Cardiac cavity three-dimensional point cloud modeling method and system

Abstract

The invention discloses a cardiac cavity three-dimensional point cloud modeling method and system, and relates to the three-dimensional modeling and data processing technology, and the method comprises the steps: obtaining a spherical three-dimensional point cloud position data set through interpolation according to the movement of an integrated catheter, based on point cloud vector position data collected by each magnetic positioning sensor, and the windmill diameter of the integrated catheter; screening data in the three-dimensional point cloud position data set according to impedance data collected by the microelectrode; performing data cambered surface segmentation according to the screened and reserved three-dimensional point cloud position data, and segmenting the contour line of each segmented cambered surface; and performing triangular rendering construction on the key points in the segmented line segments to complete three-dimensional modeling in the cardiac cavity. According to the method, through a single catheter, three-dimensional point cloud modeling of the target cardiac cavity and ablation of atrial fibrillation pulmonary vein isolation can be completed at the same time.

Description

Technical Field

[0001] This application relates to the technical fields of three-dimensional modeling and data processing, and particularly to a three-dimensional point cloud modeling method and system for cardiac chambers. Background Art

[0002] A three-dimensional cardiac modeling system is a comprehensive system specifically used to construct three-dimensional models of cardiac anatomical structures and electrical activities. It has important applications in the diagnosis, treatment planning, and scientific research of heart diseases. The three-dimensional cardiac modeling system constructs a three-dimensional model of the heart by combining the anatomical structure and electrophysiological signals of the heart. This model can intuitively display the morphology of the heart, the propagation path of electrical activities, and abnormal regions, providing important support for the diagnosis and treatment of heart diseases.

[0003] Existing clinical three-dimensional cardiac electrophysiological interventional ablation surgeries are generally divided into two stages: 1) The three-dimensional mapping stage, where the operator uses a high-density mapping catheter to complete the three-dimensional modeling of the target cardiac chamber. 2) In the target cardiac chamber, the ablation catheter is three-dimensionally imaged, and the ablation catheter is manipulated to the target lesion location, and ablation is completed by optimizing the energy. Since the above two stages of the electrophysiological three-dimensional surgery usually require the use of different catheters (mapping catheters and ablation catheters) to complete the operation, and both types of catheters are high-value consumables and are disposable tools, the current clinical consumable costs are relatively high, and the surgical costs are very large. In addition, the catheter design methods and processes of different manufacturers are different, and the time curve for the operator to learn and master the ablation of different catheters is relatively long. Therefore, how to efficiently complete the three-dimensional modeling and ablation of cardiac chambers through a single catheter has become the research direction of future surgeries.

[0004] Chinese Patent CN109953812B discloses a mapping and cryoablation integrated catheter, which includes a tube body at the front end section, and the front end section has a free end; a balloon, which is arranged on the free end of the front end section and can be filled with a cryogenic medium to achieve expansion or contraction; a control handle, the front end section is installed on the control handle and can be controlled by the control handle to bend; a strip-shaped carrier is arranged along the outer surface of the balloon, one end of the strip-shaped carrier is connected to the free end, and the other end is connected to one end of the balloon opposite to the free end, and array electrodes are distributed on the strip-shaped carrier, and all the array electrodes are arranged in a spherical array along the outer surface of the balloon. Although the mapping and cryoablation integrated catheter disclosed in this invention can model more efficiently and can perform cryoablation at the same time, the ablation energy it adapts to is relatively single. It can only ablate through cryogenic energy and cannot use the radiofrequency energy or pulsed energy that is most widely used in current clinical practice. The application scenario is relatively single and is only applicable to the ablation of the pulmonary vein ostium. Summary of the Invention

[0005] An embodiment of the present application provides a three-dimensional point cloud modeling method and system for a cardiac chamber, which can simultaneously complete the three-dimensional point cloud modeling of a target cardiac chamber and the ablation of atrial fibrillation pulmonary vein isolation through a single catheter.

[0006] An embodiment of the present application provides a three-dimensional point cloud modeling method for a cardiac chamber, which is realized based on a windmill-shaped mapping and ablation integrated catheter with a variable diameter. The catheter head end of the integrated catheter includes an electrode skeleton and a support skeleton. The support skeleton is connected to the electrode skeleton and is used to support the electrode skeleton. The electrode skeleton is led out through an electrode rod. A plurality of ablation electrodes are arranged on the electrode skeleton, and the plurality of ablation electrodes form an ablation surface. There are at least 3 magnetic positioning sensors arranged at the catheter head end, and each magnetic positioning sensor is arranged in a triangular arrangement. At least one magnetic positioning sensor is arranged on the electrode rod. The three-dimensional point cloud modeling method for the cardiac chamber includes: According to the movement of the integrated catheter, based on the point cloud vector position data collected by each magnetic positioning sensor and the windmill diameter of the integrated catheter, interpolate to obtain a three-dimensional point cloud position data set of the spherical surface; Screen the data in the three-dimensional point cloud position data set according to the impedance data collected by the microelectrode; Perform data arc surface segmentation on the three-dimensional point cloud position data retained after screening, and segment the contour lines of each segmented arc surface; Perform triangular rendering construction on the key points in the segmented line segments to complete the three-dimensional modeling of the cardiac chamber.

[0007] An embodiment of the present application also provides a three-dimensional point cloud modeling system for a cardiac chamber, including: A windmill-shaped mapping and ablation integrated catheter with a variable diameter. The catheter head end includes an electrode skeleton and a support skeleton. The support skeleton is connected to the electrode skeleton and is used to support the electrode skeleton. The electrode skeleton is led out through an electrode rod. A plurality of ablation electrodes are arranged on the electrode skeleton, and the plurality of ablation electrodes form an ablation surface. There are at least 3 magnetic positioning sensors arranged at the catheter head end, and each magnetic positioning sensor is arranged in a triangular arrangement. At least one magnetic positioning sensor is arranged on the electrode rod, and a microelectrode is arranged on the electrode rod; An ablation instrument, electrically connected to the integrated catheter, for outputting ablation energy; A computer, connected to the windmill-shaped mapping and ablation integrated catheter, includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the steps of the three-dimensional point cloud modeling method for the cardiac chamber as described above are realized.

[0008] In the embodiments of the present application, a high-density three-dimensional point cloud position data set of a regular spherical surface is collected, and data arc surface segmentation is performed. The contour line of each arc surface is segmented, and finally, key points in the line segments are constructed by triangular rendering to complete the modeling of the cardiac cavity. Ablation is completed simultaneously with three-dimensional modeling through the catheter tip electrode rod.

[0009] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 Schematic diagram of the catheter tip structure of the variable-diameter windmill-shaped mapping and ablation integrated catheter adopted by the method of the embodiment of the present application; Figure 2 Schematic diagram of the basic process of the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application; Figure 3 Schematic diagram of the generation of arc surface three-dimensional point cloud data of the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application; Figure 4 Schematic diagram of the determination of the cardiac cavity abutment by the Euclidean space distance of the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application; Figure 5 Schematic diagram of the three-dimensional modeling process of the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application; Figure 6 Schematic diagram of the generation of convex polygons and edge extraction of the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application; Figure 7 Schematic diagram of the change in the catheter tip diameter of the windmill-shaped mapping and ablation integrated catheter of the cardiac cavity three-dimensional point cloud modeling system of the embodiment of the present application; Figure 8 Schematic diagram of the modeling and ablation architecture of the cardiac cavity three-dimensional point cloud modeling system of the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0011] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0012] An embodiment of the present application provides a method for three-dimensional point cloud modeling of a cardiac cavity, which is implemented based on a windmill-shaped mapping and ablation integrated catheter with a variable diameter. As Figure 1 shown, the catheter head end of the integrated catheter includes an electrode skeleton 3 and a support skeleton 2. The support skeleton 2 is connected to the electrode skeleton 3 and is used to support the electrode skeleton 3. The electrode skeleton is led out through an electrode rod 1. A plurality of ablation electrodes (microelectrodes) 32 are provided on the electrode skeleton 3. The plurality of ablation electrodes 32 form an ablation surface. At least 3 magnetic positioning sensors 31 are provided at the catheter head end, and the magnetic positioning sensors 31 are arranged in a triangular pattern. At least one magnetic positioning sensor 31 is provided on the electrode rod 1.

[0013] In a specific example, as Figure 1 shown, the catheter head end is divided into a front half electrode skeleton 3 and a rear half support skeleton 2. The rear half support skeleton 2 is used for head end shaping. The number of the front half electrode skeletons 3 is several. In the embodiment of the present application, six are taken as an example. Each electrode skeleton 3 is provided with at least 3 annular ablation electrodes to form an ablation surface.

[0014] The rear half support skeleton 2 is petal-shaped. The support skeleton 2 is a double-sided support structure. Each electrode skeleton is supported by two bottom support skeletons on both sides, providing good circumferential support for each electrode skeleton, preventing the electrode skeleton from generating circumferential displacement, achieving the most uniform distribution of electrodes against the target tissue of the cardiac cavity to the greatest extent, improving the ablation quality, and reducing the recurrence rate.

[0015] As Figure 1 shown, at least 3 magnetic positioning sensors are distributed on the catheter head end. The magnetic positioning sensors are arranged in a triangular pattern. Among them, at least 2 sensors are respectively embedded on different electrode rods corresponding to the windmill, and are symmetrically or equally spaced based on the electrode rod. 1 sensor is embedded in the tube body at the far handle end of the catheter. As Figure 2 shown, the method for three-dimensional point cloud modeling of a cardiac cavity according to the embodiment of the present application includes: In step S201, according to the movement of the integrated catheter, based on the point cloud vector position data collected by each magnetic positioning sensor and the windmill diameter of the integrated catheter, a three-dimensional point cloud position data set of the spherical surface is obtained by interpolation. In the embodiment of the present application, 3 magnetic positioning sensors are taken as an example for illustration. For magnetic positioning sensors with other quantities, refer to the method of the embodiment of the present application and will not be elaborated here.

[0016] The point cloud data acquisition system collects a set of three point cloud vector position data in space through the magneto-positioning sensors embedded in the catheter head. Each magneto-positioning sensor outputs three-dimensional point cloud position data {x1, y1, z1}, {x2, y2, z2}, and {x3, y3, z3} respectively within the induction magnetic field. Based on the known windmill diameter at the catheter head end, interpolation is performed to complete the regular spherical high-density three-dimensional point cloud position data set, complete the high-density point cloud data set of the entire windmill arc surface, and generate the arc surface three-dimensional point cloud data as Figure 3 shown.

[0017] As the catheter head end moves, in practice, the latest three-dimensional coordinate information can be output in real time, continuously generating the high-density point cloud data set of the arc surface. The key to obtaining the high-density three-dimensional point cloud data through discrete finite magnetic induction sensors lies in the shaping stability of the catheter.

[0018] In this application, a support skeleton is provided at the front end of the catheter, which can obtain a stable catheter shape within the heart, thereby obtaining high-density and high-precision three-dimensional point cloud data.

[0019] In step S202, the data in the three-dimensional point cloud position data set is screened according to the impedance data collected by the microelectrode. The screening is used to eliminate the data of the non-intracardiac tissue part and retain the data of the intracardiac tissue part.

[0020] In step S203, data arc surface segmentation is performed according to the three-dimensional point cloud position data retained after screening, and the contour lines of each segmented arc surface are segmented.

[0021] In step S204, triangular rendering construction is performed on the key points in the segmented line segments to complete the three-dimensional modeling within the heart cavity. In a specific example, through the regular spherical high-density three-dimensional point cloud position data set, the data is first subjected to data arc surface segmentation, then the contour lines of each arc surface are segmented, and finally triangular rendering construction is performed on the key points in the line segments to complete the three-dimensional modeling within the heart cavity.

[0022] In the embodiment of this application, by collecting the regular spherical high-density three-dimensional point cloud position data set, performing data arc surface segmentation, segmenting the contour lines of each arc surface, and finally performing triangular rendering construction on the key points in the line segments, the modeling of the heart cavity is completed, and ablation is completed simultaneously during the three-dimensional modeling through the electrode rod at the catheter head end.

[0023] In some embodiments, screening the data in the three-dimensional point cloud position data set includes: Based on the set impedance reference value, eliminating the three-dimensional point cloud position data lower than the impedance reference value and retaining the three-dimensional point cloud position data higher than the impedance reference value.

[0024] In the embodiments of the present application, microelectrodes (ablation electrodes) are embedded at the distal end of the catheter, and these microelectrodes synchronously collect the impedance of cardiac tissue and blood in the cardiac cavity. If the electrode is in the blood, the impedance is relatively low, generally less than 50 ohms, and in specific embodiments, the corresponding point cloud data can be filtered out. If the electrode collects a relatively high induced impedance (for example, higher than 50 ohms), it means that the electrode has come into contact with the intracardiac tissue, and the corresponding point cloud position data is retained, so as to screen out the three-dimensional coordinate information of each point on the inner wall of the cardiac cavity for subsequent modeling.

[0025] In some embodiments, it also includes detecting different catheter deformations according to the movement of the integrated catheter and the position sensed by the magnetic positioning sensor at the distal end of the catheter, so as to form three-dimensional point cloud position data sets of different spherical surfaces. When the arc-shaped windmill catheter abuts against the inner side of the heart, due to the complex anatomical structure of the endocardium, the inner cavity and the arc-shaped distal end of the windmill catheter do not completely fit. Therefore, when the distal end of the catheter windmill abuts against the inner wall of the cardiac cavity, it will be slightly deformed; when the distal end of the catheter gradually approaches the inner wall of the cardiac cavity, the distal end of the catheter windmill will exert a certain pressure on the cardiac cavity. The greater the pressure, the higher the degree of deformation of the distal end of the catheter, and the smaller the pressure, the smaller the degree of deformation. In the embodiments of the present application, different catheter deformations are detected according to the positions sensed by the three magnetic positioning sensors at the distal end of the catheter, so as to form high-density three-dimensional point cloud position data sets of different spherical surfaces.

[0026] In some embodiments, three magnetic positioning sensors are arranged at the distal end of the catheter, and one of the magnetic positioning sensors is arranged on the electrode rod. Under the condition of fixing the diameter of the windmill at the distal end, the Euclidean space distance between the positions sensed by the magnetic positioning sensors can detect whether a certain pressure has been formed at the distal end of the catheter, so as to rotate the catheter and make different bending angles to cover different regions of the cardiac cavity, and thus it can also be known whether the distal end of the catheter abuts against the endocardial tissue. Specifically, detecting different catheter deformations according to the positions sensed by the magnetic positioning sensors at the distal end of the catheter includes: Establishing pairwise spatial distance vectors according to the position vectors sensed by the magnetic positioning sensors. Still taking three magnetic positioning sensors as an example, as Figure 4 shown, the position vectors sensed by the three magnetic positioning sensors are respectively: , , ; The pairwise vector spatial distance vectors are: , , .

[0027] The calculation of the spatial distance vector is: ; ; ;

[0028] When the distance of any spatial distance vector exceeds the corresponding set distance threshold, it is determined that pressure is formed at the front end of the catheter. That is, when the distance of any spatial distance vector exceeds a certain threshold, it is determined that pressure has been formed between the front end of the catheter and the inner wall of the heart cavity, and the apposition of this area is completed. Then, the catheter is manipulated to move to other areas to continue modeling.

[0029] For example, the distance thresholds can be defined as: T1, T2, T3; If: , or, , or, ; When the above conditions are met, the modeling of this area is completed.

[0030] When it is determined that pressure is formed, the catheter is manipulated to move and / or bend to other areas for modeling.

[0031] In some embodiments, as Figure 5 shown, the data arc surface segmentation based on the filtered and retained three-dimensional point cloud position data includes: Based on the retained three-dimensional point cloud position data, all arc surface edge lines are extracted to form arc surface point cloud data. In a specific example, the arc surface point cloud data of the blood pool, after being filtered, obtains the arc surface point cloud data corresponding to the contacting heart cavity tissue. First, the data is subjected to arc surface segmentation. The input point cloud data is the filtered regularized data set. For arc surface segmentation, all arc surface edge lines are first extracted.

[0032] The arc surface point cloud data is segmented nearby to be segmented into convex polygon small arc surfaces; The edge lines of the convex polygon small arc surfaces are segmented and extracted, and the vertices of each convex polygon are determined. As Figure 6 shown, the arc surface point cloud data is segmented nearby to complete the convex polygon small arc surface, and then the edge lines of the arc surface are segmented and extracted, and the vertices of each convex polygon are determined.

[0033] The purpose of the above vertex extraction step is to divide the arc surface into multiple triangles, divide the arc surface into a collection of multiple line segments, and then find the spatial position information through the relationship between the endpoints of each line segment of all arc surfaces, and extract the sequential relationship between the endpoints, finally completing the modeling of the complex arc surface. In some embodiments, the segmentation of the contour lines of each segmented arc surface includes: For the line segments without adjacent sequential relationships between the split line segments, the line segments are sorted by spatial coordinates, and the distances between adjacent line segments are recorded.

[0034] According to the distance, the triangles within the arc surface are sorted, and this process is repeated to form a point set of all sequential relationships.

[0035] In some embodiments, the triangular rendering construction of key points in segmented line segments includes: Determine the convex vertices of the convex polygon and select a convex vertex and two adjacent points; If there are other points in the triangle formed by the convex vertex and two adjacent points, replace the convex vertex and search for the next convex vertex until the smallest triangle is obtained.

[0036] Repeat the search for the smallest triangle until the entire convex polygon is covered, complete the model construction of the cardiac lumen in units of triangular faces, and form a triangular plane based on the sorted endpoints to complete the three-dimensional point cloud modeling output.

[0037] In a specific example, the triangulation process first finds the convex vertices in the polygon, selects a convex point and two adjacent points, and determines whether there are other points in this triangle. If so, replace the convex vertex and continue to find the next convex point until the smallest triangle is found. Adjacent triangles cover the entire convex polygon by repeating this process to complete triangulation. Finally, the model of the cardiac lumen is drawn in units of triangular faces, and a triangular plane is formed based on the sorted endpoints to complete the output of the model.

[0038] The method of the present application uses a windmill embedded magnetic positioning sensor to collect a set of at least 3 point cloud vector position data in space, and interpolates to complete a regular spherical high-density three-dimensional point cloud position data set based on the diameter of the windmill at the catheter tip; based on the coordinates of more than 3 fixed-point sensors, the inner boundary of the cardiac cavity is adaptively determined based on the Euclidean space distance and the deformation threshold, and the area is covered. The present application can complete fast high-density fine modeling based on single magnetic positioning, without the need for an additional electric field positioning system, has a huge cost advantage compared with traditional positioning, reduces the system complexity at the same time, and improves the system stability.

[0039] The windmill-shaped catheter tip of the present application can achieve adaptive deformation in the cardiac cavity, quickly confirm the boundary of the cardiac cavity, and thus rotate the catheter or bend at different angles to quickly cover different regions of the cardiac cavity and complete the adaptation of complex cardiac structures.

[0040] A single catheter can complete three-dimensional modeling of the cardiac cavity and electrophysiological intervention catheter ablation, and perform ablation while modeling. On the one hand, it reduces the consumable cost, and on the other hand, it does not require catheter switching during the operation, improving the surgical efficiency.

[0041] The embodiments of the present application also propose a three-dimensional point cloud modeling system for the cardiac cavity, including: A windmill-shaped mapping and ablation integrated catheter with variable diameter. The distal end of the catheter includes an electrode framework and a support framework. The support framework is connected to the electrode framework and is used to support the electrode framework. The electrode framework is led out through an electrode rod. A plurality of ablation electrodes are arranged on the electrode framework, and the plurality of ablation electrodes form an ablation surface. The distal end of the catheter is provided with at least 3 magnetic positioning sensors, and the magnetic positioning sensors are arranged in a triangular pattern. At least one magnetic positioning sensor is arranged on the electrode rod, and a microelectrode is arranged on the electrode rod.

[0042] As Figure 7 shown, the variable windmill-shaped distal end of the catheter specifically includes: a movable inner cavity tube body (catheter inner cavity); a fixed outer cavity tube body (catheter outer cavity); an electrode framework 3; a support framework 2.

[0043] The catheter inner cavity is slidably connected in the catheter outer cavity. One end of the electrode framework 3 is connected to the support framework, and the other end is fixedly connected to the catheter inner cavity. The support framework 2 is fixed on the catheter outer cavity. By the axial telescopic movement of the catheter inner cavity, the diameter adjustment of the windmill-shaped distal end of the catheter is completed. When the catheter inner cavity advances forward, the windmill framework (electrode framework 3 + support framework 2) is radially stretched as a whole, thereby forming an oval basket-like shape. When the catheter inner cavity retracts, the diameter of the windmill-shaped distal end of the catheter increases. As Figure 7 shown, finally, the maximum unfolded diameter of the windmill is formed, and it is switched to a petal-like shape. By adjusting the diameter of the windmill head end, fine adjustment can be made to the model of the heart.

[0044] Through the large-diameter windmill arc surface of the catheter, the contour of the cardiac cavity is quickly constructed. Then, the diameter of the catheter windmill is adjusted, and the target position of the cardiac cavity is finely modeled through the small-diameter basket-like windmill. Finally, an ablation model for complex arrhythmias can be completed.

[0045] At the beginning of modeling, the large-diameter windmill head end is used for efficient large-area coverage. When modeling complex cardiac structures, the small-diameter windmill head end is used to finely draw a three-dimensional model of the complex structure with high density, improving the modeling efficiency.

[0046] An ablation instrument, electrically connected to the integrated catheter, for outputting ablation energy; A computer, connected to the windmill-shaped mapping and ablation integrated catheter, includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the steps of the cardiac cavity three-dimensional point cloud modeling method as described above are implemented.

[0047] As Figure 8As shown in the figure, the three-dimensional point cloud modeling system for the cardiac cavity further includes an ablation instrument. Through the electrode rod at the distal end of the catheter, ablation is completed while three-dimensional modeling is performed. Ablation energy is output through the ablation surface formed by all the electrode rings at the distal end of the catheter, and it can be adapted to both radiofrequency ablation energy and pulsed ablation energy. Based on the windmill-fixed shaping of the catheter front end, the support framework provides the support force required for ablation and simultaneously solves the problem of electrode short circuit between the electrode rods during the ablation process. The design method of multiple electrode rods can quickly perform regional ablation on the target cardiac cavity position. The large-diameter windmill head end can perform large-area and efficient ablation, and shaping it into a small-diameter basket-shaped windmill can complete fine ablation in a small area. The two modes are used in combination to improve the success rate of the operation.

[0048] It should be noted that in each embodiment of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0049] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0050] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented 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, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0051] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are only illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims. All of these are within the protection scope of the present application.

Claims

1. A cardiac cavity three-dimensional point cloud modeling method, characterized in that: The method is realized based on a windmill-type integrated catheter with variable diameter for mapping and ablation. The catheter head end of the integrated catheter includes an electrode frame and a support frame. The support frame is connected to the electrode frame and used to support the electrode frame. The electrode frame is led out via an electrode rod. A plurality of ablation electrodes are arranged on the electrode frame. The plurality of ablation electrodes constitute an ablation surface. The catheter head end is provided with no less than 3 magnetic positioning sensors, and each magnetic positioning sensor is arranged in a triangle. At least one magnetic positioning sensor is arranged on the electrode rod. The cardiac cavity three-dimensional point cloud modeling method includes: According to the movement of the integrated conduit, based on the point cloud vector position data collected by each magnetic positioning sensor and the windmill diameter of the integrated conduit, a three-dimensional point cloud position data set of the spherical surface is interpolated; The data in the three-dimensional point cloud position data set are screened according to the impedance data collected by the microelectrode; The data arc surface is segmented according to the filtered and retained three-dimensional point cloud position data, and the contour lines of each segmented arc surface are segmented; The key points in the segmented line segments are triangulated and constructed to complete the three-dimensional modeling of the heart cavity.

2. The cardiac cavity three-dimensional point cloud modeling method according to claim 1, characterized in that: The data in the three-dimensional point cloud position data set are screened based on the impedance data collected by the microelectrode, including: Based on the set impedance reference value, the three-dimensional point cloud position data below the impedance reference value is eliminated, and the three-dimensional point cloud position data above the impedance reference value is retained.

3. The cardiac cavity three-dimensional point cloud modeling method according to claim 1, characterized in that: It also includes detecting different catheter deformations according to the movement of the integrated catheter and the position sensed by the magnetic positioning sensor at the catheter head end, so as to form a three-dimensional point cloud position data set of different spherical surfaces.

4. The cardiac cavity three-dimensional point cloud modeling method according to claim 3, characterized in that: The catheter head end is provided with three magnetic positioning sensors, one of which is provided on the electrode rod; According to the position sensed by the magnetic positioning sensor at the catheter tip, different catheter deformations are detected, including: Establishing pairwise spatial distance vectors based on the position vectors sensed by the magnetic positioning sensor; When the distance of any spatial distance vector exceeds the corresponding set distance threshold, it is determined that pressure is formed at the front end of the catheter; When it is determined that pressure is generated, the catheter is manipulated to move and / or bend to other areas for modeling.

5. The cardiac cavity three-dimensional point cloud modeling method according to claim 1, characterized in that: The data arc surface segmentation based on the filtered and retained 3D point cloud position data includes: Based on the retained 3D point cloud position data, all arc edge lines are extracted to form arc point cloud data; The arc surface point cloud data will be segmented nearby to segment small arc surfaces that are convex polygons; The edge lines of the small arc surfaces of the convex polygons are extracted in segments, and the vertices of each convex polygon are determined.

6. The cardiac cavity three-dimensional point cloud modeling method according to claim 5, characterized in that: Segmenting the contour lines of each segmented arc surface includes: For the line segments that have no adjacent order relationship between the split line segments, the line segments are sorted by spatial coordinates and the distances between adjacent line segments are recorded; According to the distance, the triangles inside the arc surface are sorted to form a point set with all sequential relationships.

7. The cardiac cavity three-dimensional point cloud modeling method according to claim 6, characterized in that: The construction of triangulated rendering of key points in the segmented line segments includes: Determine the convex vertex of the convex polygon and select the convex vertex and two adjacent points; If there are other points in the triangle formed by a convex vertex and two adjacent points, replace the convex vertex and search for the next convex vertex until the minimum triangle is obtained; Repeat the search for the smallest triangle until the entire convex polygon is covered, complete the model construction of the heart cavity in units of triangular faces, and form a triangular plane based on the sorted endpoints to complete the three-dimensional point cloud modeling output.

8. A cardiac cavity three-dimensional point cloud modeling system, characterized in that: include: A windmill-type integrated catheter for mapping and ablation with a variable diameter, wherein the catheter head end includes an electrode frame and a support frame, wherein the support frame is connected to the electrode frame and used to support the electrode frame, wherein the electrode frame is led out via an electrode rod, wherein a plurality of ablation electrodes are arranged on the electrode frame, and the plurality of ablation electrodes constitute an ablation surface, wherein the catheter head end is provided with no less than 3 magnetic positioning sensors, and the magnetic positioning sensors are arranged in a triangle, and at least one magnetic positioning sensor is arranged on the electrode rod; an ablation device, electrically connected to the integrated catheter, and configured to output ablation energy; A computer is connected to the windshield-type mapping and ablation integrated catheter, and includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, the steps of the cardiac cavity three-dimensional point cloud modeling method according to any one of claims 1 to 7 are implemented.

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