Real-time three-dimensional intracardiac ultrasound catheter, ultrasound medical equipment and ultrasound imaging method

Abstract

The present invention relates to the technical field of ultrasonic medical equipment, and relates to a real-time three-dimensional intracardiac ultrasonic catheter, ultrasonic medical equipment and ultrasonic imaging method. The real-time three-dimensional intracardiac ultrasonic catheter includes a catheter structure, an ultrasonic component, a transmission shaft and an outer sheath; a receiving cavity is provided inside the catheter structure; the ultrasonic component is rotatably connected to the catheter structure and suspended in the receiving cavity; the transmission shaft is connected to the ultrasonic component and connected to an external bending handle; the outer sheath is connected to the transmission shaft and is located on the side of the transmission shaft away from the ultrasonic component. In the real-time three-dimensional intracardiac ultrasonic catheter of this embodiment, a rotatable ultrasonic component is provided to cooperate with the catheter structure, and the transmission shaft can drive the ultrasonic component to rotate relative to the catheter structure to achieve three-dimensional scanning detection, with a compact structure and high imaging quality.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic medical equipment, and in particular to a real-time three-dimensional intracardiac ultrasonic catheter, ultrasonic medical equipment and an ultrasonic imaging method. Background Art

[0002] In interventional surgery, observation of cardiac structure is extremely important for doctors, and is directly related to the safety and effectiveness of the surgery. Traditional observation methods mainly rely on X-ray imaging technology, but there are problems such as radiation damage, imaging delay, and viewing angle limitation. Therefore, researchers have been seeking safer, real-time, and intuitive methods for observing cardiac structure.

[0003] Intracardiac ultrasound (ICE) technology came into being, providing a new, radiation-free method for observing cardiac structures. ICE technology uses an ultrasound probe at the distal end of a catheter to achieve real-time observation of cardiac structure without inserting the catheter into the heart. By adjusting the bending direction and angle of the ultrasound probe, doctors can flexibly adjust the imaging field of view and clearly see key information such as the structure, blood flow, and catheter position inside the heart.

[0004] However, ICE technology still faces challenges in observing cardiac structures. For example, traditional ICE technology usually uses a single sound source, has a limited imaging range, and is not suitable for all types of cardiac surgery. In addition, ICE technology is difficult to operate and requires experienced doctors to perform delicate operations to ensure accurate placement of the ultrasound probe and imaging quality.

[0005] Therefore, it is necessary to make improvements to these problems in order to improve the current situation. Summary of the invention

[0006] The present invention provides a real-time three-dimensional intracardiac ultrasound catheter, ultrasound medical equipment and ultrasound imaging method, which can achieve more accurate volume measurement, more intuitive spatial morphology of tissues and organs, and can perform real-time three-dimensional imaging-guided surgery.

[0007] The present invention provides a real-time three-dimensional intracardiac ultrasound catheter, comprising:

[0008] A catheter structure having a receiving cavity therein;

[0009] An ultrasonic component, rotatably connected to the catheter structure and suspended in the accommodating cavity;

[0010] A transmission shaft connected to the ultrasonic component and to an external bending handle; and

[0011] The outer sheath is connected to the transmission shaft and is located at a side of the transmission shaft away from the ultrasonic component.

[0012] According to one embodiment of the present invention, the ultrasonic component includes an ultrasonic transducer, a mounting frame and a signal transmission line, the mounting frame is rotatably connected to the catheter structure, the ultrasonic transducer is arranged on the mounting frame, and the signal transmission line is connected to the ultrasonic transducer and is used to connect to an external ultrasonic host.

[0013] According to an embodiment of the present invention, the ultrasonic component further includes a filling medium, the filling medium is filled in the accommodating cavity and covers the ultrasonic component, and the filling medium is a flexible medium.

[0014] According to one embodiment of the present invention, the catheter structure includes a tube body and a support portion, the support portion is connected to the tube body and encloses the tube body to form the accommodating cavity, and one end of the mounting bracket is rotatably connected to the support portion; the transmission shaft includes a shaft body and a sealing ring, the sealing ring is arranged on the inner side of the shaft body, the shaft body is connected to the tube body and connected to the bending adjustment handle, the bending adjustment handle is used to drive the shaft body to drive the tube body to swing and adjust, and the other end of the mounting bracket is passed through the sealing ring and connected to the rotating connector on the bending adjustment handle.

[0015] According to one embodiment of the present invention, the mounting frame includes a first rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are respectively arranged at opposite ends of the mounting frame, the first rotating shaft is rotatably connected to the support part, the second rotating shaft is rotatably connected to the sealing ring, and the second rotating shaft is connected to the rotating connector.

[0016] According to an embodiment of the present invention, the transmission shaft further includes a connecting pipe, and the connecting pipe is respectively connected to the mounting bracket and the rotating connector.

[0017] According to one embodiment of the present invention, the connecting tube is a hollow structure, the signal transmission line is passed through the connecting tube and is used to connect with the ultrasonic connector, and the ultrasonic connector is connected to the ultrasonic host;

[0018] Or the connecting tube is a solid structure, and the signal transmission line is arranged in parallel with the connecting tube.

[0019] According to one embodiment of the present invention, the three-dimensional intracardiac ultrasound catheter also includes a bending adjustment handle and a rotating connector, the bending adjustment handle includes a bending adjustment pull wire, the bending adjustment pull wire is embedded in the catheter structure, and the bending adjustment pull wire is respectively connected to the bending adjustment handle and the transmission shaft, the bending adjustment handle is used to drive the bending adjustment pull wire to drive the transmission shaft to drive the catheter structure to swing, so that the front end of the catheter structure is bent; the rotating connector is connected to the ultrasonic component and is used to drive the ultrasonic component to rotate in a single direction or reciprocate relative to the catheter structure.

[0020] The present invention also provides an ultrasonic medical device, comprising:

[0021] Ultrasound host;

[0022] As described in any one of the above-mentioned real-time three-dimensional intracardiac ultrasound catheters, the real-time three-dimensional intracardiac ultrasound catheter also includes an ultrasound connector connected to the ultrasound component by signal, and the ultrasound connector is connected to the rotation connector by signal.

[0023] The present invention also provides an ultrasound imaging method, using the real-time three-dimensional intracardiac ultrasound catheter as described in any one of the above, or the ultrasound medical device as described in any one of the above, the ultrasound imaging method comprising the following steps:

[0024] Starting the ultrasonic assembly and driving the ultrasonic assembly to rotate relative to the catheter structure, the ultrasonic assembly emitting at least one acoustic beam and all structural echo acoustic beams;

[0025] The filter in the ultrasonic host filters noise;

[0026] The echo sound beam acquired by the ultrasonic component is aligned with the trigger signal of the motor driving the transmission shaft according to the timing signal;

[0027] A three-dimensional model is reconstructed in real time according to the echo sound beam.

[0028] Implementing the embodiments of the present invention has the following beneficial effects:

[0029] In the real-time three-dimensional intracardiac ultrasound catheter of this embodiment, a rotatable ultrasound component is provided to cooperate with the catheter structure, and the transmission shaft can drive the ultrasound component to rotate relative to the catheter structure to achieve three-dimensional scanning detection, with a compact structure and high detection and identification quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] in:

[0032] Figure 1 is a schematic cross-sectional structure diagram of a real-time three-dimensional intracardiac ultrasound catheter in an embodiment of the present invention;

[0033] Figure 2 is a schematic cross-sectional structure diagram of a real-time three-dimensional intracardiac ultrasound catheter in another embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of an ultrasonic medical device in an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram of the imaging principle of a real-time three-dimensional intracardiac ultrasound catheter in an embodiment of the present invention;

[0036] Figure 5 is a schematic flow chart of an ultrasonic imaging method in an embodiment of the present invention;

[0037] Reference numerals:

[0038] 1. Ultrasonic medical equipment; 10. Real-time three-dimensional intracardiac ultrasound catheter; 100. Catheter structure; 110. Tube body; 120. Support part; 130. Guide part; 200. Ultrasonic component; 210. Ultrasonic transducer; 220. Mounting frame; 221. First rotating shaft; 222. Second rotating shaft; 230. Signal transmission line; 240. Filling medium; 300. Transmission rotating shaft; 310. Shaft body; 320. Bearing; 330. Sealing ring; 400. Outer sheath; 500. Ultrasonic connector; 20. Ultrasonic host; 21. Bending handle; 22. Rotating connector. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] See also Figures 1 to 4 As shown, an embodiment of the present invention provides a real-time three-dimensional intracardiac ultrasound catheter 10, which includes a catheter structure 100, an ultrasonic component 200, a transmission shaft 300 and an outer sheath 400; a receiving cavity is provided inside the catheter structure 100; the ultrasonic component 200 is rotatably connected to the catheter structure 100 and suspended in the receiving cavity; the transmission shaft 300 is connected to the ultrasonic component 200 and connected to an external bending handle; the outer sheath 400 is connected to the transmission shaft 300 and is located on the side of the transmission shaft 300 away from the ultrasonic component 200.

[0041] In the real-time three-dimensional intracardiac ultrasound catheter 10 of the present embodiment, a rotatable ultrasound component 200 is provided to cooperate with the catheter structure 100, and the transmission shaft 300 can drive the ultrasound component 200 to rotate relative to the catheter structure 100 to achieve three-dimensional scanning detection, with a compact structure and high detection and identification quality.

[0042] Specifically, the ultrasonic component 200 includes an ultrasonic transducer 210, a mounting frame 220 and a signal transmission line 230. The mounting frame 220 is rotatably connected to the catheter structure 100, the ultrasonic transducer 210 is arranged on the mounting frame 220, and the signal transmission line 230 is signal-connected to the ultrasonic transducer 210 and is used to connect to an external ultrasonic host 20.

[0043] In this embodiment, a mounting frame 220 is suspended in the accommodating cavity of the catheter structure 100, and the mounting frame 220 can be used as a mounting carrier of the ultrasonic transducer 210, and the mounting frame 220 can be connected and driven to rotate through the transmission shaft 300. At this time, the mounting frame 220 can drive the ultrasonic transducer 210 to rotate relative to the catheter structure 100, and the ultrasonic transducer 210 can be driven to swing in the R direction by rotating the ultrasonic transducer 210, so that the ultrasonic transducer 210 can detect and identify the S imaging space. The signal transmission line 230 can be used to transmit the corresponding signal in the ultrasonic transducer 210, which includes but is not limited to the control signal of the ultrasonic transducer 210, the image signal received by the ultrasonic transducer 210, etc.

[0044] Furthermore, the ultrasonic component 200 further includes a filling medium 240 . The filling medium 240 is filled in the accommodating cavity and covers the ultrasonic component 200 . The filling medium 240 is a flexible medium.

[0045] In this embodiment, the filling medium 240 is preferably a liquid ultrasonic medium, which may be but is not limited to water, silicone oil, an enhancer, etc. By setting the filling medium 240 in the catheter structure 100, the ultrasonic energy emitted by the ultrasonic transducer 210 can be conducted through the filling medium 240 to realize the ultrasonic detection function of the ultrasonic transducer 210.

[0046] Specifically, the catheter structure 100 includes a tube body 110 and a support portion 120, the support portion 120 is connected to the tube body 110 and encloses the tube body 110 to form a accommodating cavity, and one end of the mounting frame 220 is rotatably connected to the support portion 120; the transmission shaft 300 includes a shaft body 310 and a sealing ring 320, the sealing ring 320 is arranged on the inner side of the shaft body 310, the shaft body 310 is connected to the mounting frame 220 and is connected to the tube body 110 and to the bending adjustment handle 600, the bending adjustment handle 600 is used to drive the shaft body 310 to drive the tube body 110 to swing and adjust, and the other end of the mounting frame 220 is passed through the sealing ring 320 and is connected to the rotating connector 700 on the bending adjustment handle 600.

[0047] In this configuration, the tube body 110 can be used as the base of the catheter structure 100 and used to form the accommodating cavity. At this time, the support part 120 is connected to the end of the tube body 110 and serves as a connection carrier of the mounting frame 220. At this time, the mounting frame 220 only rotates relative to the support part 120, thereby avoiding the ultrasonic component 200 from contacting the tube body 110 and increasing the friction resistance, so as to improve the rotation smoothness of the ultrasonic component 200. During the rotation of the mounting frame 220 relative to the catheter structure 100, the sealing ring 320 can be used to support the end of the mounting frame 220 away from the support part 120. At this time, the two ends of the mounting frame 220 can be supported by the support part 120 and the sealing ring 320 respectively, so that the mounting frame 220 can rotate stably relative to the catheter structure 100 to avoid swinging, thereby effectively improving the detection accuracy of the ultrasonic transducer 210.

[0048] In one embodiment, the mounting frame 220 includes a first rotating shaft 221 and a second rotating shaft 222, which are respectively arranged at opposite ends of the mounting frame 220, the first rotating shaft 221 is rotatably connected to the support portion 120, the second rotating shaft 222 is rotatably connected to the sealing ring 320, and the second rotating shaft 222 is connected to the rotating connector 700.

[0049] In this embodiment, the first rotating shaft 221 protrudes from the end of the mounting frame 220, and the second rotating shaft 222 extends outward from the other end of the mounting frame 220. The first rotating shaft 221 can be inserted into the support portion 120, and the radial and axial movements of the first rotating shaft 221 can be positioned by the support portion 120, and can cooperate with the first rotating shaft 221 to realize the supporting function when the mounting frame 220 rotates; at this time, the second rotating shaft 222 is rotatably connected to the sealing ring 320 and supported by the sealing ring 320, thereby supporting the mounting frame 220 by the first rotating shaft 221 and the second rotating shaft 222 respectively, so that the mounting frame 220 can be suspended as a whole in the tube body 110.

[0050] Furthermore, the transmission shaft 300 further includes a connecting pipe 330 , and the connecting pipe 330 is connected to the mounting frame 220 and the rotating connector 700 respectively.

[0051] With this arrangement, the sealing ring 320 can be sealed at one end of the tube body 110 away from the support portion 120. At this time, the opposite ends of the accommodating cavity are sealed by the support portion 120 and the sealing ring 320 respectively, so that the filling medium 240 is in the sealed accommodating cavity to avoid leakage of the liquid filling medium 240.

[0052] See also Figure 2 As shown, in another embodiment, the connecting tube 330 is a hollow structure, the signal transmission line 230 is passed through the connecting tube 330 and is used to connect with the ultrasonic connector 500, and the ultrasonic connector 500 is connected to the ultrasonic host 20.

[0053] In this embodiment, by setting the connecting tube 330 as a hollow structure, the signal transmission line 230 can be inserted into the connecting tube 330 and connected to the external ultrasound host 20 through the ultrasound connector 500. At this time, the connecting tube 330 can also protect the signal transmission line 230. The overall structure of the real-time three-dimensional intracardiac ultrasound catheter 10 is compact and easy to use.

[0054] See also Figure 1 As shown, in one embodiment, the connecting tube 330 is a solid structure, and the signal transmission line 230 is arranged in parallel with the connecting tube 330 .

[0055] In this embodiment, the connecting tube 330 can be used only to drive the mounting frame 220 to rotate, and at this time, the signal transmission line 230 can be arranged parallel to the connecting tube 330, or it can be arranged around the connecting tube 330. In some embodiments, the connecting tube 330 can also be a spring shaft, which is not the only limitation here.

[0056] In one embodiment, the three-dimensional intracardiac ultrasound catheter 10 also includes a bending adjustment handle 600 and a rotating connector 700. The bending adjustment handle 600 includes a bending adjustment wire 610. The bending adjustment wire 610 is embedded in the catheter structure 100, and the bending adjustment wire 610 is respectively connected to the bending adjustment handle 600 and the transmission shaft 300. The bending adjustment handle 600 is used to drive the bending adjustment wire 610 to drive the transmission shaft 300 to drive the catheter structure 100 to swing, so that the front end of the catheter structure 100 is bent; the rotating connector 700 is connected to the ultrasonic component 200 and is used to drive the ultrasonic component 200 to rotate in a single direction or reciprocate relative to the catheter structure 100.

[0057] According to the configuration, by pulling the bending wire 610 through the bending handle 600, the transmission shaft 300 can be driven to drive the front end of the catheter structure 100 to bend, so as to realize the adjustment function; the rotating connector 700 can drive the mounting frame 220 to rotate relative to the catheter structure 100 through the connecting tube 330, so as to drive the ultrasonic transducer 210 to rotate or swing, so as to realize the imaging function.

[0058] Furthermore, the catheter structure 100 further includes a guide portion 130 , which is connected to an end of the support portion 120 away from the tube body 110 , and a front end of the guide portion 130 is a curved surface structure.

[0059] With this arrangement, the end of the catheter structure 100 can be made into an arc surface. When the real-time three-dimensional intracardiac ultrasound catheter 10 is inserted into a blood vessel or the human body, the friction between the catheter structure 100 and the human tissue can be reduced, as well as the forward resistance of the catheter structure 100, thereby preventing the catheter structure 100 from damaging the human tissue during transportation.

[0060] The present invention also provides an ultrasonic medical device 1, which includes an ultrasonic host 20 and a real-time three-dimensional intracardiac ultrasonic catheter 10 in any one of the above-mentioned embodiments; the real-time three-dimensional intracardiac ultrasonic catheter 10 also includes an ultrasonic connector 500 signal-connected to the ultrasonic component 200, the ultrasonic connector 500 is signal-connected to the rotating connector 700, and the bending handle 600 is connected to the catheter structure 100 and the transmission shaft 300.

[0061] It can be understood that, in the ultrasonic medical device 1 of the present embodiment, by setting the real-time three-dimensional intracardiac ultrasonic catheter 10 in any one of the above-mentioned embodiments, the real-time three-dimensional intracardiac ultrasonic catheter 10 of the present embodiment cooperates with the catheter structure 100 by setting a rotatable ultrasonic component 200, and the ultrasonic component 200 can be driven to rotate relative to the catheter structure 100 through the transmission shaft 300 to realize the three-dimensional scanning detection function of the ultrasonic medical device 1, with a compact structure and high detection and identification quality.

[0062] Specifically, the rotating connector 700 and the signal transmission line 230 can be an integrated structure or can be independent cables and connection structures, which is not limited here.

[0063] The present invention also provides an ultrasonic imaging method, which uses the real-time three-dimensional intracardiac ultrasonic catheter 10 in any one of the above embodiments or the ultrasonic medical device 1 in any one of the above embodiments; the ultrasonic imaging method comprises the following steps:

[0064] Step S100, start the ultrasonic component 200 and drive the ultrasonic component 200 to rotate relative to the catheter structure 100, and the ultrasonic component 200 emits at least one sound beam and all structure echo sound beams;

[0065] Step S200, the filter in the ultrasound host 20 filters the noise;

[0066] Step S300: the echo sound beam acquired by the ultrasonic component 200 is aligned with the trigger signal of the motor driving the transmission shaft 300 according to the timing signal;

[0067] Step S400: Reconstruct the three-dimensional model in real time according to the echo sound beam.

[0068] In the ultrasound imaging method of the present embodiment, the ultrasound component 200 can be started to enable the ultrasound transducer 210 to scan back and forth or unidirectionally. At this time, the ultrasound transducer 210 can obtain a single-frame two-dimensional image. The ultrasound component 200 is driven to rotate by the transmission shaft 300, and the two-dimensional images can be superimposed to form an S imaging space, so as to realize the real-time three-dimensional ultrasound detection function of the intracardiac ultrasound catheter 10.

[0069] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0070] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0071] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A real-time three-dimensional intracardiac ultrasound catheter, comprising: A catheter structure having a receiving cavity therein; An ultrasonic component is rotatably connected to the catheter structure and suspended in the accommodating cavity, the ultrasonic component comprises an ultrasonic transducer, a mounting frame and a signal transmission line, the mounting frame is rotatably connected to the catheter structure, the ultrasonic transducer is arranged on the mounting frame, and the signal transmission line is signal-connected to the ultrasonic transducer and is used to connect to an external ultrasonic host; A transmission shaft connected to the ultrasonic component and to an external bending handle; An outer sheath tube connected to the transmission shaft and located at a side of the transmission shaft away from the ultrasonic component; The catheter structure includes a tube body and a support portion, the support portion is connected to the tube body and encloses the tube body to form the accommodating cavity, and one end of the mounting bracket is rotatably connected to the support portion; the transmission shaft includes a shaft body and a sealing ring, the sealing ring is arranged inside the shaft body, the shaft body is connected to the tube body and connected to the bending handle, and the bending handle is used to drive the shaft body to drive the tube body to swing and adjust; The three-dimensional intracardiac ultrasound catheter also includes a bending handle and a rotating connector. The bending handle includes a bending wire, which is embedded in the catheter structure and is respectively connected to the bending handle and the transmission shaft. The bending handle is used to drive the bending wire to drive the transmission shaft to drive the catheter structure to swing, so that the front end of the catheter structure is bent; the rotating connector is connected to the ultrasonic component and is used to drive the ultrasonic component to rotate in a single direction or reciprocate relative to the catheter structure.

2. The real-time three-dimensional intracardiac ultrasound catheter according to claim 1, characterized in that: The ultrasonic component further includes a filling medium, which is filled in the accommodating cavity and covers the ultrasonic component, and the filling medium is a flexible medium.

3. The real-time three-dimensional intracardiac ultrasound catheter according to claim 1, characterized in that: The mounting frame includes a first rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are respectively arranged at opposite ends of the mounting frame, the first rotating shaft is rotatably connected to the support portion, the second rotating shaft is rotatably connected to the sealing ring, and the second rotating shaft is connected to the rotating connector.

4. The real-time three-dimensional intracardiac ultrasound catheter according to claim 1, characterized in that: The transmission shaft also includes a connecting pipe, and the connecting pipe is respectively connected to the mounting frame and the rotating connector.

5. The real-time three-dimensional intracardiac ultrasound catheter according to claim 4, characterized in that: The connecting tube is a hollow structure, the signal transmission line is passed through the connecting tube and is used to connect with the ultrasonic connector, and the ultrasonic connector is connected with the ultrasonic host; Or the connecting tube is a solid structure, and the signal transmission line is arranged in parallel with the connecting tube.

6. An ultrasonic medical device, characterized in that: include: Ultrasound host; The real-time three-dimensional intracardiac ultrasound catheter according to any one of claims 1 to 5, further comprising an ultrasound connector signal-connected to the ultrasound component, wherein the ultrasound connector is signal-connected to the rotation connector.

7. An ultrasonic imaging method, characterized in that: Using the ultrasonic medical device as claimed in claim 6, the ultrasonic imaging method comprises the following steps: Starting the ultrasonic assembly and driving the ultrasonic assembly to rotate relative to the catheter structure, the ultrasonic assembly emitting at least one acoustic beam and all structural echo acoustic beams; The filter in the ultrasonic host filters noise; The echo sound beam acquired by the ultrasonic component is aligned with the trigger signal of the motor driving the transmission shaft according to the timing signal; A three-dimensional model is reconstructed in real time according to the echo sound beam.

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