An integrated platform for acoustic intervention and diagnosis

Abstract

The application discloses an acoustic intervention diagnosis and treatment integrated platform. The platform comprises a panoramic extracorporeal acoustic imaging system module, a panoramic intracorporeal acoustic imaging system module, a digital twin human-computer interaction module and a signal processing reconstruction and platform control module. The extracorporeal acoustic sensor and the intracorporeal acoustic imaging catheter respectively apply transducers to detect a to-be-detected region of a target object, and generate detection signals; the signal processing reconstruction and platform control module processes and visually reconstructs the detection signals to generate panoramic multi-scale acoustic imaging data of the to-be-detected region of the target object; and the digital twin human-computer interaction module is used for visually displaying the panoramic multi-scale acoustic imaging data. The scheme has no radiation risk and is safer, can be used in various clinical application scenarios, has a smaller occupied space compared with a DSA device, can be flexibly applied to various medical sites, and can timely and efficiently perform diagnosis and treatment.

Description

Technical Field

[0001] This application relates to the field of acoustic imaging technology, and in particular to an integrated acoustic interventional diagnosis and treatment platform. Background Technology

[0002] Interventional diagnosis and treatment is a minimally invasive approach combining image-guided technology. It involves diagnosing and treating diseases within blood vessels or tissues through tiny punctures or catheter insertions. Compared to traditional open surgery, interventional diagnosis and treatment is less invasive and allows for faster recovery. Currently, it has become an important part of modern medicine. Interventional diagnosis and treatment is applicable to a variety of diseases and systems, primarily including the cardiovascular system, nervous system, oncology, peripheral vascular system, digestive tract diseases, urinary system, and reproductive system. Interventional diagnosis and treatment requires precise lesion localization and real-time monitoring, thus relying heavily on image-guided equipment, which determines the accuracy and safety of the treatment. Currently, clinically used interventional diagnosis and treatment platforms are mainly based on digital subtraction angiography (DSA) technology.

[0003] Digital subtraction angiography (DSA) is an X-ray-based medical imaging technique that uses contrast agents to visualize blood vessels. Combined with digital image processing technology, it highlights vascular structures and is used to diagnose and treat various vascular-related diseases. Currently, DSA has important applications in cardiovascular, neurological, oncological, and peripheral vascular interventional fields, guiding interventional treatments such as angioplasty, embolization, and stent implantation. However, many technical challenges remain to be solved in the interventional diagnostic and treatment platforms built around DSA.

[0004] (1) Radiation risk: DSA relies on X-rays, which emit radiation. Therefore, interventional diagnostic and treatment platforms built on DSA technology expose patients and medical staff to radiation, increasing their risk of developing diseases due to radiation exposure. Frequent or prolonged use may expose patients and medical staff to high doses of radiation, increasing the risk of radiation-related diseases. Although the radiation dose required for interventional diagnostic and treatment has gradually decreased with the gradual iteration of DSA equipment, complex or prolonged operations still cannot completely avoid the cumulative effects of radiation.

[0005] (2) Biocompatibility issues of contrast agents; DSA requires special contrast agents, which may cause allergic reactions in patients, ranging from mild rashes to severe anaphylactic shock, and may also cause kidney damage caused by contrast agents.

[0006] (3) Limitations of applicable clinical application scenarios: DSA is limited to vascular imaging and has a weak ability to display surrounding soft tissue or non-vascular lesions. It can be seen that the interventional diagnosis and treatment platform based on DSA has limited diagnostic and treatment effects on soft tissue or non-vascular lesions.

[0007] (4) Site limitations: Due to the large space occupied by DSA equipment and the special nature of radiation, related surgeries using DSA for interventional guidance and diagnosis can only be performed in a specific DSA interventional room in the hospital, which greatly limits the flexibility and accessibility of the interventional diagnosis and treatment platform. Summary of the Invention

[0008] Based on the above problems, this application provides an integrated acoustic interventional diagnosis and treatment platform, which aims to replace DSA technology, provide a radiation-free and safer interventional diagnosis and treatment platform for the human body, break through the constraints of clinical application scenarios and the limitations of the place of use, and improve the flexibility and popularity of interventional diagnosis and treatment platforms.

[0009] The embodiments of this application disclose the following technical solutions:

[0010] This application provides an integrated acoustic interventional diagnosis and treatment platform, comprising: a panoramic external acoustic imaging system module, a panoramic internal interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing, reconstruction, and platform control module; wherein, the panoramic external acoustic imaging system module includes an external acoustic sensor, and the panoramic internal interventional acoustic imaging system module includes an internal interventional acoustic imaging catheter.

[0011] The panoramic in vitro acoustic imaging system module, the panoramic in vivo interventional acoustic imaging system module, and the digital twin human-computer interaction module are all communicatively connected to the signal processing, reconstruction, and platform control module.

[0012] The external acoustic sensor and the internal interventional acoustic imaging catheter are each used to apply transducers to detect the area to be tested of the target object and generate detection signals to be sent to the signal processing, reconstruction and platform control module.

[0013] The signal processing, reconstruction, and platform control module is used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module; the detection scale corresponding to the panoramic external acoustic imaging system module is larger than the detection scale of the panoramic internal interventional acoustic imaging system module.

[0014] The digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data.

[0015] In one optional implementation, the external acoustic sensor is specifically used to use its own transducer to perform external detection on the area to be tested, generate a first detection signal, and send it to the signal processing, reconstruction and platform control module.

[0016] The signal processing, reconstruction, and platform control module is specifically used to perform signal processing and visualization reconstruction based on the first detection signal sent by the external acoustic sensor, generate panoramic first-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module.

[0017] The digital twin human-computer interaction module is specifically used to visualize the panoramic first-scale acoustic image data; it is also used to generate a first detection command and send it to the signal processing, reconstruction and platform control module in response to the doctor's first detection trigger operation after the panoramic first-scale acoustic image data is visualized.

[0018] The signal processing, reconstruction, and platform control module is also used to control the in vivo interventional acoustic imaging catheter to detect the target object according to the first detection command.

[0019] In one alternative implementation,

[0020] The in vivo interventional acoustic imaging catheter is specifically used to use its own transducer to detect the area to be tested, generate a second detection signal, and send it to the signal processing, reconstruction and platform control module.

[0021] The signal processing, reconstruction, and platform control module is specifically used to perform signal processing and visualization reconstruction based on the second detection signal, generate panoramic second-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module.

[0022] The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

[0023] In one alternative implementation, the signal processing, reconstruction, and platform control module is specifically used to control and guide the in vivo interventional acoustic imaging catheter from external insertion to move until it reaches the target area inside the target body, according to the first detection command.

[0024] In one optional implementation, the digital twin human-computer interaction module is further configured to, after visualizing the panoramic first-scale acoustic image data, respond to the doctor's catheter movement adjustment trigger operation, generate a catheter movement adjustment command and send it to the signal processing, reconstruction and platform control module; the catheter movement adjustment command carries movement adjustment parameters.

[0025] The signal processing, reconstruction, and platform control module is further configured to control the in vivo interventional acoustic imaging catheter to move based on the movement adjustment parameters according to the catheter movement adjustment command; wherein, during the movement of the in vivo interventional acoustic imaging catheter, the external acoustic sensor is located outside the target object and continuously detects along the movement path of the in vivo interventional acoustic imaging catheter.

[0026] In one optional implementation, the signal processing reconstruction and platform control module is specifically used to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the in vivo interventional acoustic imaging catheter, and reconstruct and generate panoramic multi-scale acoustic image data of the region to be tested that fuses the first and second scales.

[0027] Wherein, the first scale is the detection scale corresponding to the external acoustic sensor, and the second scale is the detection scale corresponding to the in vivo interventional acoustic imaging catheter.

[0028] In one alternative implementation, the digital twin human-computer interaction module is further used to model, simulate, and visualize based on the panoramic multi-scale acoustic image data and information on medical tools within the medical scene, creating a structural environment with the test area of ​​the target object and a virtual digital mapping space of the medical scene.

[0029] In one alternative implementation, the digital twin human-computer interaction module is further configured to respond to a doctor's simulated surgical operation in the virtual digital mapping space by displaying the simulated postoperative effect of the structure of the area to be tested after the simulated surgical operation.

[0030] In one optional implementation, the digital twin human-computer interaction module is further used to adjust the display method of the displayed images based on the doctor's display control operations on the displayed images;

[0031] The display control operation includes at least one of the following:

[0032] Resolution adjustment, viewing angle adjustment, selection of display period, image annotation, and comparison display.

[0033] In one optional implementation, the platform further includes: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing, reconstruction, and platform control module;

[0034] The surgical robot system module is used to perform medical actions on the target object according to the control instructions of the signal processing reconstruction and platform control module or the medical control actions directly received from the doctor; wherein, the control instructions are generated in response to the medical control actions of the doctor in the digital twin human-computer interaction module;

[0035] The surgical robot system module is also used to transmit the execution feedback information of the medical action back to the signal processing, reconstruction and platform control module, display the execution feedback information through the digital twin human-computer interaction module, or directly contact the doctor's hand to transmit the execution feedback information.

[0036] In one optional implementation, the detection signal includes: structural information, pathway information, and functional information.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] This application provides an integrated acoustic interventional diagnosis and treatment platform. The platform mainly includes: a panoramic external acoustic imaging system module, a panoramic internal interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing, reconstruction, and platform control module. The panoramic external acoustic imaging system module, the panoramic internal interventional acoustic imaging system module, and the digital twin human-computer interaction module are all communicatively connected to the signal processing, reconstruction, and platform control module. The external acoustic sensor in the panoramic external acoustic imaging system module and the internal interventional acoustic imaging catheter in the panoramic internal interventional acoustic imaging system module are each used to probe the target area of ​​the object using transducers, generating detection signals and sending them to the signal processing, reconstruction, and platform control module. The detection scale of the panoramic external acoustic imaging system module is larger than that of the panoramic internal interventional acoustic imaging system module. The signal processing, reconstruction, and platform control module is used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generating panoramic multi-scale acoustic image data of the target object's test area, and sending it to the digital twin human-computer interaction module; the digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data.

[0039] This technical solution utilizes detection signals from both external acoustic sensors and internal interventional acoustic imaging catheters to achieve multi-scale imaging of the target area. The digital twin human-computer interaction module allows doctors to view the target area from a wide angle or at high resolution. This observation capability enables the internal interventional acoustic imaging catheter to accurately reach the target area for diagnosis and treatment. The flexible coordination of these multiple detection methods, presented in real-time through the digital twin human-computer interaction module, makes this integrated acoustic interventional diagnostic and therapeutic platform capable of replacing DSA technology. Relying on acoustics for detection and image observation eliminates radiation risks and eliminates the need for contrast agents that may cause biocompatibility issues, making it safer for patients and ensuring the safety of medical workers. The technology used in this integrated acoustic interventional diagnostic and therapeutic platform is not only applicable to vascular imaging but also to other clinical applications, such as imaging and disease diagnosis in the digestive and reproductive tracts. Compared to interventional diagnostic and therapeutic platforms based on DSA, its applicable clinical scenarios are significantly broadened. Furthermore, since it does not rely on DSA equipment, this acoustic interventional diagnostic and therapeutic integrated platform, with its miniaturized features, can be flexibly and mobilely applied to various medical settings. For example, doctors can use this platform in outpatient offices, general wards, ambulances, and other medical facilities, thereby enabling more timely and efficient diagnosis and treatment of patients. Therefore, the acoustic interventional diagnostic and therapeutic integrated platform proposed in this application is highly flexible and easy to widely adopt. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of an integrated acoustic interventional diagnosis and treatment platform provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of an integrated acoustic interventional diagnosis and treatment platform in a medical setting, provided as an embodiment of this application.

[0043] Figure 3 A schematic diagram of another integrated acoustic interventional diagnosis and treatment platform provided in this application embodiment in a medical scenario;

[0044] Figure 4 This is a schematic diagram illustrating the application of an integrated acoustic interventional diagnosis and treatment platform in a medical setting, as provided in an embodiment of this application. Detailed Implementation

[0045] As described earlier, current interventional diagnostic and treatment platforms based on DSA technology suffer from radiation risks, contrast agent biocompatibility issues, and limitations in application scenarios and facilities. To address these challenges, the inventors, after extensive research, have proposed an integrated acoustic interventional diagnostic and treatment platform. This platform utilizes a panoramic external acoustic imaging system module and a panoramic internal interventional acoustic imaging system module, which flexibly detect and coordinate with each other to achieve panoramic multi-scale detection of the area to be tested. Furthermore, a digital twin human-computer interaction module provides real-time visualization of the detection results, and the visualized multi-scale data assists doctors in their diagnostic work, achieving a level of accuracy sufficient to replace DSA technology. This radiation-free and safer interventional diagnostic and treatment platform overcomes the constraints of clinical application scenarios and limitations in usage facilities, enhancing the flexibility and accessibility of interventional diagnostic and treatment platforms.

[0046] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0047] See Figure 1 The figure is a schematic diagram of the structure of an integrated acoustic interventional diagnosis and treatment platform provided in an embodiment of this application. Figure 1 As shown, the integrated acoustic interventional diagnosis and treatment platform includes:

[0048] The system comprises a panoramic external acoustic imaging system module, a panoramic internal interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing, reconstruction, and platform control module. All three modules—the panoramic external acoustic imaging system module, the panoramic internal interventional acoustic imaging system module, and the digital twin human-computer interaction module—are communicatively connected to the signal processing, reconstruction, and platform control module.

[0049] In the integrated acoustic interventional diagnosis and treatment platform provided in this application embodiment, two interconnected modules can communicate bidirectionally. Specifically, the panoramic extracorporeal acoustic imaging system module and the signal processing, reconstruction, and platform control module can communicate bidirectionally; the panoramic in vivo interventional acoustic imaging system module and the signal processing, reconstruction, and platform control module can communicate bidirectionally; and the digital twin human-computer interaction module and the signal processing, reconstruction, and platform control module can communicate bidirectionally.

[0050] The panoramic external acoustic imaging system module includes an external acoustic sensor, and the panoramic internal interventional acoustic imaging system module includes an internal interventional acoustic imaging catheter. For the integrated acoustic interventional diagnostic and therapeutic platform described in this application, both the panoramic external acoustic imaging system module and the panoramic internal interventional acoustic imaging system module possess acoustic-based detection capabilities. This means that both the external acoustic sensor and the internal interventional acoustic imaging catheter possess acoustic-based detection capabilities. In fact, the external acoustic sensor and the internal interventional acoustic imaging catheter can be considered as two different acoustic detection channels. The external acoustic sensor performs acoustic detection from outside the human body, while the internal interventional acoustic imaging catheter performs acoustic detection from inside the human body via an interventional approach.

[0051] An external acoustic sensor and an internal interventional acoustic imaging catheter are each used to probe a target area (e.g., a patient) using transducers. In one example implementation, both the external acoustic sensor and the internal interventional acoustic imaging catheter are equipped with transducers, which is equivalent to each having an ultrasound probe. The possible difference is that the size and performance of the transducers in the external acoustic sensor and the internal interventional acoustic imaging catheter may differ.

[0052] Panoramic in vitro acoustic imaging system modules can employ large-area array transducers, enabling them to cover both macroscopic and mesoscopic scales at lower frequencies and with a wider field of view, achieving large-area, wide-angle imaging through acoustic detection. In vivo interventional acoustic imaging catheters, on the other hand, integrate small high-frequency transducers to achieve high-precision detection of local microstructures. If the in vitro acoustic sensors in the panoramic in vitro acoustic imaging system module use small high-frequency transducers, the field of view of the in vitro acoustic sensors is larger than that of the transducers in the in vivo interventional acoustic imaging catheters.

[0053] The macroscopic, mesoscopic, and microscopic scales will be explained and described below.

[0054] In the embodiments of this application, the macroscopic scale mentioned is applicable to the observation and evaluation of large-scale anatomical structures (organ level). The mesoscopic scale is applicable to imaging of natural cavities and vascular network structures (system level). The microscopic scale is for high-resolution visualization of small lesions, microvessels, and tissue function (cell level).

[0055] In practical implementation, based on detection requirements, external acoustic sensors can possess both macroscopic and mesoscopic detection capabilities, while in vivo interventional acoustic imaging catheters can possess both microscopic and mesoscopic detection capabilities. Depending on the detection requirements, various types of transducers (such as linear arrays, arc arrays, or phased arrays) and different frequencies can be configured, thereby achieving dynamic adjustment of frequency and resolution to meet detection needs at different scales.

[0056] In this embodiment, the detection scale of the panoramic external acoustic imaging system module is larger than that of the panoramic internal interventional acoustic imaging system module. For example, the detection scale of the external acoustic sensor is the first scale, and the detection scale of the internal interventional acoustic imaging catheter is the second scale. The first scale is larger than the second scale. A larger scale means a wider field of view, lower resolution, and a wider but coarser detection range; a smaller scale means a smaller scale, higher resolution, and a smaller but more refined detection range.

[0057] In practical applications, when using this integrated acoustic interventional diagnostic and therapeutic platform to diagnose and treat a target object, the external acoustic sensor in the panoramic external acoustic imaging system module can first be used to detect the target object's area to be tested, generating a first detection signal. Subsequently, in order to detect the target object's area to be tested more accurately and meticulously, an in-vivo interventional acoustic imaging catheter is used to detect the target object's area to be tested, generating a second detection signal.

[0058] By observing the visualized image formed by the first detection signal from the external acoustic sensor, the physician can trigger the insertion of the intra-abdominal acoustic imaging catheter into the interventional treatment area. During this process, the external acoustic sensor continuously generates the first detection signal along the path of the intra-abdominal acoustic imaging catheter, allowing the physician to determine whether the catheter has reached the expected position based on the visualized image formed by the first detection signal. Simultaneously, after the intra-abdominal acoustic imaging catheter enters the target body, it can also synchronously probe the area it is in, for example, continuously probing along its own pathway (vascular system or natural cavity) until it reaches the lesion area for further diagnostic and treatment exploration, obtaining panoramic structural and functional information of the lesion area. During this process, the external acoustic sensor and the intra-abdominal acoustic imaging catheter flexibly cooperate to achieve multi-scale detection. The panoramic external acoustic imaging system module can stop probing after the intra-abdominal acoustic imaging catheter reaches the lesion area, but can continue probing. Utilizing its macroscopic detection capabilities, it facilitates the imaging and display of panoramic multi-scale acoustic images of the lesion area, improving the accuracy of diagnostic and treatment work in the lesion area.

[0059] The external acoustic sensor and the in vivo interventional acoustic imaging catheter each use their own transducers to detect and generate detection signals (such as the first detection signal and the second detection signal), and send the detection signals to the signal processing, reconstruction and platform control module.

[0060] It should be noted that the first and second detection signals may not be transmitted synchronously. This is because the activation of the external acoustic sensor and the internal interventional acoustic imaging catheter may occur simultaneously or with a time difference. For example, the platform may activate the external acoustic sensor at the first moment, thus sending the first detection signal to the signal processing, reconstruction, and platform control module at that moment; the platform may activate the internal interventional acoustic imaging catheter at the second moment, thus sending the second detection signal to the signal processing, reconstruction, and platform control module at that moment.

[0061] The signal processing, reconstruction, and platform control module is the core of the acoustic interventional diagnostic and therapeutic integrated platform, and it controls other modules within the platform. In one implementation, this module integrates a control module, a high-performance parallel computing unit, and a high-performance visualization information reconstruction algorithm. The control module can communicate with other modules via a bus and issue control commands. The high-performance parallel computing unit can handle high concurrency or complex computational requests, assisting the platform in accurately implementing diagnostic and therapeutic tasks. The high-performance visualization information reconstruction algorithm, based on the detection signals provided by external acoustic sensors and internal interventional acoustic imaging catheters, presents the detection signals in a way that is readable and distinguishable by the human eye.

[0062] In the integrated acoustic interventional diagnosis and treatment platform provided in this application embodiment, the signal processing, reconstruction and platform control module can be used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module.

[0063] Signal processing can include filtering, feature extraction, time-domain analysis, and frequency-domain analysis. The specific methods of signal processing are not limited here.

[0064] Panoramic multi-scale acoustic image data can be a set of image data integrating multi-scale acoustic features, formed by fusing detection signals from multiple channels. Furthermore, panoramic multi-scale acoustic image data can also be independent image data of acoustic features at each scale. For example, panoramic first-scale acoustic image data and panoramic second-scale acoustic image data correspond to the detection scales of external acoustic sensors and in-vivo interventional acoustic imaging catheters, respectively. The former facilitates the integration of image data of acoustic features at multiple scales from multiple channels, enabling a more comprehensive analysis of the area under test. The latter facilitates the independent analysis and observation of image data of acoustic features at different scales, making it easier to identify the performance of the area under test at different detection scales.

[0065] Upon receiving panoramic multi-scale acoustic image data, the digital twin human-computer interaction module can visualize the data through rendering and other methods. For example, it can display 3D or 4D images as needed. 3D refers to a spatially three-dimensional representation of the panoramic multi-scale acoustic image; 4D refers to a spatially three-dimensional representation with temporal characteristics. For 4D images, doctors can also select the desired time interval for the image to be displayed through the digital twin human-computer interaction module; that is, the platform supports selecting the desired image segments in the time dimension. In this way, the platform meets the personalized and customized display requirements of panoramic multi-scale acoustic image data.

[0066] The technical solution of this application relies on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter to achieve multi-scale imaging of the area under test. The digital twin human-computer interaction module can meet the doctor's needs for viewing the area under test from a wide angle or at high resolution. This observation capability allows the internal interventional acoustic imaging catheter to accurately reach the area under test for diagnosis and treatment. The detection signals can include structural information, pathway information, and functional information.

[0067] The flexible combination of these multiple detection methods, along with the real-time presentation of the detected images through a digital twin human-computer interaction module, enables this integrated acoustic interventional diagnostic and therapeutic platform to achieve diagnostic and therapeutic capabilities that can replace DSA technology. Relying on acoustics for detection and image observation, it poses no radiation risk and eliminates the need for contrast agents that may have biocompatibility issues with the human body, making it safer for patients and also ensuring the safety of medical workers.

[0068] The technology employed in this integrated acoustic interventional diagnostic and therapeutic platform is not only applicable to imaging of vascular systems (including the cardiac, hepatic, renal, cerebrovascular, and microvascular systems), but also to other clinical applications, such as imaging and disease diagnosis of natural cavity systems (digestive, respiratory, urinary, and reproductive systems). Compared to interventional diagnostic and therapeutic platforms based on DSA, its applicable clinical scenarios are greatly broadened.

[0069] Furthermore, since this integrated acoustic interventional diagnostic and therapeutic platform does not rely on DSA equipment, its compact size allows for flexible and mobile application in various medical settings. For example, doctors can utilize this platform in outpatient offices, general wards, ambulances, and other medical facilities, enabling more timely and efficient patient care. In this way, the platform can cover hospitals lacking X-ray and catheterization lab facilities and is also compatible with non-hospital settings, allowing for disease diagnosis and interventional procedure guidance in such locations. Therefore, the integrated acoustic interventional diagnostic and therapeutic platform proposed in this application offers high flexibility and is easy to widely adopt.

[0070] Currently, mainstream interventional diagnostic and treatment platforms built on DSA technology can only achieve real-time 2D visualization or 3D visualization formed by multi-angle imaging, but cannot achieve 4D visualization. Therefore, they have significant limitations in the diagnosis and judgment of complex lesions and the planning and guidance of interventional pathways. However, in the acoustic interventional diagnostic and treatment integrated platform provided in this application, through the cooperation of the panoramic external acoustic imaging system module and the panoramic internal interventional acoustic imaging system module, the area under test can achieve multi-scale panoramic real-time 4D visualization of structural, pathway, and functional information. Physicians can carry out more flexible and comprehensive observation, analysis, and diagnosis of the area under test.

[0071] Figure 2 This is a schematic diagram illustrating an integrated acoustic interventional diagnosis and treatment platform in a medical setting, as provided in an embodiment of this application. Figure 2 As shown, the doctor 21 interacts with the digital twin human-computer interaction module; the signal processing, reconstruction, and platform control module controls and acquires information from the digital twin human-computer interaction module; the signal processing, reconstruction, and platform control module controls and acquires information from the panoramic in-vivo interventional acoustic imaging system module 23; and the signal processing, reconstruction, and platform control module controls and acquires information from the panoramic external acoustic imaging system module 24. Both the panoramic in-vivo interventional acoustic imaging system module 23 and the panoramic external acoustic imaging system module 24 acquire panoramic 4D structural, pathway, and functional information from the patient 22. The external acoustic sensor in the panoramic external acoustic imaging system module 24 assists in guiding the in-vivo interventional acoustic imaging catheter into the patient 22.

[0072] The following embodiments further describe a process in which an integrated acoustic interventional diagnosis and treatment platform responds to a doctor's detection needs for a target object and controls each module responsible for detection to complete the detection work through human-computer interaction.

[0073] In one optional implementation, the signal processing, reconstruction, and platform control module is specifically used to perform signal processing and visualization reconstruction based on the first detection signal sent by the external acoustic sensor, generating panoramic first-scale acoustic image data of the target object's test area, and sending it to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically used to visualize the panoramic first-scale acoustic image data; after visualization, in response to the doctor's first detection trigger operation, it generates a first detection command and sends it to the signal processing, reconstruction, and platform control module.

[0074] In this implementation, the digital twin human-computer interaction module can provide the user with controls (referred to as the first control for ease of description) for triggering the panoramic in vivo interventional acoustic imaging system module through a display screen interface or pop-up window. When the user, acting as a doctor, triggers the first control, the first detection trigger operation is completed, indicating a desire to use the in vivo interventional acoustic imaging catheter of the panoramic in vivo interventional acoustic imaging system module to probe the area to be tested. The digital twin human-computer interaction module recognizes the first detection trigger operation and determines that the user has triggered the first control, and can then generate a first detection command to control the panoramic in vivo interventional acoustic imaging system module to perform the detection action. Further, this command is transmitted to the signal processing, reconstruction, and platform control module. The signal processing, reconstruction, and platform control module is also used to control the in vivo interventional acoustic imaging catheter of the panoramic in vivo interventional acoustic imaging system module to probe the target object according to the first detection command.

[0075] In one alternative implementation, the signal processing, reconstruction, and platform control module is specifically used to control and guide the in vivo interventional acoustic imaging catheter from external insertion to the target area within the target body, based on a first detection command. Specifically, the signal processing, reconstruction, and platform control module can control the catheter to approach the lesion from its inlet along the pathway. The in vivo interventional acoustic imaging catheter, under the control of the signal processing, reconstruction, and platform control module, uses its own transducer to detect the area to be tested, generating a second detection signal, which is then sent to the signal processing, reconstruction, and platform control module. Furthermore, the signal processing, reconstruction, and platform control module can perform signal processing and visualization reconstruction based on the second detection signal, generating panoramic second-scale acoustic image data of the target body's area to be tested, which is then sent to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

[0076] In this embodiment, an external acoustic sensor can monitor whether the catheter has moved into place. Furthermore, the images detected by the in-vivo interventional acoustic imaging catheter itself can also reflect whether it has moved into place. Therefore, in this embodiment, by displaying panoramic second-scale acoustic imaging data and / or panoramic first-scale acoustic imaging data, doctors can observe and identify whether the in-vivo interventional acoustic imaging catheter has moved into place. In the case where the catheter does not move into place (not reaching the designated position or not in the expected posture), in an optional implementation, the digital twin human-computer interaction module is further used to, after visualizing the panoramic first-scale acoustic imaging data, respond to the doctor's catheter movement adjustment trigger operation, generate a catheter movement adjustment command, and send it to the signal processing, reconstruction, and platform control module; the catheter movement adjustment command carries movement adjustment parameters. Specifically, while visualizing the panoramic first-scale acoustic imaging data, a catheter movement adjustment control is provided to the user through a display screen interface or pop-up window. If the user triggers the catheter movement adjustment control, or edits certain movement adjustment parameters and triggers submission of these parameters, the catheter movement adjustment trigger operation is executed. Based on this, the generated catheter movement adjustment commands can be used to control the movement of the in vivo interventional acoustic imaging catheter.

[0077] In one example implementation, the signal processing, reconstruction, and platform control module is further configured to control the in vivo interventional acoustic imaging catheter to move based on movement adjustment parameters (such as path, angle, speed, etc.) according to the catheter movement adjustment command. During the movement of the in vivo interventional acoustic imaging catheter, an external acoustic sensor continuously probes along the movement path of the catheter outside the target object. This allows for continuous monitoring of whether the in vivo interventional acoustic imaging catheter has gradually moved into position during the movement adjustment process.

[0078] In one optional implementation, the signal processing, reconstruction, and platform control module is specifically used to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the internal interventional acoustic imaging catheter, reconstructing and generating panoramic multi-scale acoustic image data of the test area by fusing the first and second scales. Here, the first scale is the detection scale corresponding to the external acoustic sensor, and the second scale is the detection scale corresponding to the internal interventional acoustic imaging catheter. By fusing the panoramic multi-scale acoustic image data of the test area at the first and second scales, after visualization, the structural, pathway, and functional information of the test area at multiple different detection scales can be displayed in the digital twin human-computer interaction module using a fused panoramic multi-scale acoustic image.

[0079] To enhance the value of the integrated acoustic interventional diagnosis and treatment platform in surgical procedures, this application also proposes that the digital twin human-computer interaction module possess the function of simulating surgical procedures. The following description, in conjunction with embodiments, will illustrate this further.

[0080] In one optional implementation, the digital twin human-computer interaction module is also used to model, simulate, and visualize information based on panoramic multi-scale acoustic imaging data and medical tools within the medical scene (such as in vivo interventional acoustic imaging catheters and surgical robot system modules), creating a structural environment of the test area containing the target object and a virtual digital mapping space of the medical scene. The panoramic multi-scale acoustic imaging data has already been described above and will not be repeated here. The medical tools within the medical scene include, but are not limited to, catheters, and may also include other tools that may come into actual contact with the target object. In this embodiment, these medical tools can be modeled in advance, so that after acquiring the panoramic multi-scale acoustic imaging data, the model of the medical tool can be simultaneously combined with the visualized and reconstructed physiological structure of the test area to construct a virtual digital mapping space of the structural environment of the test area containing the target object and the medical scene. This virtual digital mapping space provides technical support for doctors to simulate surgical operations through the digital twin human-computer interaction module.

[0081] In one alternative implementation, the digital twin human-computer interaction module is also used to respond to a doctor's simulated surgical operations in a virtual digital mapping space, displaying the simulated postoperative effects of the structure of the area under test after the simulated surgical operation. For example, by operating the digital twin human-computer interaction module, the user can simulate and control the movement of an in vivo interventional acoustic imaging catheter along a first path, calculate the time taken for the catheter to move along the first path, and simulate and present panoramic acoustic images of the first path at both the first and second scales. Similarly, the user can also simulate the in vivo interventional acoustic imaging catheter performing treatment actions, such as radiofrequency ablation, after reaching the lesion, and simulate the blood flow around the lesion tissue after the radiofrequency ablation is performed, by operating the digital twin human-computer interaction module.

[0082] By combining the simulated postoperative effects, doctors can determine whether the simulated path or treatment method is the optimal approach and its impact on the target patient. Thus, after simulating a suitable path or treatment method, realistic treatment actions can be achieved through the coordination of the digital twin human-computer interaction module, the signal processing, reconstruction, and platform control module, and various detection modules. Utilizing human-computer interaction technologies (such as haptic feedback, virtual reality (VR), and augmented reality (AR), doctors can intuitively manipulate and interact with the treatment environment in a virtual digital mapping space, thereby simulating surgical procedures or guiding actual surgical procedures. Therefore, the digital twin human-computer interaction module in the acoustic interventional diagnostic and therapeutic integrated platform provided in this application embodiment possesses the potential to increase the platform's diagnostic and treatment efficiency and application value.

[0083] It should be noted that the digital twin human-computer interaction module requires a certain amount of computing power to perform calculations when simulating surgical procedures and postoperative effects. This calculation can be performed by the digital twin human-computer interaction module itself, for example, by configuring a computing unit. Alternatively, this calculation can be performed by a signal processing, reconstruction, and platform control module that has a communication connection with the digital twin human-computer interaction module. After completing the calculation, the signal processing, reconstruction, and platform control module sends the calculation results back to the digital twin human-computer interaction module, which is only responsible for image rendering.

[0084] In one optional implementation, the digital twin human-computer interaction module is further used to adjust the display method of the displayed images based on the doctor's display control operations. The display control operations include at least one of the following: resolution adjustment, viewing angle adjustment, selection of display time period, image annotation, and comparative display. The diverse display control operations supported by the platform described above demonstrate that the platform can meet the diverse display control needs of users. Therefore, the acoustic interventional diagnosis and treatment integrated platform provided in this application embodiment is very user-friendly, providing multifaceted functional support for users' identification and analysis of the detected area.

[0085] In one optional implementation, the integrated acoustic interventional diagnosis and treatment platform further includes: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing, reconstruction, and platform control module. The surgical robot system module is used to perform medical actions on the target object based on control commands from the signal processing, reconstruction, and platform control module or directly received medical control actions from the physician; wherein, the control commands are generated in response to the physician's medical control actions in the digital twin human-computer interaction module. As an example, the control commands or medical control actions could include inserting an in-body interventional acoustic imaging catheter into the target object, controlling the catheter's rotation within the body by manipulating motors, or withdrawing the catheter from the body. The surgical robot system module is also used to transmit the execution feedback information of the medical actions back to the signal processing, reconstruction, and platform control module, displaying the execution feedback information through the digital twin human-computer interaction module, or directly contacting the physician's hand to transmit the execution feedback information. When the surgical robot system module contacts the physician's hand, it can directly transmit information such as pressure and temperature to the physician's hand, allowing the physician to directly perceive the feedback received by the surgical robot system performing the medical actions. This allows doctors to analyze and assess the feedback information promptly, providing further treatment strategies as needed and ensuring the safety of the target population in the medical setting.

[0086] The acoustic interventional diagnostic and therapeutic integrated platform proposed in this application uses acoustic technology to replace X-rays, making it a radiation-free, green, and safe integrated platform for interventional diagnosis and therapy. This platform can perform structural, pathway, and functional imaging without contrast agents or with highly biocompatible contrast agents. Through the coordinated operation of a panoramic in vitro acoustic imaging system module and a panoramic in vivo interventional acoustic imaging system module, the platform visualizes multi-scale, real-time, panoramic 4D structural, pathway, and functional information of target tissues. Because it is radiation-free, this platform can be used in hospitals without X-ray catheterization lab facilities and is compatible with various non-hospital medical scenarios for disease diagnosis and interventional guidance, greatly expanding the accessibility of interventional diagnosis and treatment. Furthermore, in conjunction with a surgical robot system module, a signal processing, reconstruction, and platform control module, and a digital twin human-computer interaction module, it can achieve panoramic, multi-scale, 4D acoustic disease diagnosis and interventional guidance in various clinical scenarios, including natural cavity systems and vascular systems, using acoustic media without or with biocompatible contrast agents, in any flexible setting. It is evident that the acoustic interventional diagnosis and treatment integrated platform provided in this application embodiment is an innovative departmental-level solution for multi-scale interventional diagnosis and treatment based on acoustic technology.

[0087] Figure 3 This is a schematic diagram of another integrated acoustic interventional diagnosis and treatment platform provided in this application embodiment in a medical scenario. Figure 3 and Figure 2The difference lies in the fact that a surgical robot system module was also demonstrated, and the signal processing, reconstruction, and platform control module controls and acquires information between itself and the surgical robot system module. The surgical robot system module can assist the physician 21 in performing interventional surgery on the patient 22 and transmit feedback to the physician 21.

[0088] Figure 4 This is a schematic diagram illustrating the application of an integrated acoustic interventional diagnosis and treatment platform in a medical setting, as provided in an embodiment of this application. Figure 4 The exhibition showcases an external acoustic sensor 41, an in vivo interventional acoustic imaging catheter 42, a surgical robot system module 43, a signal processing, reconstruction, and platform control module 44, a digital twin human-computer interaction module 45, and a multimodal human-computer interaction interface 46. Furthermore, in... Figure 4 The platform shown may further include a large-area surface or ring array transducer 47. Both the large-area surface or ring array transducer 47 and the external acoustic sensor 41 can be considered components of the panoramic external acoustic imaging system module, and their detection scales differ, with the former having a larger detection scale than the latter.

[0089] In practical applications, panoramic external acoustic imaging system modules can have various types of transducers. The large-area surface or ring array transducer 47 is merely an example; the number and types of transducers included in the panoramic external acoustic imaging system module are not limited here. Surgical robot system module 43, as shown... Figure 4 As shown, it is controlled by the signal processing, reconstruction, and platform control module 44. Furthermore, the signal processing, reconstruction, and platform control module 44 can also control various transducers in the panoramic external acoustic imaging system module (e.g., large-area surface or ring array transducers 47, external acoustic sensors 41), the in vivo interventional acoustic imaging catheter 42, and the digital twin human-computer interaction module 45. The digital twin human-computer interaction module 45 has an interactive interface, such as... Figure 4 The multimodal human-computer interaction interface 46 shown in the image has multiple modal forms, such as human-computer interaction interfaces provided by AR glasses or displays. The digital twin human-computer interaction module 45 improves the doctor's perception of the patient's internal structure, pathways, and functional information, and its rich functions help doctors provide more accurate diagnosis and treatment services to patients who are bedridden 48.

[0090] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. The platform embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. The components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment solution according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0091] The above description is merely one specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An integrated platform for acoustic interventional diagnosis and treatment, characterized in that, include: The system includes a panoramic external acoustic imaging system module, a panoramic internal interventional acoustic imaging system module, a digital twin human-computer interaction module, and a signal processing, reconstruction, and platform control module; wherein the panoramic external acoustic imaging system module includes an external acoustic sensor, and the panoramic internal interventional acoustic imaging system module includes an internal interventional acoustic imaging catheter. The panoramic in vitro acoustic imaging system module, the panoramic in vivo interventional acoustic imaging system module, and the digital twin human-computer interaction module are all communicatively connected to the signal processing, reconstruction, and platform control module. The external acoustic sensor and the internal interventional acoustic imaging catheter are each used to apply transducers to detect the target area of ​​the object and generate detection signals to be sent to the signal processing, reconstruction and platform control module; the detection signals include: structural information, pathway information and functional information; the external acoustic sensor continuously detects along the moving path of the internal interventional acoustic imaging catheter during the movement and adjustment of the internal interventional acoustic imaging catheter; The signal processing, reconstruction, and platform control module is used to perform signal processing and visualization reconstruction based on the detection signals provided by the external acoustic sensor and the internal interventional acoustic imaging catheter, generate panoramic multi-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module; the detection scale corresponding to the panoramic external acoustic imaging system module is larger than the detection scale of the panoramic internal interventional acoustic imaging system module. The digital twin human-computer interaction module is used to visualize the panoramic multi-scale acoustic image data in 3D or 4D; the 4D visualization is to display a spatially three-dimensional panoramic multi-scale acoustic image with time characteristics; the integrated acoustic interventional diagnosis and treatment platform allows doctors to select the time interval of the image to be displayed through the digital twin human-computer interaction module. The digital twin human-computer interaction module is also used to model, simulate, and visualize based on the panoramic multi-scale acoustic image data and information on medical tools in the medical scene, creating a structural environment of the test area of ​​the target object and a virtual digital mapping space of the medical scene; in response to the doctor's simulated surgical operation in the virtual digital mapping space, it displays the corresponding simulated postoperative effect of the structure of the test area after the simulated surgical operation; the simulated postoperative effect is used by the doctor to determine whether the simulated path or treatment method is the preferred method, and the impact on the target object; The digital twin human-computer interaction module allows doctors to manipulate and interact with the treatment environment in the virtual digital mapping space using virtual reality and augmented reality human-computer interaction technologies to simulate surgical operations or guide actual surgical operations.

2. The platform according to claim 1, characterized in that, The external acoustic sensor is specifically used to use its own transducer to perform external detection on the area to be tested, generate a first detection signal, and send it to the signal processing, reconstruction and platform control module. The signal processing, reconstruction, and platform control module is specifically used to perform signal processing and visualization reconstruction based on the first detection signal sent by the external acoustic sensor, generate panoramic first-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically used to visualize the panoramic first-scale acoustic image data; it is also used to generate a first detection command and send it to the signal processing, reconstruction and platform control module in response to the doctor's first detection trigger operation after the panoramic first-scale acoustic image data is visualized. The signal processing, reconstruction, and platform control module is also used to control the in vivo interventional acoustic imaging catheter to detect the target object according to the first detection command.

3. The platform according to claim 2, characterized in that, The in vivo interventional acoustic imaging catheter is specifically used to use its own transducer to detect the area to be tested, generate a second detection signal, and send it to the signal processing, reconstruction and platform control module. The signal processing, reconstruction, and platform control module is specifically used to perform signal processing and visualization reconstruction based on the second detection signal, generate panoramic second-scale acoustic image data of the target object's test area, and send it to the digital twin human-computer interaction module. The digital twin human-computer interaction module is specifically used to visualize the panoramic second-scale acoustic image data.

4. The platform according to claim 3, characterized in that, The signal processing, reconstruction, and platform control module is specifically used to control and guide the in vivo interventional acoustic imaging catheter from outside the body to move until it reaches the target area inside the target body, according to the first detection command.

5. The platform according to claim 4, characterized in that, The digital twin human-computer interaction module is also used to generate a catheter movement adjustment command and send it to the signal processing, reconstruction and platform control module in response to the doctor's catheter movement adjustment trigger operation after visualizing the panoramic first-scale acoustic image data; the catheter movement adjustment command carries movement adjustment parameters. The signal processing, reconstruction, and platform control module is further configured to control the in vivo interventional acoustic imaging catheter to move based on the movement adjustment parameters according to the catheter movement adjustment command; wherein, during the movement of the in vivo interventional acoustic imaging catheter, the external acoustic sensor is located outside the target object and continuously detects along the movement path of the in vivo interventional acoustic imaging catheter.

6. The platform according to claim 1, characterized in that, The signal processing, reconstruction, and platform control module is specifically used to perform signal fusion based on the first detection signal provided by the external acoustic sensor and the second detection signal provided by the in vivo interventional acoustic imaging catheter, and to reconstruct and generate panoramic multi-scale acoustic image data of the region to be tested that fuses the first and second scales. Wherein, the first scale is the detection scale corresponding to the external acoustic sensor, and the second scale is the detection scale corresponding to the in vivo interventional acoustic imaging catheter.

7. The platform according to claim 1, characterized in that, The digital twin human-computer interaction module is also used to adjust the display method of the images based on the doctor's display control operations on the displayed images; The display control operation includes at least one of the following: Resolution adjustment, viewing angle adjustment, selection of display period, image annotation, and comparison display.

8. The platform according to claim 1, characterized in that, The platform also includes: a surgical robot system module; the surgical robot system module is communicatively connected to the signal processing, reconstruction, and platform control module; The surgical robot system module is used to perform medical actions on the target object according to the control instructions of the signal processing reconstruction and platform control module or the medical control actions directly received from the doctor; wherein, the control instructions are generated in response to the medical control actions of the doctor in the digital twin human-computer interaction module; The surgical robot system module is also used to transmit the execution feedback information of the medical action back to the signal processing, reconstruction and platform control module, display the execution feedback information through the digital twin human-computer interaction module, or directly contact the doctor's hand to transmit the execution feedback information.

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