Integrated tachycardia diagnosis and treatment device

Abstract

This application discloses an integrated tachycardia diagnosis and treatment device. This device integrates three-dimensional imaging and high-intensity focused ultrasound therapy on the same platform through a dual-mode phased array ultrasound transducer. Then, based on the Jacobian determinant vector method of topological current theory, it achieves high robustness, high precision positioning and direction identification of the three-dimensional spiral wave singularity. Next, it constructs a ring-shaped focused sound field around the singularity through the iterative angular spectrum method to compensate for the sound field distortion caused by rib obstruction. Combined with the real-time motion trajectory of the spiral wave, it achieves full-dimensional adaptive planning of the treatment path. Finally, the control module realizes the closed-loop collaborative work of each module. It achieves non-invasive diagnosis and treatment of tachycardia through non-invasive ultrasound technology, avoiding the safety risks of invasive operation and implantable devices. At the same time, through precise positioning, adaptive focusing and closed-loop control, it significantly improves the accuracy, effectiveness and safety of tachycardia treatment.

Description

Technical Field

[0001] This application relates to the field of ultrasound diagnostic and treatment equipment technology, and in particular to an integrated tachycardia diagnostic and treatment device. Background Technology

[0002] Tachyarrhythmias (rapid cardiac arrhythmias), such as atrial fibrillation and ventricular fibrillation, are often accompanied by the propagation of spiral wave-like electrical activity in the myocardial tissue. The core of this rotation, namely the spiral wave singularity, is key to maintaining and driving the arrhythmia. Clinically, timely and accurate localization and elimination of spiral wave electrical signals in the target area can effectively treat tachycardia.

[0003] Currently, the mainstream clinical treatments for tachycardia include implantable cardioverter defibrillators (ICDs) and radiofrequency ablation, but both have significant drawbacks: ICDs need to be implanted in the patient's body, which can easily cause rejection, are expensive, and pose significant safety risks with electrical stimulation; radiofrequency ablation is an invasive procedure that requires a high level of skill from the operator, carries the risk of complications such as myocardial perforation and thrombosis, and has limited precision in targeting three-dimensional dynamic spiral waves.

[0004] In the field of non-invasive treatment technology, existing solutions still have many shortcomings: First, real-time and automated localization of dynamically changing three-dimensional helical wave singularities is difficult, resulting in insufficient localization robustness and accuracy; second, the delivery of therapeutic energy lacks adaptive path planning for the dynamic characteristics of singularities, failing to match the real-time movement of the helical wave; furthermore, insufficient compensation for ultrasound obstruction and distortion effects from thoracic tissues such as ribs severely affects the energy focusing accuracy of the target area; finally, existing systems often lack a closed-loop collaborative working mechanism integrating imaging, localization, treatment, and assessment, failing to achieve automation and intelligence throughout the entire diagnosis and treatment process. Therefore, how to achieve non-invasive, precise, and integrated diagnosis and treatment of tachycardia while ensuring the safety and effectiveness of treatment is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application provides an integrated tachycardia diagnosis and treatment device, which solves the technical problems of insufficient positioning accuracy and low robustness of the dynamically changing three-dimensional spiral wave singularity line in non-invasive treatment of tachycardia, and the inability to integrate imaging, positioning, treatment and evaluation into one. Through precise positioning, adaptive focusing and closed-loop control, the accuracy, effectiveness and safety of tachycardia treatment are greatly improved.

[0006] This application provides an integrated tachycardia diagnosis and treatment device, which includes a dual-mode phased array ultrasound transducer, an image display screen, a data processing and endpoint positioning module, an ultrasound circular control module, and a control module. The control module is used to output a first control signal to the dual-mode phased array ultrasonic transducer, a second control signal to the data processing and endpoint positioning module, and a third control signal to the ultrasonic circular control module. The dual-mode phased array ultrasound transducer is used to switch between a first working mode and a second working mode based on the received first control signal; in the first working mode, it emits an ultrasound scanning beam to acquire three-dimensional ultrasound imaging data of the heart region and sends it to the data processing and endpoint positioning module; in the second working mode, it emits a phased-focused therapeutic ultrasound beam according to the parameters in the focused therapy control parameter set. The data processing and endpoint positioning module is used to process the three-dimensional ultrasound imaging data based on the received second control signal, extract the helical wave singularity line and send it to the ultrasound circular control module; at the same time, it performs endpoint positioning and direction identification on the helical wave singularity line, obtains the positioning information of the helical wave endpoint and sends it to the ultrasound circular control module. The ultrasound circular control module is used to reconstruct a circular focused sound field around the helical wave singularity line in the target area of ​​the myocardium based on the received third control signal and the positioning information of the helical wave endpoint using the iterative angular spectrum method, and to plan an adaptive ultrasound focused treatment path in combination with the real-time motion trajectory of the helical wave singularity line, generate a set of focused treatment control parameters and send them to the control module. The image display screen is used to display in real time the positioning information based on the three-dimensional ultrasound imaging data and the helical wave endpoint.

[0007] In some embodiments, the data processing and endpoint localization module includes: a data preprocessing unit, a spiral wave feature extraction unit, and a spiral wave endpoint localization unit; The data preprocessing unit is used to preprocess the three-dimensional ultrasound imaging data to obtain a preprocessed image; The spiral wave feature extraction unit is used to extract the morphological and dynamic features of the spiral wave singularity line from the preprocessed image and construct the spiral wave singularity line. The spiral wave endpoint positioning unit is used to construct a Jacobian determinant vector field in three-dimensional space using the Jacobian determinant vector method based on topological current theory, so as to locate the endpoints and identify the direction of the spiral wave singular lines and obtain the positioning information of the spiral wave endpoints.

[0008] In some embodiments, the helical wave endpoint positioning unit is specifically configured to perform the following positioning process, including: The preprocessed image is processed using the Jacobian determinant vector method based on topological current theory to construct a Jacobian determinant vector field in three-dimensional space. The Jacobian determinant vector field is smoothed to obtain an optimized vector field; The vector component amplitudes of each spatial point are calculated based on the optimized vector field. By comparing the differences in the amplitudes of different vector components, a two-dimensional analysis plane perpendicular to the local spiral wave singularity line is dynamically selected. In the two-dimensional analysis plane, the vector modulus extreme points of the optimized vector field are identified. The identified vector modulus extreme points are used as candidate endpoint positions of the helical wave singularity lines, and the vector direction information at the candidate endpoint positions is used as the direction of the corresponding helical wave endpoint. The candidate positions of each endpoint and the direction at each candidate position are used as the positioning information of the helical wave endpoint.

[0009] In some embodiments, the ultrasound circular control module includes: a circular focusing sound field determination unit, a treatment path planning unit, a sound field parameter optimization unit, and a treatment control parameter set generation unit; The circular focused sound field determination unit is used to reconstruct the circular focused sound field surrounding the singular line of the spiral wave in the target area of ​​the myocardium using the iterative angular spectrum method based on the positioning information of the spiral wave endpoint, and to calculate the sound source emission plane driving parameters of the circular focused sound field. The treatment path planning unit is used to plan the ultrasound focusing treatment path of the circular focused sound field according to the driving parameters of the sound source emission plane and the real-time motion trajectory of the helical wave singularity line, and to obtain the parameters of the ultrasound focusing treatment path as path parameters. The sound field parameter optimization unit is used to optimize the ultrasound frequency and sound intensity parameters based on the circular focused sound field and in combination with the acoustic characteristics and safety threshold of the heart tissue, so as to obtain optimized sound field parameters. The treatment control parameter set generation unit generates a treatment control parameter set based on the path parameters and the optimized sound field parameters.

[0010] In some embodiments, the annular focusing sound field determination unit is specifically configured to perform the following focusing process: The desired annular focused sound field of the target myocardial region is used as the initial target sound field; Based on the initial target sound field, a sound field correction step is performed to obtain the corrected target sound field; Calculate the actual degree of agreement between the initial target sound field and the corrected target sound field; When the actual matching degree does not reach the preset matching degree, the corrected target sound field is used as the new initial target sound field, and the sound field correction step is iteratively executed until the actual matching degree reaches the preset matching degree. At this point, the sound field correction step is stopped, and the corresponding sound source emission plane driving parameters are output. The sound field correction steps include: Based on angular spectrum theory, the initial target sound field is propagated backward from the myocardial plane to the sound source emission plane to obtain the initial driving parameters; The initial driving parameters are propagated forward to the myocardial plane, and the initial target sound field is corrected based on the rib spatial position information obtained from the three-dimensional ultrasound imaging data during the propagation process to obtain the corrected target sound field.

[0011] In some embodiments, the treatment path planning unit is further configured to track the motion trajectory of the helical wave singularity line in real time using a trajectory tracking algorithm, and adjust the center position of the annular focused sound field in real time based on the tangent direction of the motion trajectory, so that the center position and the motion trajectory remain tangent in real time.

[0012] In some embodiments, the treatment path planning unit is further configured to acquire the focused ring formed by the annular focused sound field in the target myocardial region; Depending on the treatment stage, a fixed-direction control mode is adopted, using a preset direction as the movement direction of the focusing ring to control its movement; or... A dynamic direction control mode is adopted. Based on the real-time rotation state and position of the helical wave singularity, the angle between the moving direction of the focusing ring and the rotation tangent direction of the helical wave singularity is continuously adjusted through a feedback control algorithm to determine the moving direction of the focusing ring and control the movement of the focusing ring.

[0013] In some embodiments, the treatment path planning unit is further configured to adjust the moving speed of the focusing ring based on the elimination effect of the spiral wave singularity and the real-time response parameters of the cardiac tissue.

[0014] In some embodiments, the optimized sound field parameters further include the focusing ring radius and the focusing ring width; The sound field parameter optimization unit is also used to determine the radius of the circumcircle of the trajectory based on the real-time motion trajectory of the helical wave singularity line, and to update the radius of the focusing ring in real time based on the radius of the circumcircle of the trajectory. The focusing ring width is determined by adjusting the ring width based on the thickness of the heart tissue and the intensity of the spiral wave.

[0015] In some embodiments, the control module is further configured to control the dual-mode phased array ultrasound transducer to perform a three-dimensional ultrasound scan of the heart region in the first working mode to acquire three-dimensional ultrasound imaging data. The control module is also used to control the dual-mode phased array ultrasound transducer to switch to the second working mode, and according to the focused treatment control parameter set, control the dual-mode phased array ultrasound transducer to emit a phased focused therapeutic ultrasound beam to target the spiral wave singularity line.

[0016] This application integrates three-dimensional imaging and high-intensity focused ultrasound therapy on the same platform using a dual-mode phased array ultrasound transducer. Then, based on the Jacobian determinant vector method of topological current theory, it achieves high robustness, high-precision positioning, and direction identification of the three-dimensional spiral wave singularity. Next, it constructs a circular focused sound field around the singularity using the iterative angular spectrum method to compensate for sound field distortion caused by rib obstruction. Combined with the real-time motion trajectory of the spiral wave, it achieves full-dimensional adaptive planning of the treatment path. Finally, a control module enables closed-loop collaborative operation of all modules. This non-invasive ultrasound technology achieves non-invasive diagnosis and treatment of tachycardia, avoiding the safety risks of invasive procedures and implantable devices. Simultaneously, through precise positioning, adaptive focusing, and closed-loop control, it significantly improves the accuracy, effectiveness, and safety of tachycardia treatment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of an integrated tachycardia diagnosis and treatment device provided in this application embodiment; Figure 2 A schematic diagram of the data processing and endpoint positioning module provided in an embodiment of this application; Figure 3 This is a schematic diagram of the ultrasonic circular control module provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0022] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0023] Therefore, this application provides an integrated tachycardia diagnosis and treatment device, the schematic diagram of which is shown below. Figure 1 As shown, it includes a dual-mode phased array ultrasonic transducer 101, a data processing and endpoint positioning module 102, an ultrasonic circular control module 103, an image display screen 104, and a control module 105; wherein, the control module 105 is communicatively connected to the dual-mode phased array ultrasonic transducer 101, the data processing and endpoint positioning module 102, the ultrasonic circular control module 103, and the image display screen 104, respectively, to realize the timing control and collaborative scheduling of the entire process.

[0024] The control module 105 is used to output a first control signal to the dual-mode phased array ultrasonic transducer 101, a second control signal to the data processing and endpoint positioning module 102, and a third control signal to the ultrasonic circular control module 103.

[0025] The first control signal is used to control the dual-mode phased array ultrasonic transducer 101 to perform the corresponding steps, the second control signal is used to control the data processing and endpoint positioning module 102 to perform the corresponding steps, and the third control signal is used to control the ultrasonic circular control module 103 to perform the corresponding steps.

[0026] Specifically, when the integrated tachycardia diagnosis and treatment device is activated, the control module 105 generates a first control signal and sends it to the dual-mode phased array ultrasound transducer 101.

[0027] The dual-mode phased array ultrasound transducer 101 is used to switch between a first working mode and a second working mode based on a first control signal; in the first working mode, it emits an ultrasound scanning beam to acquire three-dimensional ultrasound imaging data of the cardiac region and sends it to the data processing and endpoint positioning module; in the second working mode, it emits a phased-focused therapeutic ultrasound beam according to the parameters in the focused therapy control parameter set.

[0028] The dual-mode phased array ultrasonic transducer in this embodiment is a two-dimensional phased array transducer.

[0029] After the dual-mode phased array ultrasonic transducer 101 generates three-dimensional ultrasonic imaging data, it sends a command to the control module 105 that it can send a second control signal to the data processing and endpoint positioning module 102. The control module 105 generates the second control signal based on the command and sends it to the data processing and endpoint positioning module 102.

[0030] The data processing and endpoint positioning module 102 is used to process the three-dimensional ultrasound imaging data based on the second control signal, extract the helical wave singularity line and send it to the ultrasound circular control module; at the same time, it performs endpoint positioning and direction identification on the helical wave singularity line, obtains the positioning information of the helical wave endpoint and sends it to the ultrasound circular control module.

[0031] After the data processing and endpoint positioning module 102 extracts the positioning information of the helical wave singularity line and the helical wave endpoint, it sends a command to the control module 105 that it can send a third control signal to the ultrasonic circular control module 103. The control module 105 generates a third control signal based on the command and sends it to the ultrasonic circular control module 103.

[0032] The ultrasound circular control module 103 is used to reconstruct the circular focused sound field around the helical wave singularity line in the target area of ​​the myocardium based on the third control signal and the positioning information of the helical wave endpoint using the iterative angular spectrum method. It also plans an adaptive ultrasound focused treatment path in combination with the real-time motion trajectory of the helical wave singularity line, generates a set of focused treatment control parameters, and sends them to the control module.

[0033] Image display screen 104 is used to display in real time the positioning information based on three-dimensional ultrasound imaging data and the helical wave endpoint.

[0034] Specifically, the control module 105 configures the dual-mode phased array ultrasound transducer 101 to the first operating mode (i.e., imaging mode) and simultaneously controls the image display screen 104 to initialize, preparing to receive and display imaging data in real time. In the first operating mode, the dual-mode phased array ultrasound transducer 101 emits an imaging ultrasound beam (i.e., an ultrasound scanning beam) towards the heart region, performing a multi-angle, multi-planar three-dimensional scan of the heart, and then receives the reflected echo signals to generate three-dimensional ultrasound imaging data of the heart region in real time. In this embodiment, the operating frequency of the ultrasound transducer in imaging mode is set to 2.5MHz-5MHz, balancing the tissue penetration depth of ultrasound with imaging resolution. After acquiring the three-dimensional ultrasound imaging data, the control module 105 controls the dual-mode phased array ultrasound transducer 101 to transmit the acquired three-dimensional ultrasound imaging data in real time to the data processing and endpoint positioning module 102 for subsequent identification and positioning of helical wave singularities; simultaneously, it transmits the data in real time to the image display screen 104 for reconstructing and displaying a dynamic three-dimensional image of the heart for real-time observation by clinicians.

[0035] Furthermore, such as Figure 2 As shown, the data processing and endpoint positioning module 102 includes: a data preprocessing unit 1021, a spiral wave feature extraction unit 1022, and a spiral wave endpoint positioning unit 1023.

[0036] The data preprocessing unit 1021 is used to preprocess the three-dimensional ultrasound imaging data to obtain a preprocessed image.

[0037] The spiral wave feature extraction unit 1022 is used to extract the morphological and dynamic features of the spiral wave singularity from the preprocessed image and construct the spiral wave singularity.

[0038] The spiral wave endpoint positioning unit 1023 is used to construct a Jacobian determinant vector field in three-dimensional space using the Jacobian determinant vector method based on topological current theory, so as to locate the endpoints and identify the direction of the spiral wave singular lines and obtain the positioning information of the spiral wave endpoints.

[0039] Specifically, the data preprocessing unit 1021 performs noise suppression, image enhancement, and data standardization on the received three-dimensional ultrasound imaging data to reduce the interference of image noise on subsequent feature extraction and localization.

[0040] The spiral wave feature extraction unit 1022 performs data analysis on the preprocessed image to extract the morphological and dynamic features of the spiral wave singularity and construct the spiral wave singularity. In this embodiment, the morphological features include, but are not limited to, the curvature, phase distribution, and geometric shape of the spiral wave singularity, while the dynamic features include, but are not limited to, the rotation frequency, propagation speed, and curvature change of the spiral wave singularity.

[0041] The spiral wave endpoint localization unit 1023 employs the Jacobian-determinant vector method based on topological current theory to construct a three-dimensional Jacobian-determinant vector field. This field is then smoothed to highlight the extreme value characteristics at the singularity lines, and the smoothed Jacobian-determinant vector field is used as the optimized vector field. Next, the amplitude of the vector components at each spatial point is calculated based on the optimized vector field. By comparing the differences in the amplitudes of different vector components, a two-dimensional analysis plane perpendicular to the local spiral wave singularity line is adaptively selected. Within the two-dimensional analysis plane, extreme points of the vector magnitude are identified in the optimized vector field. These identified extreme points are used as candidate endpoint positions for the spiral wave singularity lines, and the vector direction information at these candidate endpoint positions is used as the direction of the corresponding spiral wave endpoint. Finally, each candidate endpoint position and its direction are used as the localization information for the spiral wave endpoint.

[0042] It should be noted that the two-dimensional analysis plane selected in this embodiment, which is perpendicular to the local spiral wave singularity line, does not need to be absolutely perpendicular. It only needs to be approximately perpendicular. The specific standard for approximate perpendicularity can be set according to the actual situation. This embodiment does not limit it here.

[0043] This embodiment uses a helical wave singularity line in three-dimensional space as the core model. The endpoint trajectory is described as a helical curve with local directional changes. Its local curvature and torsion vary with the myocardial tissue structure, helical wave frequency, and propagation speed. Its two-dimensional projection trajectory in the target myocardial region is a circle, an external circle, and an internal circle. After obtaining the positioning information of the helical wave endpoints, the positioning information is transmitted to the image display screen 104 in real time. The image display screen 104 overlays and displays the candidate positions and directions of the helical wave singularity line endpoints on the three-dimensional ultrasound imaging data for the doctor's confirmation; at the same time, it provides a basis for subsequent treatment planning.

[0044] Furthermore, such as Figure 3 As shown, the ultrasound circular control module 103 includes: a circular focusing sound field determination unit 1031, a treatment path planning unit 1032, a sound field parameter optimization unit 1033, and a treatment control parameter set generation unit 1034.

[0045] The circular focusing sound field determination unit 1031 is used to reconstruct the circular focusing sound field around the singular lines of the spiral wave in the target area of ​​the myocardium using the iterative angular spectrum method based on the positioning information of the spiral wave endpoints, and to calculate the sound source emission plane driving parameters of the circular focusing sound field.

[0046] The treatment path planning unit 1032 is used to plan the ultrasound focusing treatment path of the circular focusing sound field based on the driving parameters of the sound source emission plane and the real-time motion trajectory of the helical wave singularity line, and to obtain the parameters of the ultrasound focusing treatment path as path parameters.

[0047] The sound field parameter optimization unit 1033 is used to optimize ultrasound frequency and sound intensity parameters based on the circular focused sound field and in combination with the acoustic characteristics and safety threshold of heart tissue, so as to obtain optimized sound field parameters.

[0048] The treatment control parameter set generation unit 1034 generates a treatment control parameter set based on path parameters and optimized sound field parameters.

[0049] Specifically, after receiving the positioning information of the helical wave endpoint, the circular focusing sound field determination unit 1031 uses the iterative angular spectrum method to plan the sound field. The specific process is as follows: the expected circular focusing sound field of the myocardial target region is taken as the initial target sound field, and then the sound field correction step is performed based on the initial target sound field to obtain the corrected target sound field. The actual consistency between the initial target sound field and the corrected target sound field is calculated. When the actual consistency does not reach the preset consistency, the corrected target sound field is taken as the new initial target sound field, and the sound field correction step is iteratively executed until the actual consistency reaches the preset consistency. Then the sound field correction step is stopped, and the corresponding sound source emission plane driving parameters are output.

[0050] Furthermore, the sound field correction step includes: based on the angular spectrum theory, the initial target sound field is propagated backward from the myocardial plane to the sound source emission plane to obtain the initial driving parameters; the initial driving parameters are propagated forward to the myocardial plane, and the initial target sound field is corrected according to the rib spatial position information obtained from the three-dimensional ultrasound imaging data during the propagation process to obtain the corrected target sound field.

[0051] Furthermore, the path parameters in this embodiment include the trajectory, center position, tangency relationship, direction of movement, and speed of movement of the helical wave singularity line.

[0052] The treatment path planning unit 1032 is also used to track the motion trajectory of the helical wave singularity line in real time through the trajectory tracking algorithm, and adjust the center position of the circular focused sound field in real time based on the tangent direction of the motion trajectory, so that the center position and the motion trajectory are kept tangent in real time.

[0053] The treatment path planning unit 1032 is also used to acquire the focused ring formed by the annular focused sound field in the target area of ​​the myocardium; according to the treatment stage attributes, a fixed direction control mode is adopted, and a preset direction is used as the moving direction of the focused ring to control the movement of the focused ring; or, a dynamic direction control mode is adopted, and according to the real-time rotation state and position of the helical wave singularity, the angle between the moving direction of the focused ring and the rotation tangent direction of the helical wave singularity is continuously adjusted through a feedback control algorithm to determine the moving direction of the focused ring to control the movement of the focused ring.

[0054] The treatment path planning unit 1032 is also used to adjust the moving speed of the focusing ring based on the elimination effect of the spiral wave singularity and the real-time response parameters of the heart tissue.

[0055] Furthermore, the optimized sound field parameters in this embodiment also include the focusing ring radius and the focusing ring width.

[0056] The sound field parameter optimization unit 1033 is also used to determine the radius of the circumcircle of the trajectory based on the real-time motion trajectory of the helical wave singularity line, and to update the radius of the focusing ring in real time based on the radius of the circumcircle of the trajectory; and to determine the width of the focusing ring through a ring width adjustment strategy based on the thickness of the heart tissue and the intensity of the helical wave.

[0057] Specifically, the treatment path planning unit 1032 and the sound field parameter optimization unit 1033 plan the radius, width, direction, and speed of the focusing ring surrounding the helical wave singularity line based on its real-time motion trajectory: The radius of the focusing ring is set to match the radius of the circumcircle of the trajectory; the width is set based on the thickness of the heart tissue and the intensity of the helical wave. The direction of movement of the focusing ring is set based on the rotation direction of the endpoints of the helical wave singularity line, initially moving in a fixed direction. The radius, width, direction, and speed of movement of the focusing ring are adaptively adjusted according to the subsequent motion of the helical wave singularity line.

[0058] In this embodiment, the initial parameters of the focusing ring are exemplarily set as follows: the inner radius of the ring is 4 mm, the width is 0.25 mm, and the moving speed is 0.25 mm per 5 ms; the ultrasonic intensity is set to 41.35 mmHg, and the action time is 0.5 ms. The above specific values ​​are only exemplary illustrations of this embodiment and do not imply any limitation on this embodiment. Users can set them according to their actual circumstances.

[0059] The sound field parameter optimization unit 1033 performs collaborative optimization of treatment parameters. Based on the target myocardial depth, required spatial resolution, and biological safety threshold, it optimizes the ultrasound center frequency (i.e., ultrasound frequency). In this embodiment, the ultrasound frequency is set to 1MHz-3MHz in the treatment mode to ensure effective penetration and focusing safety of ultrasound energy.

[0060] The ultrasound ring control module 103 transmits the set of focused treatment control parameters generated by its internal unit to the control module 105 in real time, so that the control module 105 can control the dual-mode phased array ultrasound transducer 101 to perform targeted treatment on the spiral wave singularity.

[0061] Furthermore, the control module 105 is also used to control the dual-mode phased array ultrasound transducer to perform three-dimensional ultrasound scanning of the heart region in the first working mode to acquire three-dimensional ultrasound imaging data.

[0062] The control module 105 is also used to control the dual-mode phased array ultrasound transducer to switch to the second working mode, and according to the focused therapy control parameter set, control the dual-mode phased array ultrasound transducer to emit a phased focused therapeutic ultrasound beam to target the helical wave singularity line.

[0063] Specifically, the control module 105 coordinates and controls each module to enter the treatment mode, completing closed-loop targeted intervention. The control module 105 switches the dual-mode phased array ultrasound transducer 101 to the second working mode, i.e., the treatment mode. Based on the focused treatment control parameter set generated by the ultrasound ring control module 103, the dual-mode phased array ultrasound transducer 101 emits a phased-focused treatment ultrasound beam. Each element in the dual-mode phased array ultrasound transducer 101 is independently driven according to optimized amplitude and phase parameters, forming a ring-shaped focused sound field matching the planned path in the target area of ​​the myocardium. During treatment, the control module 105 periodically switches the dual-mode phased array ultrasound transducer 101 to the first working mode for rapid imaging, acquiring three-dimensional ultrasound imaging data in real time, and transmitting this three-dimensional ultrasound imaging data to the data processing and endpoint positioning module 102. This allows the data processing and endpoint positioning module 102 to update the position and orientation information of the helical wave singularity line in real time, and the updated positioning information is transmitted to the ultrasound ring control module 103 in real time. The ultrasonic ring control module 103 dynamically adjusts the position, size, width, direction of movement, and speed of the focusing ring based on the updated positioning information of the helical wave singularity.

[0064] Furthermore, the specific process by which the ultrasound ring control module 103 dynamically adjusts the position, size, width, direction of movement, and speed of the focusing ring is as follows: The motion trajectory of the helical wave singularity is obtained through real-time image analysis, and a trajectory tracking algorithm is used to ensure that the center position of the focused sound field of the ring is tangent to the motion trajectory of the helical wave singularity and is adjusted accordingly in real time; the radius of the focusing ring is dynamically adjusted according to the real-time changes in the motion trajectory of the helical wave singularity, making it compatible with the circumcircle radius of the motion trajectory of the helical wave singularity (i.e., the radius of the focusing ring is the same as the circumcircle radius of the motion trajectory); the width of the focusing ring is adaptively adjusted according to the thickness of the heart tissue and the intensity of the helical wave: when the heart tissue is thicker or the helical wave intensity is greater, the width of the focusing ring is increased to improve efficiency, and vice versa to reduce ultrasound loss; if the initial fixed direction cannot eliminate the helical wave, the angle between the direction of movement of the focusing ring and the rotational tangent direction of the helical wave singularity can be continuously adjusted during treatment according to the real-time rotation state and position of the helical wave singularity through a feedback control algorithm.

[0065] The feedback control algorithm specifically includes the following steps: The positioning information of the helical wave endpoint is detected in real time, and it is determined whether the helical wave endpoint is located within the spatial geometric range of the ultrasonic ring focusing area based on the positioning information. If the helical wave endpoint is not within the corresponding geometric range, the angle between the current moving direction of the focusing ring and the rotation tangent direction of the helical wave is adjusted in real time according to the preset adjustment step size until the helical wave endpoint falls into the corresponding geometric range and the angle between the moving direction of the focusing ring and the rotation tangent direction of the helical wave is stopped.

[0066] In this embodiment, for a helical wave with an endpoint trajectory of an externally tangent circle, a fixed-direction control mode is used to control the movement of the focusing ring, achieving a helical wave electrical signal expulsion efficiency of 70%. However, in a dynamic-direction control mode, if the helical wave electrical signal is not completely expelled, the movement direction of the focusing ring is adjusted in real time, achieving a helical wave electrical signal expulsion efficiency of 100%. Here, the expulsion rate refers to the success rate of removing the helical wave signal.

[0067] The data processing and endpoint positioning module 102 continuously monitors the state changes of the spiral wave singularity. When the spiral wave singularity is successfully eliminated, the information is sent to the control module 105. The image display screen 104 displays the entire treatment process, the state of the spiral wave singularity, and various parameters for clinicians to monitor and intervene.

[0068] After treatment, the integrated tachycardia diagnostic and treatment device is reset. The control module 105 terminates the therapeutic ultrasound transmission based on the doctor's instructions or the information from the disappearance of the helical wave singularity line in the data processing and endpoint positioning module 102. The dual-mode phased array ultrasound transducer 101 resets to standby mode, and the data processing and endpoint positioning module 102, ultrasound circular control module 103, image display screen 104, and control module 105 cease operation, ready for the next use.

[0069] The integrated tachycardia diagnosis and treatment device provided in this embodiment includes a two-dimensional phased array transducer, a professional medical image display screen, a high-performance computing platform composed of a GPU, FPGA, and large-capacity memory and storage, and a central controller. The two-dimensional phased array transducer constitutes the core hardware of the dual-mode phased array ultrasound transducer. The high-performance computing platform carries the computational functions of the data processing and endpoint positioning module 102 and the ultrasound circular control module 103. The central controller implements the core functions of the control module 105, and the professional medical image display screen corresponds to the image display screen 104 in this solution.

[0070] The tachycardia diagnostic and treatment device proposed in this embodiment can achieve accurate diagnosis of tachycardia and integrate diagnosis and treatment. It can monitor the helical wave electrical activity in myocardial tissue in real time, and achieve non-invasive detection and treatment of tachycardia by accurately locating helical wave singularities and adaptively planning the ultrasound focused treatment path. This integrated tachycardia diagnostic and treatment device has a simple structure, can identify the endpoints of helical wave singularities in real time and compensate for the distortion caused by ultrasound obstruction by tissues such as ribs, and achieve precise delivery of energy to the target area. It effectively solves many pain points in the prior art and significantly improves the accuracy, efficiency and safety of tachycardia treatment.

[0071] It should be noted that the functional units in the various embodiments of this application can be integrated into one processing unit, exist separately, or be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0072] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The description of the embodiments above tends to emphasize the differences between the embodiments. The similarities or similarities can be referred to each other. For the sake of brevity, they will not be repeated here.

[0073] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0074] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0075] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0076] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0077] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0078] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0079] The above description is merely an 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 scope of the technology 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 tachycardia diagnosis and treatment device, characterized by, It includes a dual-mode phased array ultrasonic transducer, an image display screen, a data processing and endpoint positioning module, an ultrasonic circular control module, and a control module; The control module is used to output a first control signal to the dual-mode phased array ultrasonic transducer, a second control signal to the data processing and endpoint positioning module, and a third control signal to the ultrasonic circular control module. The dual-mode phased array ultrasound transducer is used to switch between a first working mode and a second working mode based on the received first control signal; in the first working mode, it emits an ultrasound scanning beam to acquire three-dimensional ultrasound imaging data of the heart region and sends it to the data processing and endpoint positioning module; in the second working mode, it emits a phased-focused therapeutic ultrasound beam according to the parameters in the focused therapy control parameter set. The data processing and endpoint positioning module is used to process the three-dimensional ultrasound imaging data based on the received second control signal, extract the helical wave singularity line and send it to the ultrasound circular control module; at the same time, it performs endpoint positioning and direction identification on the helical wave singularity line, obtains the positioning information of the helical wave endpoint and sends it to the ultrasound circular control module. The ultrasound circular control module is used to reconstruct a circular focused sound field around the helical wave singularity line in the target area of ​​the myocardium based on the received third control signal and the positioning information of the helical wave endpoint using the iterative angular spectrum method, and to plan an adaptive ultrasound focused treatment path in combination with the real-time motion trajectory of the helical wave singularity line, generate a set of focused treatment control parameters and send them to the control module. The image display screen is used to display in real time the positioning information based on the three-dimensional ultrasound imaging data and the helical wave endpoint.

2. The integrated tachycardia diagnosis and treatment device according to claim 1, characterized in that The data processing and endpoint localization module includes: a data preprocessing unit, a spiral wave feature extraction unit, and a spiral wave endpoint localization unit; The data preprocessing unit is used to preprocess the three-dimensional ultrasound imaging data to obtain a preprocessed image; The spiral wave feature extraction unit is used to extract the morphological and dynamic features of the spiral wave singularity line from the preprocessed image and construct the spiral wave singularity line. The spiral wave endpoint positioning unit is used to construct a Jacobian determinant vector field in three-dimensional space using the Jacobian determinant vector method based on topological current theory, so as to locate the endpoints and identify the direction of the spiral wave singular lines and obtain the positioning information of the spiral wave endpoints.

3. The integrated tachycardia diagnosis and treatment device according to claim 2, characterized in that The spiral wave endpoint positioning unit is specifically configured to perform the following positioning process, including: The preprocessed image is processed using the Jacobian determinant vector method based on topological current theory to construct a Jacobian determinant vector field in three-dimensional space. The Jacobian determinant vector field is smoothed to obtain an optimized vector field; The vector component amplitudes of each spatial point are calculated based on the optimized vector field. By comparing the differences in the amplitudes of different vector components, a two-dimensional analysis plane perpendicular to the local spiral wave singularity line is dynamically selected. In the two-dimensional analysis plane, the vector modulus extreme points of the optimized vector field are identified. The identified vector modulus extreme points are used as candidate endpoint positions of the helical wave singularity lines, and the vector direction information at the candidate endpoint positions is used as the direction of the corresponding helical wave endpoint. The candidate positions of each endpoint and the direction at each candidate position are used as the positioning information of the helical wave endpoint.

4. The integrated tachycardia diagnosis and treatment device according to claim 1, characterized in that The ultrasound circular control module includes: a circular focusing sound field determination unit, a treatment path planning unit, a sound field parameter optimization unit, and a treatment control parameter set generation unit; The circular focused sound field determination unit is used to reconstruct the circular focused sound field surrounding the singular line of the spiral wave in the target area of ​​the myocardium using the iterative angular spectrum method based on the positioning information of the spiral wave endpoint, and to calculate the sound source emission plane driving parameters of the circular focused sound field. The treatment path planning unit is used to plan the ultrasound focusing treatment path of the circular focused sound field according to the driving parameters of the sound source emission plane and the real-time motion trajectory of the helical wave singularity line, and to obtain the parameters of the ultrasound focusing treatment path as path parameters. The sound field parameter optimization unit is used to optimize the ultrasound frequency and sound intensity parameters based on the circular focused sound field and in combination with the acoustic characteristics and safety threshold of the heart tissue, so as to obtain optimized sound field parameters. The treatment control parameter set generation unit generates a treatment control parameter set based on the path parameters and the optimized sound field parameters.

5. The integrated tachycardia diagnosis and treatment device according to claim 4, characterized in that, The circular focusing sound field determination unit is specifically configured to perform the following focusing process: The desired annular focused sound field of the target myocardial region is used as the initial target sound field; Based on the initial target sound field, a sound field correction step is performed to obtain the corrected target sound field; Calculate the actual degree of agreement between the initial target sound field and the corrected target sound field; When the actual matching degree does not reach the preset matching degree, the corrected target sound field is used as the new initial target sound field, and the sound field correction step is iteratively executed until the actual matching degree reaches the preset matching degree. At this point, the sound field correction step is stopped, and the corresponding sound source emission plane driving parameters are output. The sound field correction steps include: Based on angular spectrum theory, the initial target sound field is propagated backward from the myocardial plane to the sound source emission plane to obtain the initial driving parameters; The initial driving parameters are propagated forward to the myocardial plane, and the initial target sound field is corrected based on the rib spatial position information obtained from the three-dimensional ultrasound imaging data during the propagation process to obtain the corrected target sound field.

6. The integrated tachycardia diagnosis and treatment device according to claim 4, characterized in that, The treatment path planning unit is also used to track the motion trajectory of the helical wave singularity line in real time through a trajectory tracking algorithm, and adjust the center position of the annular focused sound field in real time based on the tangent direction of the motion trajectory, so that the center position and the motion trajectory are kept tangent in real time.

7. The integrated tachycardia diagnosis and treatment device according to claim 6, characterized in that, The treatment path planning unit is also used to obtain the focusing ring formed by the annular focused sound field in the target area of ​​the myocardium; Depending on the treatment stage, a fixed-direction control mode is adopted, using a preset direction as the movement direction of the focusing ring to control its movement; or... A dynamic direction control mode is adopted. Based on the real-time rotation state and position of the helical wave singularity, the angle between the moving direction of the focusing ring and the rotation tangent direction of the helical wave singularity is continuously adjusted through a feedback control algorithm to determine the moving direction of the focusing ring and control the movement of the focusing ring.

8. The integrated tachycardia diagnosis and treatment device according to claim 7, characterized in that, The treatment path planning unit is also used to adjust the moving speed of the focusing ring based on the elimination effect of the spiral wave singularity and the real-time response parameters of the heart tissue.

9. The integrated tachycardia diagnosis and treatment device according to claim 8, characterized in that, The optimized sound field parameters also include the focusing ring radius and the focusing ring width; The sound field parameter optimization unit is also used to determine the radius of the circumcircle of the trajectory based on the real-time motion trajectory of the helical wave singularity line, and to update the radius of the focusing ring in real time based on the radius of the circumcircle of the trajectory. The focusing ring width is determined by adjusting the ring width based on the thickness of the heart tissue and the intensity of the spiral wave.

10. The integrated tachycardia diagnosis and treatment device according to claim 1, characterized in that, The control module is also used to control the dual-mode phased array ultrasound transducer to perform three-dimensional ultrasound scanning of the heart region in the first working mode to acquire three-dimensional ultrasound imaging data. The control module is also used to control the dual-mode phased array ultrasound transducer to switch to the second working mode, and according to the focused treatment control parameter set, control the dual-mode phased array ultrasound transducer to emit a phased focused therapeutic ultrasound beam to target the spiral wave singularity line.

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