An acoustic intervention imaging platform for natural orifices and vasculature

Abstract

The application discloses an acoustic intervention image platform for natural cavities and blood vessels. In the platform, a signal processing reconstruction and human-computer interaction module transmits in-vivo intervention control instructions; a multi-channel multi-modal dynamic electromechanical module provides power and transmits rotary torque; the multi-channel multi-modal dynamic electromechanical module adjusts the shape of a multifunctional catheter module through dynamic electromechanical control. The catheter body has multiple flexible structures, and based on power movement, shape changes occur under the control of the dynamic electromechanical unit. The transducer of the in-vivo acoustic intervention sensing module rotates under the action of the rotary torque and detects the current in-vivo environment to generate a detection signal; the signal processing reconstruction and human-computer interaction module processes and visually reconstructs acoustic image data according to the detection signal provided by the in-vivo acoustic intervention sensing module, and visually displays the acoustic image data. The platform has strong scene universality, and supports natural cavity intervention and is applicable to in-vessel intervention.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of acoustic imaging, in particular to an acoustic interventional imaging platform applicable to natural cavities and vascular systems. BACKGROUND

[0002] Due to acoustic penetration, the acoustic interventional imaging platform can realize real-time visualization of deep structure tissues in the body closer to the lesion, provide dynamic information related to blood flow, clearly image in a complex environment full of body fluids, and is safer than X-ray and CT. The acoustic interventional imaging platform has been gradually widely applied in intraoperative guidance and early diagnosis and treatment. Generally, the acoustic interventional imaging platform is mostly designed for specific application scenarios. The current acoustic interventional imaging platform taking ultrasound as an imaging modality mainly includes three types: endoscopic ultrasound (EUS), intracardiac echocardiography (ICE) and intravascular ultrasound (IVUS). The application of the three types of acoustic interventional imaging platforms EUS, ICE and IVUS requires the cooperation of digital subtraction angiography (DSA) technology, and each has a relatively limited application scenario.

[0003] EUS usually integrates a transducer array at the end of an endoscope catheter, which is transported to the human body through natural cavities such as the throat, respiratory tract, urethra or vagina, to visualize the related structures of natural cavities and surrounding organs. EUS is widely used for real-time intraoperative guidance and puncture biopsy of natural cavities such as the digestive tract, trachea, bladder, prostate and rectum, and has important significance for early screening of gynecological and digestive diseases. However, it cannot be applied to related scenarios such as the heart and vascular system.

[0004] For application scenarios related to the heart and vascular system, ICE and IVUS are usually used to visualize structural information and characterize blood flow functional information. ICE can provide precise positioning of intracardiac structures and catheter guidance in important heart structure treatment surgeries such as cardiac ablation, valve repair and left atrial appendage occlusion, to ensure surgical safety and effectiveness. IVUS is used to assist in interventional surgery of coronary arteries and peripheral arteries, to evaluate vascular stenosis, stent expansion and plaque characteristics in stent implantation and angioplasty, to ensure treatment effectiveness. However, ICE and IVUS are difficult to apply to natural cavity interventional scenarios such as the digestive system, respiratory system, urinary system and reproductive system.

[0005] At present, an acoustic intervention image platform applicable to natural cavities and blood vessel systems needs to be proposed to reduce the research and development cost of the acoustic intervention image platform. SUMMARY

[0006] Based on the above problems, the application provides an acoustic intervention image platform applicable to natural cavities and blood vessel systems, aiming to solve the problem of the limitation of the application scene of the acoustic intervention image platform.

[0007] The application embodiment discloses the following technical scheme:

[0008] The application provides an acoustic intervention image platform applicable to natural cavities and blood vessel systems, which comprises an in-vivo intervention acoustic sensing module, a multifunctional catheter module, a multi-channel multi-modal dynamic electromechanical module, and a signal processing reconstruction and human-computer interaction module.

[0009] The in-vivo intervention acoustic sensing module is connected to the first end of the multifunctional catheter module, and the multi-channel multi-modal dynamic electromechanical module is connected to the second end of the multifunctional catheter module; the in-vivo intervention acoustic sensing module and the multi-channel multi-modal dynamic electromechanical module are in communication connection with the signal processing reconstruction and human-computer interaction module; and the multifunctional catheter module is in communication connection with the multi-channel multi-modal dynamic electromechanical module.

[0010] The signal processing reconstruction and human-computer interaction module is used to deliver in-vivo intervention control instructions to the multi-channel multi-modal dynamic electromechanical module.

[0011] The multi-channel multi-modal dynamic electromechanical module is used to provide power for the movement of the multifunctional catheter module according to the in-vivo intervention control instructions, and transmit a rotating torque to the in-vivo intervention acoustic sensing module through the multifunctional catheter module; the multi-channel multi-modal dynamic electromechanical module is integrated with a multi-degree-of-freedom dynamic adjustment unit, and the dynamic adjustment unit is used to adjust the form of the multifunctional catheter module through dynamic electromechanical control.

[0012] The catheter main body of the multifunctional catheter module has a plurality of flexible structures, and the catheter main body is used to change the form under the control of the dynamic electromechanical unit to adapt to the current in-vivo environment and move based on the power provided by the multi-channel multi-modal dynamic electromechanical module.

[0013] The in-vivo intervention acoustic sensing module is provided with a transducer, which rotates and detects the current in-vivo environment under the action of the rotating torque, generates a detection signal and transmits the detection signal to the signal processing reconstruction and human-computer interaction module.

[0014] The signal processing reconstruction and human-computer interaction module is further configured to perform signal processing and visual reconstruction on the detection signal provided by the in-vivo intervention acoustic sensing module, generate acoustic image data, and visually display the acoustic image data.

[0015] In an optional implementation, the platform includes multiple spare catheters with morphological differences and / or flexibility differences to match multiple different in-vivo environments; the multiple spare catheters include a catheter suitable for a straight blood vessel, a catheter suitable for a curved bronchus, and a catheter suitable for a flexible cavity; and the catheter body is selected from the multiple spare catheters.

[0016] In an optional implementation, the multi-functional catheter module is in communication connection with the signal processing reconstruction and human-computer interaction module; the multi-functional catheter module further includes a multi-modal non-acoustic sensor; the multi-modal non-acoustic sensor is configured to measure one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals, and temperature signals, and transmit the measured signals to the signal processing reconstruction and human-computer interaction module.

[0017] The signal processing reconstruction and human-computer interaction module is further configured to perform multi-modal fusion on the detection signal and the measured signals to generate multi-modal information fusion image data and visually display the multi-modal information fusion image data.

[0018] In an optional implementation, the multi-modal non-acoustic sensor is detachably arranged on the surface of the catheter body; the platform includes multiple spare non-acoustic sensors of different modalities; and the multi-modal non-acoustic sensor is selected from the multiple spare non-acoustic sensors of different modalities.

[0019] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module includes multiple channels of different media, and the multiple channels of different media are respectively configured to transmit signals of different modalities; and the signals of different modalities include at least two of the following:

[0020] acoustic signals, light signals, electric signals, gas signals, liquid signals, torques, or stresses.

[0021] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module is further configured with a coupler, and the coupler is configured to realize coupling or isolation of the signals of different modalities in the multiple channels of different media.

[0022] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module further includes a multi-modal cooperative processing unit.

[0023] The multi-modal cooperative processing unit is configured to decode and reconstruct the signals of different modalities, and perform real-time fusion and dynamic regulation based on the reconstructed multi-modal data.

[0024] In an optional implementation, the platform further includes an extracorporeal acoustic sensing module, which is in communication connection with the signal processing and reconstruction and human-computer interaction module.

[0025] The extracorporeal acoustic sensing module is provided with a transducer, which is configured to detect the in-vivo environment of the target object and the current position and posture of the in-vivo intervention acoustic sensing module from outside the body through the transducer itself, and transmit the detected signals to the signal processing and reconstruction and human-computer interaction module.

[0026] The signal processing and reconstruction and human-computer interaction module is further configured to perform signal processing and visual reconstruction according to the signals provided by the extracorporeal acoustic sensing module, and visually display the reconstructed acoustic image data, so as to guide the doctor to adjust the in-vivo intervention control instruction in real time through human-computer interaction, so as to make the multi-functional catheter module and the in-vivo intervention acoustic sensing module reach the expected position in the in-vivo environment of the target object.

[0027] In an optional implementation, the dynamic adjustment unit includes one or more of the following:

[0028] A flexible multi-section motor, a shape memory alloy or a hydraulic soft actuator.

[0029] In an optional implementation, the morphological change of the catheter body includes one or more of the following:

[0030] Bending, expanding, segmented unfolding or shrinking.

[0031] Compared with the prior art, the present application has the following beneficial effects:

[0032] The application provides an acoustic intervention image platform for natural cavities and blood vessel systems, a signal processing reconstruction and human-computer interaction module transmits in-vivo intervention control instructions, a multi-channel multi-modal dynamic electromechanical module provides power and transmits rotary torque, and the multi-channel multi-modal dynamic electromechanical module adjusts the shape of a multifunctional catheter module through dynamic electromechanical control. The catheter body has a plurality of flexible structures, and based on power movement, the shape of the catheter body changes under the control of the dynamic electromechanical unit. The transducer of the in-vivo intervention acoustic sensing module rotates under the action of the rotary torque and detects the current in-vivo environment to generate a detection signal; the signal processing reconstruction and human-computer interaction module processes and visually reconstructs acoustic image data according to the detection signal provided by the in-vivo intervention acoustic sensing module, and visually displays the acoustic image data. Since the catheter body has a plurality of flexible structures, the shape of the catheter body can change under the action of the multi-channel multi-modal dynamic electromechanical control module, so that the catheter body can flexibly adapt to the current in-vivo environment. It can be seen that the platform has strong scene universality and can be applied to different in-vivo environments such as natural cavities and blood vessel systems. The platform effectively solves the application scene limitation problem of several types of acoustic intervention image platforms represented by EUS, ICE and IVUS. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 A structure visualization effect diagram of a heart main aorta, a valve and a papillary muscle formed by the acoustic intervention image platform provided by the embodiment of the present application;

[0035] Figure 2 A blood flow information schematic diagram of a plurality of regions of a heart formed by the acoustic intervention image platform provided by the embodiment of the present application;

[0036] Figure 3 A structure schematic diagram of the acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiment of the present application;

[0037] Figure 4 A schematic diagram of panoramic acquisition of the in-vivo intervention acoustic sensing module provided by the embodiment of the present application;

[0038] Figure 5 A detailed display diagram of a plurality of module structures in the acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiment of the present application. DETAILED DESCRIPTION

[0039] As described above, the current EUS, ICE and IVUS acoustic intervention imaging platforms each have limitations in application scenarios. Specifically, EUS cannot be flexibly applied to heart, blood vessel system and other scenarios, while ICE and IVUS cannot be applied to natural cavity scenarios. Their respective limitations mean that different scenarios need to be specially developed for corresponding acoustic intervention imaging platforms, which has very high development costs. The inventors propose an acoustic intervention imaging platform that does not need to rely on DSA technology, which can be used for intervention detection and diagnosis and treatment in natural cavities and blood vessel systems, has flexible application scenarios, and reduces development costs. In addition, since it does not rely on DSA technology, it is non-radiative, and compared with EUS, ICE and IVUS, the use process of the platform is safer for patients and medical workers.

[0040] The acoustic intervention imaging platform provided by the embodiments of the present application is applicable to natural cavities and blood vessel systems, which comprises: an in-vivo intervention acoustic sensing module, a multifunctional catheter module, a multi-channel multi-modal dynamic electromechanical module, and a signal processing reconstruction and human-computer interaction module.

[0041] The in-vivo intervention acoustic sensing module and the multi-channel multi-modal dynamic electromechanical module are in communication connection with the signal processing reconstruction and human-computer interaction module; and the multifunctional catheter module is in communication connection with the multi-channel multi-modal dynamic electromechanical module.

[0042] The multifunctional catheter module is a rod-shaped three-dimensional structure. For ease of description, the end of the multifunctional catheter module that enters the human body first is referred to as the first end, and the other end is referred to as the second end. The first end of the multifunctional catheter module is connected with the in-vivo intervention acoustic sensing module; and the second end of the multifunctional catheter module is connected with the multi-channel multi-modal dynamic electromechanical module.

[0043] The signal processing reconstruction and human-computer interaction module has the ability of signal processing and reconstruction, and has the ability of human-computer interaction. The ability of human-computer interaction specifically embodies that it can not only visually display data or images, but also can generate corresponding control instructions in response to the operation of medical workers. For example, the signal processing reconstruction and human-computer interaction module in the platform is configured with a human-computer interaction device, and a control for triggering the detection function of the platform is displayed in the human-computer interaction window of the human-computer interaction device. When the doctor applies a touch operation to the control, the signal processing reconstruction and human-computer interaction module perceives the touch operation, generates an in-vivo intervention control instruction accordingly, and sends the instruction to the multi-channel multi-modal dynamic electromechanical module.

[0044] In one possible implementation, the in-vivo intervention control instruction includes a control parameter of the controlled object, such as a rotation angle, a moving direction, or a moving distance of the in-vivo intervention acoustic sensing module. The multi-channel multi-modal dynamic electromechanical module provides torque and power for rotation and movement of the in-vivo intervention acoustic sensing module and the multifunctional catheter module. The multi-channel multi-modal dynamic electromechanical module can calculate, according to the control parameter carried in the in-vivo intervention control instruction, an expected rotation angle, an expected moving direction, or an expected moving distance of the in-vivo intervention acoustic sensing module, and an output parameter required by the multi-channel multi-modal dynamic electromechanical module, and then output the corresponding parameter to the multifunctional catheter module and / or the in-vivo intervention acoustic sensing module. In another implementation, the above calculation is completed by the signal processing reconstruction and human-computer interaction module, and therefore the in-vivo intervention control instruction can specifically carry a control parameter of the multi-channel multi-modal dynamic electromechanical module. After receiving the in-vivo intervention control instruction, the multi-channel multi-modal dynamic electromechanical module directly outputs corresponding power or rotation torque to the in-vivo intervention acoustic sensing module and the multifunctional catheter module according to the control.

[0045] The multi-channel multi-modal dynamic electromechanical module is configured to provide power for movement of the multifunctional catheter module according to the in-vivo intervention control instruction, and transmit rotation torque to the in-vivo intervention acoustic sensing module through the multifunctional catheter module.

[0046] The multi-channel multi-modal dynamic electromechanical module provides driving force for the acoustic intervention imaging platform for natural cavities and blood vessels proposed in this application, which is suitable for multiple application scenarios. The multi-channel multi-modal dynamic electromechanical module can support multi-degree-of-freedom control of the multifunctional catheter module, including rotation, bending, and orientation. Moreover, the operation path can be adjusted based on different anatomical environments (such as straight blood vessels, curved bronchial tubes, or flexible cavities). Therefore, the platform can flexibly adapt to multiple intervention paths: not only can it work in a single, linear path (such as an intravascular guide wire), but also can adapt to complex, nonlinear paths, breaking through the adaptability barriers of existing single devices such as thrombolytic catheters in complex scenarios.

[0047] The multi-channel multi-modal dynamic electromechanical module integrates a multi-degree-of-freedom dynamic adjustment unit. As an example, the dynamic adjustment unit can be one or more of a flexible multi-segment motor, a shape memory alloy, or a hydraulic soft actuator. The dynamic adjustment unit is configured to adjust the shape of the multifunctional catheter module through dynamic electromechanical control.

[0048] The multifunctional catheter module has a flexible spatial topology function and a geometric structure design that can be adjusted. By using a new multi-segment flexible structure and combining a controllable shape adjustment mechanism (such as a shape memory alloy, hydraulic / pneumatic adjustment, or a multi-segment controllable electromagnetic drive), the multifunctional catheter module can dynamically adjust the shape to adapt to different anatomical environments.

[0049] The multi-segment flexible structure of the catheter body changes morphology under the control of the dynamic electromechanical unit. The morphology change of the catheter body includes one or more of the following: bending, expanding, segmental unfolding or shrinking. For example, in a narrow or curved cavity, the catheter body can adapt to the target path by bending or segmental unfolding; in a wide cavity environment (such as a stomach cavity or a uterine cavity), the catheter body can be unfolded into a fan-shaped or circular structure to cover a larger area. The morphology of the catheter body of the multifunctional catheter module changes based on the dynamic electromechanical control of the dynamic adjustment unit in the multi-channel multi-modal dynamic electromechanical module. This flexible change mechanism can adapt to the current in-vivo environment of the catheter body. Compared with a fixed morphology catheter, the improved flexible topology function of the multifunctional catheter module can more efficiently adapt to various human body structures, reducing the difficulty of surgery. In addition, the multifunctional catheter module also moves forward based on the power provided by the multi-channel multi-modal dynamic electromechanical module.

[0050] The in-vivo intervention acoustic sensing module is provided with a transducer, which rotates under the action of the rotating torque and detects the current in-vivo environment. Since the in-vivo intervention acoustic sensing module is connected to the first end of the multifunctional catheter module, when the first end of the multifunctional catheter module enters the human body, the in-vivo intervention acoustic sensing module can detect the in-vivo environment through the transducer configured therein, collect information, and transmit the information to the signal processing and reconstruction and human-computer interaction module through a detection signal.

[0051] The signal processing and reconstruction and human-computer interaction module is also used for signal processing and visual reconstruction according to the detection signal provided by the in-vivo intervention acoustic sensing module, generating acoustic image data, and visually displaying the acoustic image data.

[0052] Figure 1 A structural visualization effect diagram of the heart, aorta, valve and papillary muscle formed by the acoustic intervention image platform provided by the embodiment of the present application. Figure 1 Taking a heart intervention application as an example, the structural visualization effects of the aorta, valve and papillary muscle are sequentially displayed from left to right.

[0053] Figure 2 A blood flow information schematic diagram of multiple regions of the heart formed by the acoustic intervention image platform provided by the embodiment of the present application. Figure 2 Taking a heart intervention application as an example, the blood flow information of the ventricle (left ventricle, right ventricle), papillary muscle, myocardium and valve is respectively visually displayed. Doctors can accurately make medical judgments with the help of the structural imaging and blood flow functional information displayed by the signal processing and reconstruction and human-computer interaction module. It can be seen that the acoustic intervention image platform provided by the technical scheme of the present application can effectively assist the doctor's diagnosis and treatment work.

[0054] In an optional implementation, the acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiments of the present application further comprises an extracorporeal acoustic sensing module. For the convenience of understanding the structural composition of the platform, reference can be made to Figure 3 FIG. 1 is a structural schematic diagram of an acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiments of the present application. In Figure 3 several key components of the acoustic intervention image platform are shown, including: an intracorporeal intervention acoustic sensing module 31, a multifunctional catheter module 32, a multi-channel multi-modal dynamic electromechanical module 33, an extracorporeal acoustic sensing module 34, and a signal processing reconstruction and human-computer interaction module 35.

[0055] As shown in Figure 3 , the multi-channel multi-modal dynamic electromechanical module 33 and the extracorporeal acoustic sensing module 34 are both in communication connection with the signal processing reconstruction and human-computer interaction module 35.

[0056] Similarly to the intracorporeal intervention acoustic sensing module 31, a transducer is also provided in the extracorporeal acoustic sensing module 34. The extracorporeal acoustic sensing module 34 is used to detect the intracorporeal environment of a target object (which can be a patient in a specific diagnosis and treatment scene) and the current position and posture of the intracorporeal intervention acoustic sensing module 31 from outside the body through its own transducer. The extracorporeal acoustic sensing module 34 is also used to transmit the detected signals to the signal processing reconstruction and human-computer interaction module 35.

[0057] In actual application, the doctor can first perform preliminary detection on the target object from outside the body through the extracorporeal acoustic sensing module 34 of the platform, and intervene the multifunctional catheter module 32 and the intracorporeal intervention acoustic sensing module 31 into the target object through the human-computer interaction mode. At this time, if the relevant area is continuously detected by the extracorporeal acoustic sensing module 34 and the intracorporeal intervention acoustic sensing module 31, the doctor can visually observe the position and posture of the intracorporeal intervention acoustic sensing module 31 on the corresponding detection screen of the extracorporeal acoustic sensing module 34 through the signal processing reconstruction and human-computer interaction module 35. Further, through the observation screen, it can be identified whether the intracorporeal intervention acoustic sensing module 31 is in the expected intervention position or the expected posture. If it is not in the expected intervention position or the expected posture, the doctor can adjust the moving direction, position, moving path, etc. of the multifunctional catheter module 32 through the signal processing reconstruction and human-computer interaction module 35, so as to reach the expected intervention position or the expected posture to diagnose and treat the lesion of the target object.

[0058] Therefore, the signal processing reconstruction and human-computer interaction module 35 in the acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiments of the present application is also used for signal processing and visualized reconstruction according to the signals provided by the extracorporeal acoustic sensing module 34, and the reconstructed acoustic image data is visualized to guide the doctor to adjust the intracorporeal intervention control instruction in real time through the human-computer interaction mode, so that the multifunctional catheter module 32 and the intracorporeal acoustic sensing module 31 reach the expected position in the body of the target object. Through the detection of the intracorporeal and extracorporeal acoustic sensing modules, real-time detection and position correction are effectively realized, and the diagnosis and treatment efficiency and effect are improved.

[0059] In order to better adapt to the characteristics and detection requirements of different types of intracorporeal environments, in an optional implementation, the acoustic intervention image platform for natural cavities and blood vessel systems provided by the embodiments of the present application includes a plurality of standby catheters with morphological differences and / or flexibility differences to match a plurality of different intracorporeal environments. For example, the plurality of standby catheters can include a catheter suitable for a straight blood vessel, a catheter suitable for a curved bronchus, and a catheter suitable for a flexible cavity. The doctor can select a catheter from the plurality of standby catheters as the catheter body of the multifunctional catheter module 32 of the platform according to the characteristics and detection requirements of the intracorporeal environment to be detected. For this platform, the catheter body is detachable and replaceable.

[0060] In an optional implementation, the multifunctional catheter module 32 is in communication connection with the signal processing reconstruction and human-computer interaction module 35. The multifunctional catheter module 32 further includes a multi-modal non-acoustic sensor. In an optional implementation, the multi-modal non-acoustic sensor is arranged on the surface of the catheter body and is detachable; the platform includes a plurality of standby non-acoustic sensors of different modalities; the multi-modal non-acoustic sensor is selected from the plurality of standby non-acoustic sensors of different modalities.

[0061] The multi-modal non-acoustic sensor is used for mapping one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals, and temperature signals, and transmitting the mapped signals to the signal processing reconstruction and human-computer interaction module 35. The signal processing reconstruction and human-computer interaction module 35 is also used for multi-modal fusion of the detection signals and the mapped signals to generate multi-modal information fusion image data and perform visualized display.

[0062] The multifunctional catheter module 32 can feed back the catheter position to the signal processing reconstruction and human-computer interaction module 35 in real time due to the integrated non-acoustic sensor for mapping position signals, which helps the platform to realize accurate adjustment and path navigation of the catheter position. Therefore, the complex cavity bifurcation structure, such as the bifurcation of a bronchus or a renal pelvis urinary tract, can be adapted.

[0063] The mapped bioelectric signals can be used to implement the mapping and diagnosis of cardiac electrophysiological signals. The mapped pressure and stress signals can be used to evaluate the tissue state (such as the tension of the blood vessel wall or the pressure of the lumen). The mapped biochemical signals, such as local pH value, oxygen concentration, glucose level, etc., can be used to monitor the metabolic status or inflammation indicators of the tissue in real time. The mapped temperature signals can be used to provide real-time temperature feedback for thermal ablation or cryotherapy.

[0064] The multi-modal non-acoustic signals mapped by the multi-modal non-acoustic sensors and the acoustic signals detected by the in-vivo intervention acoustic sensing module 31 are cooperated and transmitted to the signal processing reconstruction and human-computer interaction module 35. The acoustic intervention imaging platform proposed in the present application becomes a multi-modal information fusion medical imaging platform. The mapping signals of the multi-modal non-acoustic sensors are analyzed in real time by the signal processing reconstruction and human-computer interaction module of the platform, combined with the acoustic image, which can provide more comprehensive diagnostic support. For example, in the process of tumor ablation, the acoustic image can show the structure of the tumor, and the temperature change mapped by the sensor can provide real-time feedback of the treatment effect.

[0065] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module 33 includes multiple channels of different media, and the multiple channels of different media (such as gas pipes, liquid passages, wires, optical fibers, etc.) are respectively used to transmit signals of different modalities; the signals of different modalities include at least two of the following: acoustic signals, optical signals, electrical signals, gas signals, liquid signals, torques or stresses. As an example, the acoustic signals and the electrical signals are all transmitted through the circuit, the optical signals are transmitted through the optical fiber, and the feedback of the gas and liquid is converted into an electrical signal by the end gas-liquid feedback electronic element to transmit the feedback. It can be seen that in the acoustic intervention imaging platform provided in the embodiments of the present application, the multi-channel multi-modal dynamic electromechanical module 33 is configured to carry media of different modal signals, and therefore can support the collaborative work of acoustic, optical, electromagnetic and other multi-modalities in complex medical scenarios.

[0066] In an optional implementation, the multi-channel multi-modal dynamic electromechanical module 33 is further configured with a coupler (which can be a micro coupler), and the coupler is used to realize the coupling or isolation of the signals of different modalities in the multiple channels of different media.

[0067] In an alternative implementation, the multi-channel multi-modal dynamic electromechanical module 33 is configured with an intelligent control and integration interface. Specifically, the multi-channel multi-modal dynamic electromechanical module 33 further comprises a multi-modal collaborative processing unit implemented by an embedded intelligent module for decoding and reconstruction of signals of different modalities, and real-time fusion and dynamic regulation based on the reconstructed multi-modal data. In addition, the intelligent control and integration interface adopts a standardized interface protocol, thereby facilitating flexible assembly and adaptation with the multi-functional catheter module 32 and the in-vivo intervention acoustic sensing module.

[0068] Traditional acoustic intervention imaging platforms differ greatly in technical routes and system architectures for different specific medical application scenarios. This strong binding of the platform to the application scenario means a substantial increase in development costs and complication of technical development, and the clinical users need to spend a lot of time and pay a high learning cost, and the equipment procurement and inventory management of medical institutions become cumbersome. In addition, this one-to-one solution limits the innovation speed of the acoustic intervention imaging platform, making it difficult to achieve rapid iteration in a modular manner on a unified architecture. In short, the differentiated requirements of different medical application scenarios for the acoustic intervention imaging platform and the lack of modular design of existing acoustic intervention imaging platforms are one of the fundamental reasons why it is very difficult to integrate various acoustic intervention imaging platforms, hindering the further popularization and promotion of the acoustic intervention imaging platform.

[0069] As introduced in the above embodiments, the acoustic intervention imaging platform provided by the present application is applicable to natural cavities and blood vessel systems, and the signal processing and reconstruction and human-computer interaction module transmits in-vivo intervention control instructions; the multi-channel multi-modal dynamic electromechanical module provides power and transmits rotary torque; the multi-channel multi-modal dynamic electromechanical module adjusts the shape of the multi-functional catheter module through dynamic electromechanical control. The catheter body has multiple flexible structures and changes shape under the control of the dynamic electromechanical unit based on power movement. The transducer of the in-vivo intervention acoustic sensing module rotates under the action of the rotary torque and detects the current in-vivo environment to generate a detection signal; the signal processing and reconstruction and human-computer interaction module processes and visually reconstructs the acoustic image data based on the detection signal provided by the in-vivo intervention acoustic sensing module, and performs visual display. Since the catheter body has multiple flexible structures and can change shape under the action of the multi-channel multi-modal dynamic electromechanical control module, it can flexibly adapt to the current in-vivo environment. It can be seen that the platform has strong scene universality and can be applied to different in-vivo environments such as natural cavities and blood vessel systems. The platform effectively solves the application scenario limitation problem of several types of acoustic intervention imaging platforms represented by EUS, ICE and IVUS.

[0070] The existing acoustic intervention image platform needs the assistance of DSA and the supporting X-ray catheter room to use. The existence of radiation will affect the health of doctors and patients and will limit the use of the acoustic intervention image platform. The use of contrast medium can cause complications to patients. The technical scheme of the application does not depend on the application of X-ray and contrast medium, which is safer and more economical for patients and doctors.

[0071] The existing acoustic intervention image platform still has great development deficiencies in imaging capability. The system design scheme of the commonly used manual rotating transducer of EUS cannot realize real-time 360° volume visualization. ICE is limited to the field of view that can be covered by the transducer, and there is still certain technical difficulty in realizing panoramic real-time volume imaging. IVUS also only realizes small-range panoramic visualization in blood vessels by means of electric slip ring and high-speed rotating transducer solutions. At present, no existing acoustic intervention image platform can realize 360° panoramic real-time 4D structure, channel and functional information visualization.

[0072] In the embodiment of the application, real-time, panoramic and non-radiation imaging can be realized by the acoustic intervention image platform. Figure 4 A schematic diagram of a panoramic acquisition of an in-vivo intervention acoustic sensing module provided in the embodiment of the application is shown in FIG. 1. Figure 4 As shown in FIG. 1, the in-vivo intervention acoustic sensing module 31 can realize 360° panoramic detection under the action of the rotating torque provided by the multi-channel multi-modal dynamic electromechanical module of the acoustic intervention image platform. Figure 4 In FIG. 1, the fan shape around the in-vivo intervention acoustic sensing module 31 visually represents the range of acoustic detection that can be realized by the in-vivo intervention acoustic sensing module 31 as it rotates. Figure 4 It can be intuitively understood that the acoustic intervention image platform proposed in the application has a comprehensive range of acoustic detection angles, and thus real-time 4D image presentation and acoustic guidance can be realized.

[0073] Figure 5 A detailed display diagram of the multiple module structures in the acoustic intervention image platform commonly used in natural cavities and vascular systems provided in the embodiment of the application is shown in FIG. 2. Specifically, the assembly of the in-vivo intervention acoustic sensing module 31, the multifunctional catheter module 32 and the multi-channel multi-modal dynamic electromechanical module 33 is shown in FIG. 2. Figure 5

[0074] The application of the acoustic intervention image platform will be introduced in combination with several different scenarios.

[0075] Scenario one: Interventional treatment of cardiovascular system.

[0076] Application example:

[0077] ​Objective: To perform radiation-free acoustic image-guided balloon dilation or stent placement for coronary artery stenosis.

[0078] Process: Real-time acquisition of coronary artery structure information using in-vivo interventional acoustic sensing module. Combined with multi-functional catheter module to provide real-time location information for acoustic image guidance. Signal processing reconstruction and human-computer interaction module generates 4D image, providing high-precision dynamic imaging of lesion location.

[0079] Requirements: High-precision real-time imaging is required, and the multi-functional catheter module matches the blood vessel lumen.

[0080] Scenario characteristics: Cardiovascular intervention focuses on dynamic fluid observation of microvessels and precise guidance of stenosis sites.

[0081] Scenario two: Early screening and treatment of the digestive system.

[0082] Application examples:

[0083] Objective: To achieve non-invasive acoustic image screening and acoustic-guided resection of early gastric cancer or gastrointestinal polyps.

[0084] Process: Through in-vivo interventional acoustic sensing module, panoramic scanning of the gastrointestinal tract wall is performed. Signal processing reconstruction and human-computer interaction module reconstructs the three-dimensional image of the digestive tract lesion in real time, accurately positioning polyps or tumors. Multi-functional catheter module assists in resection or ablation surgery.

[0085] Requirements: Depend on the flexible operation and panoramic imaging capability of in-vivo interventional acoustic sensing module.

[0086] Scenario characteristics: Natural lumen operation requires miniaturization of equipment and adaptation to complex and curved internal environment.

[0087] Scenario three: Interventional diagnosis of the respiratory system.

[0088] Application examples:

[0089] Objective: Real-time acoustic-guided puncture biopsy or ablation treatment for lung nodules.

[0090] Process: Use in-vivo interventional acoustic sensing module to locate the position of lung nodules. Multi-functional catheter module realizes precise guidance to the target area through bronchial pathway. Signal processing reconstruction and human-computer interaction module combined with real-time dynamic image assist in puncture or ablation operation.

[0091] Requirements: Real-time imaging and precise guidance capability, reduce dependence on traditional CT or X-ray.

[0092] Scenario characteristics: High elasticity of lung tissue and complex path of catheter entering bronchus need to be considered.

[0093] Scenario 4: Gynecological system intervention.

[0094] Examples:

[0095] Objective: To achieve acoustic image-guided ablation treatment of uterine fibroids or ovarian cysts.

[0096] Process: Locate the position of the fibroid or cyst through the transvaginal in-vivo intervention acoustic sensing module. Reconstruct the uterine structure image in real time, plan the treatment path. The multifunctional catheter module performs targeted high-precision acoustic ablation.

[0097] Requirements: High-precision targeted image and treatment path planning.

[0098] Scenario characteristics: Female reproductive system operation needs to take into special consideration the flexibility and sensitivity of the tissue.

[0099] According to the above four different application scenarios, it can be seen that the acoustic intervention image platform provided by the embodiments of the present application can realize intervention diagnosis and treatment for various natural cavities and vascular systems. On the one hand, it effectively meets the specific needs of the scene, and on the other hand, it can also provide adaptive catheter main body and path planning scheme combined with the characteristics of the scene.

[0100] In the embodiments of the present application, the acoustic intervention image platform is designed with modularity and technical versatility. The modular architecture enables flexible expansion of functions. The scheme is based on the modular design concept and divides the platform into: acoustic sensing module, multifunctional catheter module, multi-channel multi-modal dynamic electromechanical module, signal processing reconstruction and human-computer interaction module. For the acoustic sensing module, the in-vivo and in-vitro sensing are mutually adaptable, suitable for different medical scenarios, and have multi-mode adjustment capability of transducers. The multifunctional catheter module supports use in multiple scenarios such as blood vessels, natural cavities and soft tissues, and has multiple functions, such as the function of measuring multiple non-acoustic signals. The multi-modal dynamic electromechanical module supports multi-channel collaborative transmission, control and dynamic adjustment of multiple modal media such as acoustic signals, optical signals, gases, liquids, electromagnetic signals, and stress and torque, controls the spatial form change of the multifunctional catheter module, and regulates the multi-modal data measurement and collection of the multifunctional catheter module and the in-vivo intervention acoustic sensing module. The signal processing and reconstruction module provides real-time 4D imaging capability to meet the imaging needs of different scenarios.

[0101] The modular structure allows the system to optimize its working mode by replacing or adjusting the modules according to the specific medical scenario requirements. For example: in the cardiovascular scenario, the catheter module can adapt to the narrow lumen of the blood vessel; in the digestive tract scenario, the transducer can be expanded to panoramic scanning, covering a larger imaging range. The acoustic intervention image platform adopts modular design, which can use different modules with different changes in design to compatible multiple medical scenario requirements under the same platform architecture.

[0102] The platform has natural advantages in panoramic acoustic imaging and real-time 4D reconstruction across scenes. Specifically, the acoustic intervention imaging platform provided in the embodiments of the present application does not rely on DSA technology for reconstruction of acoustic images, is non-radiative, does not require contrast agents, and can directly generate high-resolution images in various human tissue environments. The platform uses dynamic signal processing technology to support image generation from a small intravascular environment to a wider natural cavity or body cavity (such as a stomach cavity or uterus). The limitations of traditional technology in imaging range and resolution are solved, and there is no need to develop special equipment for each scene, greatly improving the applicability and saving costs.

[0103] The above is only one specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An acoustic intervention imaging platform for natural orifices and vasculature, comprising: The application relates to a multi-channel multi-modal dynamic electromechanical module, a multi-functional catheter module, an in-vivo intervention acoustic sensing module, an in-vivo acoustic sensing module and a signal processing and reconstruction and man-machine interaction module. The in-vivo intervention acoustic sensing module is connected to the first end of the multi-functional catheter module, and the multi-channel multi-modal dynamic electromechanical module is connected to the second end of the multi-functional catheter module; the in-vivo intervention acoustic sensing module, the in-vivo acoustic sensing module and the multi-channel multi-modal dynamic electromechanical module are in communication connection with the signal processing and reconstruction and man-machine interaction module; the multi-functional catheter module is in communication connection with the multi-channel multi-modal dynamic electromechanical module. The signal processing and reconstruction and man-machine interaction module is used for transmitting in-vivo intervention control instructions to the multi-channel multi-modal dynamic electromechanical module. The multi-channel multi-modal dynamic electromechanical module is used for providing power for the movement of the multi-functional catheter module according to the in-vivo intervention control instructions and transmitting rotating torque to the in-vivo intervention acoustic sensing module through the multi-functional catheter module; a multi-degree-of-freedom dynamic adjusting unit is integrated in the multi-channel multi-modal dynamic electromechanical module, and the dynamic adjusting unit is used for adjusting the shape of the multi-functional catheter module through dynamic electromechanical control. The catheter main body of the multi-functional catheter module has a plurality of flexible structures, and the catheter main body is used for shape change under the control of the dynamic adjusting unit to adapt to the current in-vivo environment and move based on the power provided by the multi-channel multi-modal dynamic electromechanical module. The in-vivo intervention acoustic sensing module is provided with a transducer, the transducer rotates and detects the current in-vivo environment under the action of the rotating torque, generates a detection signal and transmits the detection signal to the signal processing and reconstruction and man-machine interaction module. The signal processing and reconstruction and man-machine interaction module is also used for carrying out signal processing and visual reconstruction according to the detection signal provided by the in-vivo intervention acoustic sensing module, generating acoustic image data and visually displaying the acoustic image data. The multi-channel multi-modal dynamic electromechanical module comprises a plurality of channels of different media and a multi-modal cooperative processing unit and is provided with a coupler; the plurality of channels of different media are respectively used for transmitting signals of different modes; the signals of different modes comprise at least two of the following: acoustic signals, light signals, electric signals, gas signals, liquid signals, torque or stress; the coupler is used for coupling or isolating the signals of different modes in the plurality of channels of different media; the multi-modal cooperative processing unit is used for decoding and reconstructing the signals of different modes and carrying out real-time fusion and dynamic regulation and control based on the reconstructed multi-modal data. The in-vivo acoustic sensing module is provided with a transducer, which is used for detecting the in-vivo environment of a target object and detecting the current position and posture of the in-vivo intervention acoustic sensing module from outside the body through the transducer; the detected signals are transmitted to the signal processing and reconstruction and man-machine interaction module. ​ The signal processing reconstruction and human-computer interaction module is further configured to perform signal processing and visual reconstruction on signals provided by the extracorporeal acoustic sensing module, and to visually display the reconstructed acoustic image data to guide a doctor to adjust the intracorporeal intervention control instruction in real time through human-computer interaction, so that the multifunctional catheter module and the intracorporeal intervention acoustic sensing module reach the expected position in the body of the target object. The platform includes a plurality of backup catheters with morphological differences and / or flexibility differences to match a plurality of different intracorporeal environments; the plurality of backup catheters include a catheter suitable for a straight blood vessel, a catheter suitable for a curved bronchus, and a catheter suitable for a flexible cavity; The catheter body is selected from the plurality of backup catheters.

2. The platform of claim 1, wherein, The multifunctional catheter module is in communication connection with the signal processing reconstruction and human-computer interaction module; the multifunctional catheter module further includes a multi-modal non-acoustic sensor; the multi-modal non-acoustic sensor is configured to measure one or more of spatial position signals, bioelectric signals, pressure and stress signals, biochemical signals, and temperature signals, and to transmit the measured signals to the signal processing reconstruction and human-computer interaction module. The signal processing reconstruction and human-computer interaction module is further configured to perform multi-modal fusion on the detection signals and the measured signals to generate multi-modal information fusion image data and to visually display the multi-modal information fusion image data.

3. The platform of claim 2, wherein, The multi-modal non-acoustic sensor is detachably arranged on the surface of the catheter body; the platform includes a plurality of backup non-acoustic sensors of different modalities; the multi-modal non-acoustic sensor is selected from the plurality of backup non-acoustic sensors of different modalities.

4. The platform according to any one of claims 1-3, wherein, The dynamic adjustment unit includes one or more of the following: Flexible multi-section motor, shape memory alloy, or hydraulic soft actuator.

5. The platform of any one of claims 1-3, wherein, The morphological change of the catheter body includes one or more of the following: Bending, expanding, segmented unfolding or shrinking.

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