A cardiac cavity three-dimensional point cloud modeling method and system

Abstract

This application discloses a method and system for three-dimensional point cloud modeling of cardiac cavities, involving three-dimensional modeling and data processing technologies, including: interpolating a spherical three-dimensional point cloud position data set based on the movement of an integrated catheter, point cloud vector position data collected by each magnetic positioning sensor, and the windmill diameter of the integrated catheter; filtering data in the three-dimensional point cloud position data set based on impedance data collected by microelectrodes; segmenting the data arcs based on the three-dimensional point cloud position data retained after screening, and segmenting the contours of each segmented arc; and constructing triangulated rendering of key points in the segmented line segments to complete three-dimensional modeling within the cardiac cavity. The method of this application can simultaneously complete three-dimensional point cloud modeling of the target cardiac cavity and ablation of pulmonary vein isolation for atrial fibrillation using a single catheter.

Description

Technical Field

[0001] The present application relates to the fields of three-dimensional modeling and data processing technology, and in particular to a method and system for three-dimensional point cloud modeling of cardiac cavities. Background Art

[0002] The 3D cardiac modeling system is a comprehensive system specifically designed to construct a 3D model of cardiac anatomy and electrical activity. It has important applications in the diagnosis, treatment planning, and scientific research of heart disease. By combining cardiac anatomy and electrophysiological signals, the system constructs a 3D model of the heart. This model intuitively displays the heart's morphology, electrical activity pathways, and abnormal areas, providing crucial support for the diagnosis and treatment of heart disease.

[0003] Existing clinical 3D cardiac electrophysiology interventional ablation procedures are typically divided into two phases: 1) 3D mapping, in which the surgeon uses a high-density mapping catheter to complete 3D modeling of the target cardiac chamber; 2) 3D visualization of the ablation catheter within the target cardiac chamber, maneuvering the ablation catheter to the target lesion location, and achieving ablation using optimized energy. Because these two phases of 3D electrophysiology procedures typically require the use of different catheters (mapping catheters and ablation catheters), both of which are high-value, single-use consumables, clinical consumable costs are currently high, resulting in significant surgical costs. Furthermore, catheter designs and processes vary from manufacturer to manufacturer, and the time required for surgeons to master different catheter ablation techniques is significant. Therefore, the ability to efficiently complete 3D modeling and ablation of cardiac chambers using a single catheter has become a research priority for future surgeries.

[0004] Chinese patent CN109953812B discloses an integrated mapping and cryoablation catheter, which includes a tube body with a front end section, the front end section having a free end; a balloon, the balloon 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 mounted on the control handle and can be controlled to bend by the control handle; a strip carrier is arranged on the outer surface of the balloon, one end of the strip carrier is connected to the free end, and the other end is connected to an end of the balloon opposite to the free end, array electrodes are distributed on the strip carrier, and all array electrodes form a spherical array along the outer surface of the balloon. The invention discloses an integrated mapping and cryoablation catheter, which can more efficiently model and perform cryoablation at the same time, but the ablation energy it is suitable for is relatively single, and it can only be ablated by cryoenergy, and cannot use the most widely used radiofrequency energy or pulse energy ablation in clinical practice. The usage scenario is relatively single and is only suitable for ablation of the pulmonary vein orifice. Summary of the Invention

[0005] The embodiments of the present application provide a cardiac cavity three-dimensional point cloud modeling method and system, which can simultaneously complete the three-dimensional point cloud modeling of the target cardiac cavity and the ablation of atrial fibrillation pulmonary vein isolation through a single catheter.

[0006] The present application provides a method for three-dimensional point cloud modeling of a cardiac cavity, which is implemented based on a windmill-type integrated catheter for mapping and ablation with a variable diameter. The catheter tip 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 via an electrode rod. The electrode skeleton is provided with multiple ablation electrodes, and the multiple ablation electrodes constitute an ablation surface. The catheter tip is provided with no less than three magnetic positioning sensors, and each magnetic positioning sensor is arranged in a triangular shape. At least one magnetic positioning sensor is provided on the electrode rod. The method for three-dimensional point cloud modeling of a cardiac cavity includes:

[0007] 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, interpolation is performed to obtain a three-dimensional point cloud position data set of a spherical surface;

[0008] The data in the three-dimensional point cloud position data set is filtered according to the impedance data collected by the microelectrode;

[0009] Perform data arc segmentation based on the filtered and retained 3D point cloud position data, and segment the contour lines of each segmented arc surface;

[0010] The key points in the segmented line segments are triangulated and constructed to complete the three-dimensional modeling of the heart cavity.

[0011] The present application also provides a cardiac cavity three-dimensional point cloud modeling system, including:

[0012] A windmill-type integrated mapping and ablation catheter with a variable diameter, the catheter head end including an electrode frame and a support frame, the support frame being connected to the electrode frame and used to support the electrode frame, the electrode frame being led out via an electrode rod, the electrode frame being provided with multiple ablation electrodes, the multiple ablation electrodes forming an ablation surface, the catheter head end being provided with no fewer than three magnetic positioning sensors, each of which is arranged in a triangular shape, at least one of which is provided on the electrode rod, and the electrode rod being provided with a microelectrode;

[0013] an ablation device, electrically connected to the integrated catheter, and configured to output ablation energy;

[0014] The computer is connected to the windmill-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 aforementioned cardiac cavity three-dimensional point cloud modeling method are implemented.

[0015] The embodiment of the present application collects a high-density three-dimensional point cloud position data set on a regular sphere, performs data arc segmentation, segments the contour line of each arc surface, and finally performs triangulation rendering on the key points in the line segment to complete the modeling of the heart cavity. Through the electrode rod at the tip of the catheter, ablation is completed while three-dimensional modeling is being performed.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0018] Figure 1 This is a schematic diagram of the catheter tip structure of the windmill-type integrated mapping and ablation catheter with a variable diameter used in the embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of the basic process of the cardiac cavity three-dimensional point cloud modeling method according to an embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of generating arc surface 3D point cloud data for the cardiac cavity 3D point cloud modeling method according to an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the cardiac cavity closeness determination based on the Euclidean space distance in the cardiac cavity three-dimensional point cloud modeling method according to an embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the 3D modeling process of the cardiac cavity 3D point cloud modeling method according to an embodiment of the present application;

[0023] Figure 6 This is a schematic diagram of convex polygon generation and edge extraction in the cardiac cavity 3D point cloud modeling method according to an embodiment of the present application;

[0024] Figure 7 This is a schematic diagram of the diameter change of the catheter tip of the windmill-type mapping and ablation integrated catheter in the cardiac cavity three-dimensional point cloud modeling system according to an embodiment of the present application;

[0025] Figure 8 This is a schematic diagram of the modeling and ablation architecture of the cardiac cavity three-dimensional point cloud modeling system according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying 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. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0027] The present application provides a method for three-dimensional point cloud modeling of cardiac cavities, which is based on a windmill-type integrated catheter with variable diameter for mapping and ablation. Figure 1 As 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 the electrode rod 1. A plurality of ablation electrodes (microelectrodes) 32 are provided on the electrode skeleton 3. The plurality of ablation electrodes 32 constitute an ablation surface. The catheter head end is provided with no less than 3 magnetic positioning sensors 31, and each magnetic positioning sensor 31 is arranged in a triangle, and at least one magnetic positioning sensor 31 is provided on the electrode rod 1.

[0028] In a specific example, Figure 1 As shown, the catheter tip is divided into a front electrode frame 3 and a rear support frame 2, where the rear support frame 2 is used to shape the tip. There are several front electrode frames 3, six of which are used as an example in this embodiment. Each electrode frame 3 is equipped with no fewer than three annular ablation electrodes, forming the ablation surface.

[0029] The rear half of the support frame 2 is petal-shaped. The support frame 2 is a bilateral support structure. Each electrode frame is supported by the bottom support frames on both sides, providing good circumferential support for each electrode frame to prevent circumferential displacement of the electrode frame, and to maximize the uniform distribution of electrodes close to the target tissue in the cardiac cavity, thereby improving the ablation quality and reducing the recurrence rate.

[0030] like Figure 1 As shown, there are no less than 3 magnetic positioning sensors distributed on the catheter head end, and the magnetic positioning sensors are arranged in a triangle. No less than 2 sensors are embedded in different electrode rods corresponding to the windmill. Based on the symmetrical or evenly spaced arrangement of the electrode rods, 1 sensor is embedded in the tube body at the distal end of the catheter handle. Figure 2 As shown, the cardiac cavity three-dimensional point cloud modeling method of the embodiment of the present application includes:

[0031] In step S201, based on the movement of the integrated catheter, the point cloud vector position data collected by each magnetic positioning sensor and the windmill diameter of the integrated catheter are interpolated to obtain a spherical three-dimensional point cloud position dataset. This embodiment of the present application uses three magnetic positioning sensors as an example for illustration. For other numbers of magnetic positioning sensors, refer to the methods of the present embodiment and are not further described.

[0032] The point cloud data acquisition system collects a set of three point cloud vector position data in space through the magnetic positioning sensor embedded in the windmill. Each magnetic positioning sensor outputs three-dimensional point cloud position data {x1, y1, z1}, {x2, y2, z2} and {x3, y3, z3} in the induced magnetic field. Based on the known windmill diameter at the catheter head end, the high-density three-dimensional point cloud position data set of the regular sphere is interpolated to complete the point cloud high-density data set of the entire windmill arc surface, and the arc surface three-dimensional point cloud data is generated as follows: Figure 3 shown.

[0033] As the catheter tip moves, the latest three-dimensional coordinate information can be output in real time during implementation, and a high-density data set of arc surface point clouds can be continuously generated. The key to obtaining high-density point cloud three-dimensional data through discrete and limited magnetic induction sensors lies in the shaping stability of the catheter.

[0034] This application provides a support frame at the front end of the catheter, which can obtain a stable catheter shape in the heart, thereby obtaining high-density and high-precision point cloud three-dimensional data.

[0035] In step S202, the data in the three-dimensional point cloud position data set is filtered based on the impedance data collected by the microelectrodes. The filtering is used to eliminate the data of the non-intracardiac tissue part and retain the data of the intracardiac tissue part.

[0036] In step S203 , data arc surface segmentation is performed based on the filtered and retained three-dimensional point cloud position data, and the contour lines of each segmented arc surface are segmented.

[0037] In step S204, triangulation is performed on the key points in the segmented line segments to complete the 3D modeling of the heart cavity. In this specific example, using a regular spherical high-density 3D point cloud position dataset, the data is first segmented into arcs, then the contour lines of each arc are segmented, and finally, triangulation is performed on the key points in the line segments to complete the 3D modeling of the heart cavity.

[0038] The embodiment of the present application collects a high-density three-dimensional point cloud position data set on a regular sphere, performs data arc segmentation, segments the contour line of each arc surface, and finally performs triangulation rendering on the key points in the line segment to complete the modeling of the heart cavity. Through the electrode rod at the tip of the catheter, ablation is completed while three-dimensional modeling is being performed.

[0039] In some embodiments, filtering the data in the three-dimensional point cloud position dataset includes:

[0040] 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.

[0041] In this embodiment, microelectrodes (ablation electrodes) are embedded in the catheter tip. These microelectrodes simultaneously collect the impedance of cardiac tissue and blood within the cardiac cavity. If the electrodes are within the blood, the impedance is relatively low, typically below 50 ohms. In this embodiment, the corresponding point cloud data can be filtered out. If the electrode collects a high inductive impedance (e.g., above 50 ohms), it indicates that the electrode has contacted the cardiac tissue, and the corresponding point cloud position data is retained. This is used to filter out the 3D coordinate information of each point on the cardiac cavity wall for subsequent modeling.

[0042] 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 catheter head end, thereby forming three-dimensional point cloud position data sets of different spheres. When the curved windmill catheter is attached to the inner side of the heart, due to the complex anatomical structure of the heart's endothelium, the inner cavity and the curved surface of the windmill catheter head end are not completely fitted, so the catheter windmill head end will be slightly deformed when it is attached to the inner wall of the heart cavity; when the catheter head end gradually approaches the inner wall of the heart cavity, the catheter windmill head end will exert a certain pressure on the heart cavity. The greater the pressure, the higher the degree of deformation of the catheter head end, and the smaller the pressure, the smaller the degree of deformation. The embodiment of the present application performs certain detections on different catheter deformations according to the positions sensed by the three magnetic positioning sensors at the catheter head end, thereby forming high-density three-dimensional point cloud position data sets of different spheres.

[0043] In some embodiments, the catheter tip is provided with three magnetic positioning sensors, one of which is provided on the electrode rod. Under the condition of a fixed diameter of the head windmill, the Euclidean space distance between the positions sensed by the magnetic positioning sensors can detect whether a certain pressure has been formed at the catheter tip, thereby rotating the catheter and making different bending angles to cover different areas of the heart cavity. This can also determine whether the catheter tip is close to the endocardial tissue. Specifically, according to the position sensed by the magnetic positioning sensor at the catheter tip, the detection of different catheter deformations includes:

[0044] The space distance vectors between two magnetic positioning sensors are established based on the position vectors sensed by the magnetic positioning sensors. Figure 4 As shown, the position vectors sensed by the three magnetic positioning sensors are: , , ;

[0045] The distance vector in pairwise vector space is: , , .

[0046] The calculation of the spatial distance vector is:

[0047] ;

[0048] ;

[0049] ;

[0050] If the distance between any spatial distance vector exceeds the corresponding set distance threshold, it is determined that pressure has formed at the tip of the catheter. In other words, when the distance between any spatial distance vector exceeds a certain threshold, it is determined that pressure has formed between the tip of the catheter and the inner wall of the cardiac cavity, completing the contact in that area, and then the catheter is moved to another area to continue modeling.

[0051] The distance threshold definition can be, for example: T1, T2, T3;

[0052] if: ,or, ,or, ;

[0053] Once the above conditions are met, the modeling of the area is completed.

[0054] When it is determined that pressure is generated, the catheter is manipulated to move and / or bend to other areas for modeling.

[0055] In some embodiments, as Figure 5 As shown, the data arc surface segmentation based on the filtered and retained three-dimensional point cloud position data includes:

[0056] Based on the retained 3D point cloud position data, all arc surface edge lines are extracted to form arc surface point cloud data. In the specific example, the arc surface point cloud data of the blood pool is filtered to obtain the arc surface point cloud data corresponding to the cardiac cavity tissue. The data is first segmented. The input point cloud data is the filtered regularized data set. For arc surface segmentation, all arc surface edge lines are first extracted.

[0057] The arc surface point cloud data will be segmented nearby to segment the small arc surface in the form of convex polygons;

[0058] Extract the edge lines of the convex polygonal arcs in segments and determine the vertices of each convex polygon. Figure 6 As shown in FIG, the arc surface point cloud data is segmented nearby to complete the convex polygonal arc surface, and then the edge line of the arc surface is segmented and extracted, and the vertices of each convex polygon are determined.

[0059] The purpose of the vertex extraction step is to segment the arc surface into multiple triangles, dividing the arc surface into a collection of multiple line segments, and then finding the spatial position information through the relationship between the endpoints of each line segment of all arc surfaces, and extracting the sequential relationship between the endpoints, and finally completing the modeling of the complex arc surface. In some embodiments, segmenting the contour lines of each segmented arc surface includes:

[0060] For 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.

[0061] The triangles inside the arc surface are sorted according to the distance, and this process is repeated to form a point set with all sequential relationships.

[0062] In some embodiments, performing triangulation on key points in the segmented line segments includes:

[0063] Determine the convex vertex of the convex polygon and select the convex vertex and two adjacent points;

[0064] If there are other points in the triangle formed by the convex vertex and two adjacent points, the convex vertex is replaced and the next convex vertex is searched until the minimum triangle is obtained.

[0065] Repeatedly search for the smallest triangle until the entire convex polygon is covered, complete the model construction of the heart cavity with triangular faces as units, and form a triangular plane based on the sorted endpoints to complete the 3D point cloud modeling output.

[0066] In this specific example, the triangulation process first finds convex vertices in the polygon. A convex vertex and two adjacent points are selected, and then the presence of other points in the triangle is determined. If so, the convex vertex is replaced, and the next convex point is found until the smallest triangle is found. This process is repeated for adjacent triangles until the entire convex polygon is covered, completing the triangulation. Finally, the heart cavity model is drawn using triangular faces as units, and triangular planes are formed based on the sorted endpoints to complete the model output.

[0067] This method uses magnetic positioning sensors embedded in windmills to collect spatial vector position data from at least three point clouds. Based on the diameter of the windmill at the catheter tip, this data is interpolated to create a high-density three-dimensional point cloud position dataset on a regular sphere. Using the coordinates of at least three fixed-point sensors, the method adaptively determines the intracardiac boundary based on Euclidean distance and deformation thresholds to achieve regional coverage. This method, based on single magnetic positioning, enables rapid, high-density, and detailed modeling, eliminating the need for an additional electric field positioning system. This offers significant cost advantages over traditional positioning methods, while also reducing system complexity and improving system stability.

[0068] The windmill-type catheter tip of the present application can realize adaptive deformation in the cardiac cavity, quickly complete the confirmation of the cardiac cavity boundary, and thus rotate the catheter or make bends at different angles to quickly cover different areas of the cardiac cavity and complete the adaptation of complex cardiac structures.

[0069] A single catheter can complete three-dimensional modeling of the cardiac cavity and electrophysiological interventional catheter ablation, completing ablation while modeling. On the one hand, it reduces the cost of consumables. On the other hand, there is no need to switch catheters for surgical operations during the operation, which improves surgical efficiency.

[0070] The present application also provides a cardiac cavity three-dimensional point cloud modeling system, including:

[0071] A windmill-type integrated mapping and ablation catheter with variable diameter, the catheter head end includes an electrode frame and a support frame, the support frame is connected to the electrode frame and is used to support the electrode frame, the electrode frame is led out through an electrode rod, and a plurality of ablation electrodes are arranged on the electrode frame, and 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 provided on the electrode rod, and a microelectrode is provided on the electrode rod.

[0072] like Figure 7 As shown, the variable windmill-type catheter head end specifically includes: a movable inner cavity tube body (catheter inner cavity); a fixed outer cavity tube body (catheter outer cavity); an electrode frame 3; and a support frame 2.

[0073] The inner cavity of the catheter can be slidably connected to the outer cavity of the catheter. One end of the electrode frame 3 is connected to the support frame, and the other end is fixedly connected to the inner cavity of the catheter. The support frame 2 is fixed to the outer cavity of the catheter. The diameter adjustment of the windmill catheter head end is completed through the axial expansion and contraction movement of the inner cavity of the catheter. When the inner cavity of the catheter is advanced, the windmill frame (electrode frame 3 + support frame 2) is stretched radially as a whole, thereby forming an elliptical basket-like shape. When the inner cavity of the catheter is withdrawn, the diameter of the windmill catheter head end increases, such as Figure 7 As shown, the maximum expanded diameter of the windmill is finally formed, switching to a petal-like shape, and adjusting the diameter of the windmill head end to make fine adjustments to the heart model.

[0074] The large-diameter windmill arc surface of the catheter is used to quickly construct the contour of the heart cavity. Then, the diameter of the catheter windmill is adjusted, and the small-diameter basket-shaped windmill is used to finely model the target position of the heart cavity, ultimately completing an ablation model that can be used for complex arrhythmias.

[0075] At the beginning of modeling, a large-diameter windmill head is used to efficiently cover a large area. When modeling complex heart structures, a small-diameter windmill head is used to draw the complex structure three-dimensional model with high density and precision, thereby improving modeling efficiency.

[0076] an ablation device, electrically connected to the integrated catheter, and configured to output ablation energy;

[0077] The computer is connected to the windmill-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 aforementioned cardiac cavity three-dimensional point cloud modeling method are implemented.

[0078] like Figure 8 As shown, the cardiac cavity three-dimensional point cloud modeling system also includes an ablation device, which completes ablation while three-dimensional modeling through the electrode rod at the catheter head end, and outputs ablation energy through the ablation surface formed by all the electrode rings at the catheter head end, and can adapt to radiofrequency ablation energy and pulse ablation energy at the same time. Based on the windmill-fixed shaping of the catheter front end, the support skeleton provides the support force required for ablation, and solves the problem of electrode short circuit between the electrode rods during the ablation process. The design of multiple electrode rods can quickly perform regional ablation of the target cardiac cavity position. The large-diameter windmill head end can achieve large-area efficient ablation, and the windmill shaped into a small-diameter basket-shaped windmill can complete small-scale fine ablation. The two modes are used in combination to improve the success rate of the operation.

[0079] It should be noted that, in the various embodiments of the present application, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0080] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0081] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, 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 disk), and includes a number of instructions for enabling 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 this application.

[0082] 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 this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are protected by this application.

Claims

1. A cardiac cavity three-dimensional point cloud modeling method, characterized in that: The method is based on a windmill-type integrated catheter with a 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 is used to support the electrode frame. The electrode frame is led out through an electrode rod. A plurality of ablation electrodes are provided on the electrode frame. The plurality of ablation electrodes constitute an ablation surface. The catheter head end is provided with no less than three magnetic positioning sensors, and each magnetic positioning sensor is arranged in a triangular shape. At least one magnetic positioning sensor is provided on the electrode rod. The cardiac cavity three-dimensional point cloud modeling method 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, interpolation is performed to obtain a three-dimensional point cloud position data set of a spherical surface; The data in the three-dimensional point cloud position data set is filtered according to the impedance data collected by the microelectrode; Perform data arc segmentation based on the filtered and retained 3D point cloud position data, and segment the contour lines of each segmented arc surface; Perform triangulation rendering on key points in the segmented line segments to complete the three-dimensional modeling of the heart cavity; It also includes detecting different catheter deformations based on the movement of the integrated catheter and the position sensed by the magnetic positioning sensor at the catheter head end, thereby forming a three-dimensional point cloud position data set of different spherical surfaces; Three magnetic positioning sensors are provided at the catheter head end, one of which is provided on the electrode rod; Based on 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 a 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; 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 surface edge lines are extracted to form arc surface point cloud data; The arc surface point cloud data will be segmented nearby to segment the small arc surface in the form of convex polygons; The edge lines of the small arc surfaces of the convex polygons are segmented and the vertices of each convex polygon are determined.

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 dataset is filtered 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: 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, sort the line segments by spatial coordinates and record the distance between adjacent line segments; According to the distance, the triangles in the arc surface are sorted to form a point set with all sequential relationships.

4. The cardiac cavity three-dimensional point cloud modeling method according to claim 3, 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 the convex vertex and two adjacent points, replace the convex vertex and search for the next convex vertex until the minimum triangle is obtained; Repeatedly search for the smallest triangle until the entire convex polygon is covered, complete the model construction of the heart cavity with triangular faces as units, and form a triangular plane based on the sorted endpoints to complete the 3D point cloud modeling output.

5. A cardiac cavity three-dimensional point cloud modeling system, characterized in that: include: A windmill-type integrated mapping and ablation catheter with a variable diameter, the catheter head end comprising an electrode frame and a support frame, the support frame being connected to the electrode frame and used to support the electrode frame, the electrode frame being led out via an electrode rod, the electrode frame being provided with a plurality of ablation electrodes, the plurality of ablation electrodes forming an ablation surface, the catheter head end being provided with no fewer than three magnetic positioning sensors, each of which being arranged in a triangular shape, with at least one magnetic positioning sensor being provided 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 windmill-type mapping and ablation integrated catheter, comprising a processor and a memory, wherein the memory stores a computer program, and 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 4 are implemented.

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