control method of the intracardiac ultrasound catheter may further include: identifying a cardiac anatomical structure image at a target position; determining the correlation between the cardiac anatomical structure image and the patient's treatment plan; marking the target position if the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold; when the end of the catheter moves to a position outside the marked target position, determining a first movement path between the current position of the end of the catheter and the marked target position; displaying a second movement path, or moving the end of the catheter to the marked target position according to the second movement path.

[0065] Among them, the ultrasonic probe at the end of the catheter can collect ultrasonic images in real time, so that the cardiac anatomical image at the target position can be obtained in real time. In addition, a recognition model can be pre-trained, and the cardiac anatomical structure image at the target position can be identified by the recognition model, and the cardiac anatomical structure image can be analyzed by the recognition model to determine the correlation between the cardiac anatomical structure image and the patient's treatment plan. Once the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold, it indicates that the cardiac anatomical structure image at the target position is more important and helpful for the patient's treatment, so that the target position can be marked. After that, when the end of the catheter is subsequently moved, the end of the catheter is moved to a position other than the marked target position, and the first moving path between the current position of the end of the catheter and the marked target position can be calculated in real time, and the first moving path is displayed. In the process of treating the patient, if the doctor wants to see the cardiac anatomical image at the marked target position, the operating end can be operated according to the first moving path to move the end of the catheter, or the operating end can be directly controlled to move the end of the catheter to the marked target position, thereby ensuring that the doctor can look back at the cardiac anatomical structure image at the marked target position, which is convenient for the doctor to treat the patient.

[0066] It should be noted that the recognition model can be an existing MLP model, and of course, can also be other types of neural network models, for example, a CNN model. This is not limited in the embodiments of the present application.

[0067] In addition, in some implementations, after step 103, the control method of the intracardiac ultrasound catheter may also include: determining the ultrasound image of the end of the catheter moving to the target position; determining a treatment plan for the patient; based on the treatment plan and the ultrasound image, determining a second movement path for the end of the catheter to move from the target position; controlling the end of the catheter to move along the second movement path, or displaying the operation method of the operation end corresponding to the second movement path.

[0068] Among them, once the end of the catheter moves to the target position, the intracardiac ultrasound catheter can determine the cardiac anatomical image at the position where the end of the catheter is located based on the position of the end of the catheter, so that the end of the catheter can be directly determined to move to the cardiac anatomical structure image at the target position, that is, the ultrasound image of the heart. For the patient, a specific treatment plan can be determined, and the treatment plan can be obtained, which is equivalent to determining the treatment plan for the patient. For example, the treatment plan for the patient is left atrial appendage occlusion, and for another example, the treatment plan for the patient is atrial puncture. After determining the treatment plan and the ultrasonic effect, it can be determined whether the end of the catheter can find a suitable position to match the treatment plan. If the end of the catheter can find a suitable position to match the treatment plan, the second movement path of the end of the catheter moving from the target position is determined. For example, the treatment plan is atrial puncture, and a suitable puncture position can be found to match the treatment plan, so that the end of the catheter can be determined to move from the current target position to the puncture position. The second movement path. After that, the end of the catheter can be controlled to move according to the second movement path, that is, the operating end is controlled to rotate the operating end, thereby moving the end of the catheter. Alternatively, the operation method of the operation end corresponding to the second moving path is directly displayed, and the doctor can operate the operation end according to the operation method to move the end of the catheter.

[0069] In the embodiment of the present application, by determining the target position to be moved by the end of the catheter, the target position is the position reached by the end of the catheter after the movement; determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; based on the correspondence and the target position, controlling the operation of the operating end to move the end of the catheter to the target position. That is, in the embodiment of the present application, the operating end can be controlled so that the end of the catheter moves to the target position, avoiding the problem that the doctor needs a long learning cycle to learn the high-precision control of the operation of the intracardiac ultrasound catheter, that is, in the embodiment of the present application, the doctor does not need to spend a long time learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient and improve the treatment efficiency of the patient.

[0070] The control method of the intracardiac ultrasound catheter provided in the embodiment of the present application can be executed by a control device of the intracardiac ultrasound catheter. The control method of the intracardiac ultrasound catheter performed by the control device of the intracardiac ultrasound catheter is used as an example to illustrate the control device of the intracardiac ultrasound catheter provided in the embodiment of the present application.

[0071] Reference Figure 2 , shows a schematic diagram of a control device for an intracardiac ultrasound catheter provided by an embodiment of the present application, wherein the control device for the intracardiac ultrasound catheter is used to control the intracardiac ultrasound catheter, the intracardiac ultrasound catheter comprising an operating end and a catheter, the operating end being connected to the catheter, and the operating end being used to control the movement of the catheter; Figure 2 As shown, the control device 200 of the intracardiac ultrasound catheter includes: A first determination module 201 is used to determine a target position of the end of the catheter to be moved, the target position being the position reached by the end of the catheter after the movement; A second determination module 202, for determining a correspondence between an operation of the operating end and a movement track of the end of the catheter; The control module 203 is used to control the operation end to move the end of the catheter to the target position based on the corresponding relationship and the target position.

[0072] Optionally, the operating end is provided with an operating handle, the operating handle can rotate relative to the operating end, and the operating handle can respectively operate the catheter to move according to the first operation, the second operation and the third operation, and the second determining module includes: A construction unit, used to construct a coordinate system related to the end of the catheter, the coordinate system including three mutually perpendicular coordinate axes, the three coordinate axes including an X-axis, a Y-axis and a Z-axis; a first determining unit, configured to determine a first angle at which the end of the catheter is bent in a direction perpendicular to the Y axis when the operating handle moves the catheter according to a first operation, determine a second angle at which the end of the catheter is bent in a direction perpendicular to the X axis when the operating handle moves the catheter according to a second operation, and determine a third angle at which the end of the catheter is bent in a direction perpendicular to the Z axis when the operating handle moves the catheter according to a third operation; The second determining unit is used to determine the correspondence between the operation of the operating end and the movement track of the end of the catheter based on the first angle, the second angle and the third angle.

[0073] Optionally, the second determining unit includes: A first determination subunit is used to determine the size of the radius of the catheter and the length of the curved section of the catheter; a second determining subunit, configured to determine the curvature of the end of the catheter based on the size of the radius of the catheter; a third determining subunit, configured to determine a radius of curvature of the catheter based on a curvature of an end portion of the catheter and a length of a curved section of the catheter; a fourth determining subunit, configured to determine the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; The fifth determining subunit is used to determine the correspondence between the operation of the operating end and the movement track of the end of the catheter based on the spatial coordinates of the end of the catheter, the first angle and the second angle.

[0074] Optionally, the second determining subunit is further used for: Determine a first pull-wire change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to a first operation; Determine a second pull-wire change amount of the end of the catheter in a direction perpendicular to the Y axis when the operating handle moves the catheter according to the second operation; The curvature of the end of the catheter is determined based on the first puller wire variation, the second puller wire variation, the size of the radius of the catheter, and the length of the curved section of the catheter.

[0075] Optionally, the first operation is that the operating handle is operated according to a first operating button, the second operation is that the operating handle is operated according to a second operating button, and the third operation is that the operating handle is rotated as a whole.

[0076] Optionally, the operating end is provided with an operating handle, and the operating handle can rotate relative to the operating end. The end of the catheter is provided with a positioning sensor. The second determination module includes: A first acquisition module, used to acquire initial data of the positioning sensor, and determine the initial spatial position of the end of the catheter based on the initial data of the positioning sensor; A second acquisition module is used to acquire movement data of the positioning sensor when the operating handle moves, determine the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determine the calculation space position of the end of the catheter; A training module, used to train the target model by calculating the spatial position and operating the spatial position; The third determining unit is used to determine the corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter through the target model.

[0077] Optionally, the control module is further configured to: Based on the corresponding relationship and the target position, the operation end is controlled to move the end of the catheter; The movement of the end of the catheter is compensated so that the end of the catheter moves to the target position.

[0078] Optionally, the control device of the intracardiac ultrasound catheter further comprises: A recognition module, used for recognizing a cardiac anatomical structure image at a target location; A third determination module is used to determine the correlation between the cardiac anatomical structure image and the patient's treatment plan; a marking module, configured to mark a target location if the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold; a fourth determination module, configured to determine a first movement path between a current position of the end of the catheter and the marked target position when the end of the catheter moves to a position other than the marked target position; The display module is used to display the second moving path, or to move the end of the catheter to a target position according to the second moving path.

[0079] Optionally, the control device of the intracardiac ultrasound catheter further comprises: A fifth determination module, configured to determine that the end of the catheter moves to the cardiac anatomical structure image at the target position; The construction module is used to construct a three-dimensional model of the heart according to the images of the heart anatomical structure at multiple target positions.

[0080] Optionally, the control device of the intracardiac ultrasound catheter further comprises: A sixth determination module, used to determine the ultrasound image at which the end of the catheter moves to the target position; A seventh determination module is used to determine a treatment plan for the patient; an eighth determination module, configured to determine a second movement path of the end of the catheter from the target position based on the treatment plan and the ultrasound image; The second control module is used to control the end of the catheter to move according to the second moving path, or to display the operation method of the operation end corresponding to the second moving path.

[0081] In the embodiment of the present application, by determining the target position to be moved by the end of the catheter, the target position is the position reached by the end of the catheter after the movement; determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; based on the correspondence and the target position, controlling the operation of the operating end to move the end of the catheter to the target position. That is, in the embodiment of the present application, the operating end can be controlled so that the end of the catheter moves to the target position, avoiding the problem that the doctor needs a long learning cycle to learn the high-precision control of the operation of the intracardiac ultrasound catheter, that is, in the embodiment of the present application, the doctor does not need to spend a long time learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient and improve the treatment efficiency of the patient.

[0082] The control device of the intracardiac ultrasound catheter in the embodiment of the present application can be an electronic device, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices other than a terminal. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, a vehicle-mounted electronic device, a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook or a personal digital assistant (personal digital assistant, PDA), etc. It can also be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television (television, TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0083] The control device of the intracardiac ultrasound catheter in the embodiment of the present application may be a device having an operating system, which may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0084] The control device of the intracardiac ultrasound catheter provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0085] Alternatively, if Figure 3 As shown, an embodiment of the present application further provides an electronic device 300, including a processor 301 and a memory 302, wherein the memory 302 stores programs or instructions that can be executed on the processor 301, and when the program or instructions are executed by the processor 301, the various steps of the above-mentioned control method of the intracardiac ultrasound catheter are implemented, and the same technical effect can be achieved. To avoid repetition, they are not described here.

[0086] It should be noted that the electronic devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0087] Figure 4 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of the present application.

[0088] The electronic device 300 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 302, and a processor 301 and other components.

[0089] Those skilled in the art will appreciate that the electronic device 300 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 301 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 4 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0090] The processor 301 is used to determine a target position to which the end of the catheter is to be moved, where the target position is the position to which the end of the catheter reaches after the movement; Determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; Based on the corresponding relationship and the target position, the operation end is controlled to operate so that the end of the catheter moves to the target position.

[0091] In the embodiment of the present application, by determining the target position to be moved by the end of the catheter, the target position is the position reached by the end of the catheter after the movement; determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; based on the correspondence and the target position, controlling the operation of the operating end to move the end of the catheter to the target position. That is, in the embodiment of the present application, the operating end can be controlled so that the end of the catheter moves to the target position, avoiding the problem that the doctor needs a long learning cycle to learn the high-precision control of the operation of the intracardiac ultrasound catheter, that is, in the embodiment of the present application, the doctor does not need to spend a long time learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient and improve the treatment efficiency of the patient.

[0092] Optionally, the operating end is provided with an operating handle, the operating handle can rotate relative to the operating end, and the operating handle can respectively operate the catheter to move according to the first operation, the second operation and the third operation. The processor 301 is further used for: Constructing a coordinate system related to the end of the catheter, the coordinate system including three mutually perpendicular coordinate axes, the three coordinate axes including an X-axis, a Y-axis, and a Z-axis; Determine a first angle at which the end of the catheter is bent in a direction perpendicular to the Y axis when the operating handle moves the catheter according to a first operation, determine a second angle at which the end of the catheter is bent in a direction perpendicular to the X axis when the operating handle moves the catheter according to a second operation, and determine a third angle at which the end of the catheter is bent in a direction perpendicular to the Z axis when the operating handle moves the catheter according to a third operation; Based on the first angle, the second angle, and the third angle, a correspondence between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

[0093] Optionally, the processor 301 is further configured to: determining the size of the radius of the catheter and the length of the curved section of the catheter; determining a curvature of the end of the conduit based on a size of the radius of the conduit; determining a radius of curvature of the catheter based on the curvature of the end of the catheter and the length of the curved section of the catheter; determining the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; Based on the spatial coordinates of the end of the catheter, the first angle, and the second angle, a correspondence between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

[0094] Optionally, the processor 301 is further configured to: Determine a first pull-wire change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to a first operation; Determine a second pull-wire change amount of the end of the catheter in a direction perpendicular to the Y axis when the operating handle moves the catheter according to the second operation; The curvature of the end of the catheter is determined based on the first puller wire variation, the second puller wire variation, the size of the radius of the catheter, and the length of the curved section of the catheter.

[0095] Optionally, the first operation is that the operating handle is operated according to a first operating button, the second operation is that the operating handle is operated according to a second operating button, and the third operation is that the operating handle is rotated as a whole.

[0096] Optionally, the operating end is provided with an operating handle, which can rotate relative to the operating end, and the end of the catheter is provided with a positioning sensor. The processor 301 is further used for: Acquiring initial data of the positioning sensor, and determining an initial spatial position of the end of the catheter based on the initial data of the positioning sensor; When the operating handle moves, obtaining movement data of the positioning sensor, determining the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determining the calculation space position of the end of the catheter; Train the target model by calculating the spatial position and manipulating the spatial position; The corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined through the target model.

[0097] Optionally, the processor 301 is further configured to: Based on the corresponding relationship and the target position, the operation end is controlled to move the end of the catheter; The movement of the end of the catheter is compensated so that the end of the catheter moves to the target position.

[0098] Optionally, the processor 301 is further configured to: identifying an image of a cardiac anatomy structure at a target location; Determine the relevance of cardiac anatomy images to the patient's treatment plan; If the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold, the target location is marked; When the end of the catheter moves to a position other than the marked target position, determining a first movement path between the current position of the end of the catheter and the marked target position; The second movement path is displayed, or the tip of the catheter is moved to the marked target position according to the second movement path.

[0099] Optionally, the processor 301 is further configured to: determining that the tip of the catheter has moved to an image of the cardiac anatomy at a target location; A three-dimensional model of the heart is constructed based on the images of the heart's anatomical structure at multiple target locations.

[0100] Optionally, the processor 301 is further configured to: confirming that the end of the catheter has moved to the ultrasound image at the target location; Determine treatment options for patients; Determining a second movement path of the tip of the catheter from the target position based on the treatment plan and the ultrasound image; The end of the control catheter is controlled to move according to the second movement path, or the operation method of the operation end corresponding to the second movement path is displayed.

[0101] In the embodiment of the present application, by determining the target position to be moved by the end of the catheter, the target position is the position reached by the end of the catheter after the movement; determining the correspondence between the operation of the operating end and the movement trajectory of the end of the catheter; based on the correspondence and the target position, controlling the operation of the operating end to move the end of the catheter to the target position. That is, in the embodiment of the present application, the operating end can be controlled so that the end of the catheter moves to the target position, avoiding the problem that the doctor needs a long learning cycle to learn the high-precision control of the operation of the intracardiac ultrasound catheter, that is, in the embodiment of the present application, the doctor does not need to spend a long time learning the operation of the intracardiac ultrasound catheter, so that the doctor can have more time to treat the patient and improve the treatment efficiency of the patient.

[0102] It should be understood that in the embodiment of the present application, the input unit 1004 may include a graphics processor (GPU) 10041 and a microphone 10042, and the graphics processor 10041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 may include two parts: a touch analysis device and a touch controller. Other input devices 10072 may include, but are not limited to, a physical keyboard, function keys (such as a volume control key, a switch key, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0103] The memory 302 can be used to store software programs and various data. The memory 302 can mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area can store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 302 can include a volatile memory or a non-volatile memory, or the memory x09 can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 302 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0104] The processor 301 may include one or more processing units; optionally, the processor 301 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 301.

[0105] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned control method of the intracardiac ultrasound catheter is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0106] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0107] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned control method embodiment of the intracardiac ultrasound catheter, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0108] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0109] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the control method embodiment of the intracardiac ultrasound catheter as described above, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0110] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0112] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for controlling an intracardiac ultrasound catheter, characterized in that: Used to control an intracardiac ultrasound catheter, the intracardiac ultrasound catheter comprises an operating end and a catheter, the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter; the control method comprises: Determining a target position to which the end of the catheter is to be moved, the target position being a position to be reached by the end of the catheter after the movement; Determining a correspondence between an operation of the operating end and a movement trajectory of the end of the catheter; Based on the corresponding relationship and the target position, controlling the operation end to operate so that the end of the catheter moves to the target position; Wherein, the control method of the intracardiac ultrasound catheter further includes: identifying a cardiac anatomical structure image at the target location; determining a relevance of the cardiac anatomical image to a treatment plan for the patient; If the correlation between the cardiac anatomical structure image and the patient's treatment plan is greater than a preset threshold, marking the target position; When the end of the catheter moves to a position outside the marked target position, determining a first movement path between a current position of the end of the catheter and the marked target position; The first movement path is displayed, or the end of the catheter is moved to the marked target position according to the first movement path.

2. The method for controlling an intracardiac ultrasound catheter according to claim 1, characterized in that: The operating end is provided with an operating handle, the operating handle can rotate relative to the operating end, and the operating handle operates the catheter to move according to a first operation, a second operation, and a third operation respectively, and the corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined, including: Constructing a coordinate system associated with the end of the catheter, the coordinate system comprising three mutually perpendicular coordinate axes, the three coordinate axes comprising an X-axis, a Y-axis, and a Z-axis; Determine a first angle at which the end of the catheter is bent in a direction perpendicular to the Y axis when the operating handle moves the catheter according to the first operating operation, determine a second angle at which the end of the catheter is bent in a direction perpendicular to the X axis when the operating handle moves the catheter according to the second operating operation, and determine a third angle at which the end of the catheter is bent in a direction perpendicular to the Z axis when the operating handle moves the catheter according to the third operating operation; Based on the first angle, the second angle, and the third angle, a correspondence between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

3. The control method of the intracardiac ultrasound catheter according to claim 2, characterized in that: The determining the correspondence between the operation of the operating end and the movement track of the end of the catheter based on the first angle, the second angle, and the third angle includes: determining the size of the radius of the conduit and the length of the curved section of the conduit; determining a curvature of an end portion of the conduit based on a size of a radius of the conduit; determining a radius of curvature of the catheter based on the curvature of the end of the catheter and the length of the curved section of the catheter; determining the spatial coordinates of the end of the catheter based on the radius of curvature of the catheter; Based on the spatial coordinates of the end of the catheter, the first angle, and the second angle, a corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined.

4. The control method of the intracardiac ultrasound catheter according to claim 3, characterized in that: The step of determining the curvature of the end of the conduit based on the radius of the conduit comprises: Determine a first wire-pulling change amount of the end of the catheter in a direction perpendicular to the X-axis when the operating handle moves the catheter according to the first operation; Determining a second wire-pulling change amount of the end of the catheter in a direction perpendicular to the Y-axis when the operating handle moves the catheter according to the second operation; The curvature of the end of the catheter is determined based on the first pull-wire variation, the second pull-wire variation, and the radius of the catheter.

5. The control method of the intracardiac ultrasound catheter according to claim 1, characterized in that: The operating end is provided with an operating handle, and the operating handle can rotate relative to the operating end. The end of the catheter is provided with a positioning sensor. The corresponding relationship between the operation of the operating end and the movement track of the end of the catheter is determined, including: Acquiring initial data of the positioning sensor, and determining an initial spatial position of the end of the catheter based on the initial data of the positioning sensor; When the operating handle moves, obtaining movement data of the positioning sensor, determining the operation space position of the end of the catheter based on the movement data of the positioning sensor, and determining the calculation space position of the end of the catheter; Training a target model through the calculation space position and the operation space position; The corresponding relationship between the operation of the operating end and the movement trajectory of the end of the catheter is determined by the target model.

6. The method for controlling an intracardiac ultrasound catheter according to claim 1, characterized in that: The controlling the operation end to operate based on the corresponding relationship and the target position so as to move the end of the catheter to the target position includes: Based on the corresponding relationship and the target position, controlling the operation end to operate so as to move the end of the catheter; The movement of the end of the catheter is compensated so that the end of the catheter moves to the target location.

7. The method for controlling an intracardiac ultrasound catheter according to claim 1, characterized in that: After controlling the operation end to operate based on the corresponding relationship and the target position so that the end of the catheter moves to the target position, the control method of the intracardiac ultrasound catheter further includes: determining an ultrasound image at which the end of the catheter moves to the target position; Determine treatment options for patients; Based on the treatment plan and the ultrasound image, determining a second movement path of the end of the catheter from the target position; The end of the catheter is controlled to move according to the second moving path, or an operation method of the operation end corresponding to the second moving path is displayed.

8. A control device for an intracardiac ultrasound catheter, characterized in that: Used to control an intracardiac ultrasound catheter, the intracardiac ultrasound catheter comprises an operating end and a catheter, the operating end is connected to the catheter, and the operating end is used to control the movement of the catheter; the control device comprises: A first determining module is used to determine a target position to which the end of the catheter is to be moved, wherein the target position is a position to which the end of the catheter reaches after the movement; A second determination module is used to determine the correspondence between the operation of the operating end and the movement track of the end of the catheter; The control module is used to control the operation of the operating end based on the corresponding relationship and the target position, so as to move the end of the catheter to the target position.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method for controlling an intracardiac ultrasound catheter according to any one of claims 1 to 7 are implemented.

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