Three-dimensional mapping and intelligent ablation system

Abstract

The application discloses a three-dimensional mapping ablation system, which comprises a mapping module, a control ablation module, an identification module and an ablation module. The mapping module is used to control the ablation module to acquire an electrical activity signal at a plurality of collection points on the surface of a heart, and to calculate a conduction direction and a conduction speed based on the electrical activity signal to determine a target point. The identification module is used to control the ablation module to collect a characteristic signal at a plurality of abutting positions, and to select an output position from the plurality of abutting positions based on the characteristic signal. The ablation module comprises a catheter and an energy generator electrically connected to the catheter. The catheter is used to collect the electrical activity signal and the characteristic signal, and to intelligently output ablation energy according to the comprehensive feedback of each electrode. The energy generator is used to supply energy to the catheter. The system can adapt to an integrated operation scene of precise mapping, electrode abutting identification and ablation in arrhythmia treatment, and can provide efficient intraoperative ablation assistance and further reduce the possibility of complications.

Description

Technical Field

[0001] This application belongs to the field of cardiac electrophysiology ablation technology, specifically, it relates to a three-dimensional mapping and intelligent ablation system. Background Technology

[0002] In cardiac electrophysiological ablation surgery, three-dimensional mapping of the heart and identification of ablation catheter placement are core operational steps to achieve precise ablation and thus cure arrhythmias. Current technologies suffer from insufficient accuracy or poor practicality in cardiac electrophysiological vector mapping, electrode placement identification, and ablation control adjustment. This makes ablation area sensing and electrode placement rely heavily on the surgeon's prior experience and manual adjustments, impacting surgical efficiency.

[0003] Patent document CN121176996A discloses an ablation system that integrates mapping and contact identification. It determines the target point through mapping, identifies the contact point of the ablation electrode with the target point, and allows for real-time adjustable ablation operations. While existing technologies, represented by this document, overcome the cumbersome operation required for ablation surgery to some extent through integrated systems, the mapping and contact processes are still based on conventional methods. For example, determining whether the PFA (pulsed electric field) ablation site is effectively contacted by the electrode through the contact impedance value between the electrode and the tissue, determining whether the RF (radio frequency) ablation site is effectively contacted by the electrode through the contact pressure, and determining the ablation site through modeling of acquired electrocardiogram signals, etc., still differs significantly from the accuracy required for actual surgery and still requires manual adjustment of the electrodes by the surgeon.

[0004] Therefore, an improved integrated mapping and ablation scheme is needed to provide accurate ablation localization and intelligent control, thereby improving surgical efficiency and further reducing the possibility of complications. Summary of the Invention

[0005] To address at least some of the aforementioned problems, this application provides a three-dimensional mapping ablation system, comprising a mapping module, an identification module, and an ablation module. The mapping module determines the conduction direction and velocity using two types of cardiac electrical signals acquired by the ablation module, thereby assisting in the accurate determination of the ablation target. The identification module processes one or more characteristic signals reflecting the electrode position acquired by the ablation module to accurately determine whether the electrode has reached the appropriate contact position to effectively provide ablation energy. The ablation module thereby provides intelligent ablation energy output in a specific mode through its electrodes to improve ablation efficiency and avoid additional adjustments.

[0006] Specifically, this application relates to a three-dimensional mapping ablation system, which includes a mapping module, an identification module, and an ablation module. The mapping module controls the ablation module to acquire electrical activity signals at multiple acquisition points on the surface of the heart, and uses the electrical activity signals to calculate the conduction direction and conduction velocity for determining the target point. The identification module controls the ablation module to acquire feature signals at multiple contact positions, and selects the output position from the multiple contact positions based on the feature signals. The ablation module includes a catheter and an energy generator electrically connected to it. The catheter is used to acquire electrical activity signals and feature signals, and intelligently outputs ablation energy based on the feedback from each electrode. The energy generator is used to supply energy to the catheter. The electrical activity signals include bipolar signals and unipolar signals, the multiple contact positions are located at the target point, and the catheter includes multiple independent electrodes.

[0007] According to some embodiments of this application, the catheter used to collect electrical activity signals, characteristic signals, and output ablation energy includes: multiple independent electrodes acquiring local neural electrical signals on the surface of the heart as unipolar signals at corresponding multiple acquisition points, and local neural electrical signals between every two independent electrodes as bipolar signals; multiple independent electrodes acquiring characteristic signals at corresponding multiple contact positions; and multiple independent electrodes receiving radio frequency energy or pulsed electric field energy provided by an energy generator as ablation energy, and intelligently outputting ablation energy based on feedback from each electrode.

[0008] According to some embodiments of this application, the local neural electrical signal is a myocardial electrical signal.

[0009] According to some embodiments of this application, the mapping module uses electrical activity signals to calculate the conduction direction and conduction velocity to determine the target point, including: the mapping module determines the coordinates of multiple acquisition points in a three-dimensional anatomical model of the heart; the mapping module uses bipolar signals and / or unipolar signals to calculate the local activation time and determine the timing of multiple acquisition points; determines candidate directions in the three-dimensional anatomical model of the heart based on the timing and local activation time; weights the candidate directions based on the signal characteristics of bipolar signals and unipolar signals; and uses the weighted candidate directions as the conduction directions.

[0010] According to some embodiments of this application, the mapping module determines candidate directions in the three-dimensional anatomical model of the heart based on the temporal sequence and local excitation time, including: the mapping module determines the temporal order of adjacent acquisition points based on the temporal sequence, and selects the direction with the most significant gradient of local excitation time as the candidate direction; the mapping module weights the candidate directions based on the signal characteristics of bipolar and unipolar signals, including: the mapping module calculates the morphological similarity of the combination of every two acquisition points among multiple acquisition points through the correlation coefficient, peak difference and / or rising slope of bipolar and unipolar signals, and sets the weight value of the combination of all two acquisition points according to the magnitude of the morphological similarity, so as to weight the candidate directions.

[0011] According to some embodiments of this application, the cardiac three-dimensional anatomical model is a cardiac three-dimensional anatomical model received by the mapping module.

[0012] According to some embodiments of this application, the cardiac three-dimensional anatomical model is a cardiac three-dimensional anatomical model constructed by the mapping module receiving CT images and / or MRI images through image segmentation and three-dimensional reconstruction.

[0013] According to some embodiments of this application, the mapping module calculates the conduction direction and conduction velocity using electrical activity signals to determine the target point, including: the mapping module calculates the local conduction velocity of the combination of two acquisition points based on the difference between the spatial distance and the local excitation time of each pair of acquisition points, and takes the average of the local conduction velocities of all pairs of acquisition points as the conduction velocity; the mapping module determines the slow conduction isthmus or scattering center point of the electrical activity signal as the target point based on the conduction direction and conduction velocity, in conjunction with the abnormal value and local excitation time of the electrical activity signal.

[0014] According to some embodiments of this application, the mapping module includes a first display unit; the first display unit is used to display a three-dimensional anatomical model of the heart, and conduction vector information on the three-dimensional anatomical model of the heart, the conduction vector information including conduction direction and conduction velocity.

[0015] According to some embodiments of this application, the feature signal includes the inter-electrode impedance value and the electrode impedance value. The identification module filters the output position from multiple contact positions based on the feature signal, including: the identification module takes the impedance value between adjacent independent electrodes in the corresponding contact position as the inter-electrode impedance value, and takes the impedance value of the multiple independent electrodes in the corresponding contact position as the electrode impedance value; the identification module calculates the basic impedance value using the inter-electrode impedance value, and determines the contact state of the independent electrode with the electrode impedance value in the corresponding contact position based on the basic impedance value and multiple preset impedance thresholds, and configures the contact position corresponding to the independent electrode whose contact state is within a specific state interval as the output position.

[0016] According to some embodiments of this application, the identification module calculates the basic impedance value using the inter-electrode impedance value, including: the identification module averages the inter-electrode impedance values ​​after removing the maximum and minimum values, and uses the average value as the basic impedance value; the identification module determines the contact state of an independent electrode with an electrode impedance value at the corresponding contact position based on the basic impedance value and a plurality of preset impedance thresholds, including: the identification module uses the product of the basic impedance value and each impedance threshold as the boundary value of a plurality of contact state intervals, and determines its contact state according to the state interval in which the electrode impedance value of the independent electrode is located.

[0017] According to some embodiments of this application, the multiple state intervals of the contact state include at least one of the non-contact interval and the incomplete contact interval, and at least one of the good contact intervals, and a specific state interval includes at least one of the good contact intervals; the multiple impedance thresholds include at least one of the good impedance thresholds, and the lower limit boundary value of the good contact interval is the good impedance threshold × the basic impedance value, which is used to define whether the independent electrode can apply ablation energy to its corresponding contact position.

[0018] According to some embodiments of this application, the feature signal includes the temperature values ​​of multiple independent electrodes. The identification module filters the output position from multiple contact positions based on the feature signal, including: the identification module determines the contact state of the independent electrode at the corresponding contact position according to the change of the temperature value of the independent electrode within a certain time, and configures the contact position corresponding to the independent electrode with a good contact state as the output position.

[0019] According to some embodiments of this application, the identification module determines the contact state of the independent electrode at the corresponding contact position based on the change value of the temperature value of the independent electrode within a certain time period, including: the identification module determines that the contact state of the independent electrode at the corresponding contact position is not good when the temperature value of the independent electrode within a certain time period is: low rate of increase and no significant temperature rise inflection point, or high rate of decrease and no significant heat tail; the identification module determines that the contact state of the independent electrode at the corresponding contact position is good when the temperature value of the independent electrode within a certain time period is: high rate of increase and significant temperature rise inflection point, or low rate of decrease and significant heat tail.

[0020] According to some embodiments of this application, the feature signal includes the pressure values ​​of multiple independent electrodes. The identification module filters the output position from multiple contact positions based on the feature signal, including: the identification module configures the contact state of independent electrodes with pressure values ​​not lower than the pressure threshold as good contact at the corresponding contact position, and the contact state of independent electrodes with pressure values ​​lower than the pressure threshold as poor contact at the corresponding contact position, and configures the contact position corresponding to the independent electrode with good contact state as the output position.

[0021] According to some embodiments of this application, the feature signal includes inter-electrode impedance value, electrode impedance value, and temperature values ​​of multiple independent electrodes. The identification module filters the output position from multiple contact positions based on the feature signal, including: the identification module takes the impedance value between adjacent independent electrodes at corresponding contact positions as the inter-electrode impedance value, takes the impedance value of multiple independent electrodes at corresponding contact positions as the electrode impedance value, calculates the basic impedance value using the inter-electrode impedance value, and determines the first contact state of the independent electrode with electrode impedance value at the corresponding contact position based on the basic impedance value and multiple preset impedance thresholds; the identification module determines the second contact state of the independent electrode at the corresponding contact position based on the change of the temperature value of the independent electrode over a certain period of time, configures the contact position corresponding to the independent electrode with good contact in the first contact state and the second contact state as the output position, and the contact position corresponding to the independent electrode with good contact in the second contact state when the first contact state is located at the boundary of multiple state intervals as the output position.

[0022] According to some embodiments of this application, the identification module includes a second display unit; the second display unit is used to display feature signals and / or the contact status of multiple independent electrodes at corresponding contact positions.

[0023] According to some embodiments of this application, the three-dimensional mapping ablation system further includes a parameter adjustment module; the parameter adjustment module is used to receive the characteristic signals collected by the catheter and the output position screened by the identification module, calculate the ablation parameter value of the ablation energy, and automatically control the energy generator to provide intelligent ablation energy to the independent electrode of the catheter at the output position.

[0024] According to some embodiments of this application, the output of ablation energy at the output position of the catheter includes: the catheter or energy generator receiving a discharge command to synchronously or asynchronously output ablation energy with specific ablation parameter values ​​through a specific independent electrode.

[0025] According to some embodiments of this application, the three-dimensional mapping ablation system further includes a third display unit, and the catheter or energy generator receives programmed discharge commands, including: the catheter or energy generator receives discharge commands obtained through the graphical interactive interface of the third display unit.

[0026] The technical advantages and beneficial effects of the three-dimensional mapping and ablation system provided in this application are as follows.

[0027] The system calculates cardiac signal conduction vectors by synchronously acquiring bipolar and unipolar signals provided by the mapping module, which enables precise quantification and visualization of the direction and velocity of myocardial electrical activity conduction, significantly improving the mapping accuracy of the ablation area and quickly restoring the location after hardware reconnection or signal interference. The system establishes a multi-level electrode contact recognition mechanism through an identification module. It accurately sets the contact state range based on objective impedance data, temperature data, and judgment thresholds between electrodes, and analyzes the contact position to replace the surgeon's subjective judgment. It eliminates the need for observation or follow-up adjustments under X-ray, standardizes automatic contact recognition, reduces radiation impact on the surgeon, and improves the efficiency of ablation electrode implantation. The system uses a parameter adjustment module to dynamically adapt ablation parameters based on real-time contact status and tissue characteristics, releasing ablation energy only to electrodes with good contact and adjusting the parameters of the ablation energy to significantly reduce the damage rate of non-target tissues and ensure the safety of the entire ablation process. Furthermore, the ablation module catheter in the system supports seamless switching between RF and PFA ablation modes, significantly shortening the operation time; the programmable control of the ablation module adapts to the treatment of diverse lesions, significantly improving the ablation success rate; the system also provides a display unit that dynamically displays the entire operation process and marks the ablation location and results in real time on its interface, providing the surgeon with accurate prompts and facilitating timely supplementary ablation.

[0028] Thus, the three-dimensional mapping ablation system provided in this application is not only suitable for highly automated control of the entire cardiac ablation procedure, greatly reducing reliance on the surgeon's clinical experience, but also significantly improves the standardization of the procedure by increasing the accuracy of the ablation target and the electrode position for releasing ablation energy. This facilitates its promotion and application in primary hospitals, allowing more patients to enjoy advanced ablation therapy technology. Attached Figure Description

[0029] Figure 1 The figure shows a structural block diagram of a three-dimensional mapping and ablation system according to an embodiment of this application.

[0030] Figure 2 The illustration shows a first schematic diagram of a catheter according to an embodiment of this application.

[0031] Figure 3 The illustration shows a display diagram of the identification results of the independent electrode contact state according to an embodiment of this application.

[0032] Figure 4 The illustration shows a second schematic diagram of a catheter according to an embodiment of this application.

[0033] Figure 5 The illustration shows a first schematic diagram of the mapping module being repositioned after pacing according to an embodiment of this application.

[0034] Figure 6 The illustration shows a second schematic diagram of the mapping module being repositioned after pacing according to an embodiment of this application.

[0035] Figure 7The illustration shows a schematic diagram of the identification module according to an embodiment of the present application identifying the contact state under different base impedance environments. Detailed Implementation

[0036] The present application is further illustrated below with reference to embodiments. It should be understood that the embodiments are only used to further illustrate and explain the present application and are not intended to limit the present application.

[0037] Unless otherwise defined, technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. While similar or identical methods and materials may be applied in experimental or practical applications, materials and methods are described herein. In case of conflict, the definitions included herein shall prevail. Furthermore, materials, methods, and examples are for illustrative purposes only and are not intended to be limiting. The present application is further described below with reference to specific embodiments, but is not intended to limit the scope of the application.

[0038] Application Overview Current mapping techniques rely on unipolar or bipolar signals from myocardial electrical activity to sense cardiac electrical activity. However, the accuracy in calculating the direction of myocardial electrical conduction is limited, and the quantification of local conduction velocity is inaccurate. Visualization of mapping results typically only reflects the temporal pattern or voltage distribution of electrical signals, failing to intuitively display the propagation vector characteristics of electrical activity. This makes it difficult for operators to identify abnormal conduction pathways, affecting the accuracy of lesion localization. Furthermore, the adhesion between the ablation catheter and myocardial tissue depends on single impedance monitoring. This technique often requires subjective judgment from the operator, lacking a standardized identification mechanism. Ablation accuracy remains affected by the operator's skill level, easily leading to misjudgments of adhesion point accuracy or prolonged operation time. These pain points hinder the practical application of integrated mapping and ablation technology.

[0039] This application provides a three-dimensional mapping and intelligent ablation system. The system is based on an ablation module of a dual-energy catheter with segmented electrode focals, which collects various physiological signals related to cardiac electrical conduction and ablation. The mapping module provides accurate vector mapping through dual myocardial electrical signals. The identification module uses characteristic signals such as impedance and temperature that directly or indirectly reflect the electrode contact level to establish a contact grading mechanism and accurately grade the actual electrode contact. With the help of an intelligent parameter adjustment unit, the contact information is automatically analyzed and ablation parameters are determined. The system aims to provide precise and effective automatic control of ablation energy release to the cardiac ablation site, so as to solve the problem that the limited accuracy of mapping and contact identification based on the existing paradigm still requires a lot of manual adjustment in integrated ablation technology. This system realizes the precision and intelligence of arrhythmia ablation surgery and reduces unnecessary damage to the ablation associated tissues.

[0040] After introducing the basic principles and advantages of this application, various non-limiting embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0041] Exemplary System Figure 1 The illustration shows a three-dimensional mapping and ablation system according to an embodiment of this application.

[0042] refer to Figure 1 The three-dimensional mapping ablation system according to the embodiments of this application includes a mapping module located in the host or workstation of the three-dimensional mapping system, an identification module located in the ablation instrument host, and an ablation module connected to the ablation instrument host through a catheter interface.

[0043] The mapping module controls the ablation module to acquire electrical activity signals at multiple acquisition points on the surface of the heart. These signals are used to calculate the conduction direction and velocity for target location determination. The mapping module may include a host computer and a workstation. The workstation is responsible for calculating the conduction direction and velocity (detailed below), while the host computer receives multi-dimensional electrical signals, a three-dimensional cardiac anatomical model, CT images, and / or MRI images (detailed below).

[0044] The mapping module synchronously acquires multi-dimensional electrical signals from the heart via a catheter equipped with multiple independent electrodes in the ablation module. These signals are then processed to generate visualized vector information, accurately representing the characteristics of myocardial electrical activity. In one example, vector mapping is performed before ablation energy release or in a non-discharge state. The mapping module controls a catheter equipped with multiple independent electrodes, such as multiple independent electrode valves, to synchronously acquire local electrical activity signals at multiple acquisition points on the surface of the heart chambers. Noise suppression algorithms are run to reduce interference in the signal, such as notch filtering, adaptive filtering, and power frequency filtering algorithms. Alternatively, the mapping module may include hardware architectures such as notch filtering circuits, adaptive filtering circuits, and power frequency filtering circuits to suppress myocardial electrical signal interference. In other examples, the mapping module can combine hardware circuits with noise reduction algorithms to further reduce signal noise.

[0045] Specifically, the local electrical activity signal is the bipolar signal between any two pairs of independent electrodes at the catheter tip recorded by the mapping module. For example, for three independent electrodes, signals 1-2, 2-3, and 1-3 are recorded, as well as the unipolar signal to ground of each independent electrode. For example, signals 1, 2, and 3 are recorded for the three independent electrodes respectively, in order to clarify the local activation time (LAT) and conduction sequence of the myocardial electrical signal. In one example, the calibration module filters the original monopole signal, including power frequency notch filtering, bandpass filtering, and / or baseline drift correction, to remove noise and baseline offset and obtain a smoothed corrected monopole waveform. It traverses the time series of each monopole waveform to search for the minimum potential value, i.e., the negative peak value, and records the timestamp corresponding to this potential value as its LAT. The same filtering process is performed on the monopole signal of the preset reference acquisition point among multiple acquisition points to obtain the reference peak time. The difference between the timestamp and the reference peak time is calculated. If the difference is positive, the excitation of the monopole waveform corresponding to the timestamp is later than that of the reference acquisition point. If the difference is negative, the excitation of the monopole waveform corresponding to the timestamp is earlier than that of the reference acquisition point.

[0046] In another example, the LAT can be calculated using bipolar signals between electrodes to determine the conduction timing of myocardial signals. Since bipolar signals have no absolute potential reference, the peak-valley pairs of the differential waveforms between independent electrodes can be used to identify local depolarization windows. For example, a corrected differential waveform can be obtained by filtering, and local depolarization windows can be identified based on the peak-valley pairs, resulting in a bipolar depolarization waveform that presents a pair of peaks and valleys that are either "negative first and then positive" or "positive first and then negative". The zero-crossing point or the extreme point of the maximum amplitude between the positive and negative peaks is taken as the activation feature point, and the timestamp of the feature point is recorded. The bipolar reference time of the preset reference acquisition point is obtained in the same way, and the timing of the signal is estimated based on the difference between the timestamps of the bipolar reference time, just like the calculation method for unipolar signals.

[0047] In this way, the mapping module determines the temporal sequence and homology of adjacent target points based on the signal characteristics of bipolar and unipolar signals, and generates quantified vector parameters including conduction direction and velocity through spatial geometry and dynamics calculations. Specifically, the mapping module calculates the LAT (Latent Attitude and Value) based on the peak values ​​of bipolar and unipolar signals acquired by multiple independent electrodes on the cardiac surface using a catheter. Using a reference acquisition point as the origin, and combining it with a three-dimensional anatomical model of the heart reconstructed from CT and / or MRI images, the module determines the three-dimensional spatial coordinates of adjacent acquisition points around the origin to construct a local three-dimensional coordinate system. The three-dimensional anatomical model of the heart can be a model received by the mapping module from external input, or a model constructed by the mapping module from external input CT and / or MRI images by running segmentation and three-dimensional reconstruction algorithms. The segmentation algorithm can be, for example, a convolutional segmentation neural network or an attention segmentation neural network, and the three-dimensional reconstruction algorithm can be, for example, the structure-of-motion regression method, Poisson reconstruction, or various neural networks.

[0048] After obtaining the LAT values ​​of each acquisition point, the temporal relationship between acquisition points, and the three-dimensional anatomical model of the heart, the mapping module selects the acquisition point direction with the most significant LAT gradient as the candidate direction for conduction based on the temporal comparison results. The mapping module further calculates the morphological similarity of each pair of acquisition points based on the correlation coefficient, peak difference, and rising slope of the bipolar and unipolar signals. It stipulates that the higher the morphological similarity of the acquisition point combination, the greater its weight. For example, all morphological similarity values ​​are normalized to a range of 0-1 to correspond to the weight value range of 0-1, obtaining the weight values ​​of all acquisition point combinations. These weight values ​​are then used to weight and integrate the candidate directions on the three-dimensional anatomical model of the heart. The mapping module performs vector normalization on the weighted conduction directions to generate a unit vector. The direction of this unit vector is the main conduction direction of local myocardial electrical excitation, thus using this direction as the vector information of the required conduction direction, which can be used in conjunction with conduction velocity to determine conduction blockage.

[0049] For local conduction velocities of myocardial electrical signals, the mapping module calculates the conduction velocity of all adjacent acquisition points within the same local area based on the spatial distance or LAT difference between adjacent acquisition points, and takes the average of all conduction velocities as the overall local conduction velocity of that area. This velocity is then used as the vector information of the desired conduction velocity. By determining the conduction direction and the conduction velocity of each local area divided based on the acquisition points, the location of the arrhythmia can be determined, thereby identifying the ablation area or ablation point as the target. For arrhythmias such as atrial tachycardia, ventricular tachycardia, atrial fibrillation, atrial flutter, and supraventricular tachycardia, they are mostly caused by reentrant excitation. The excitation forms a closed loop in the myocardium, resulting in extremely slow conduction in one segment of the pathway. After the excitation completes one loop, the myocardium ahead of it leaves the refractory period, continuously cyclically discharging, forming persistent tachycardia. Therefore, in one example, the mapping module overlays all conduction velocity vectors on the three-dimensional anatomical model of the heart, traces the path of the excitation along the conduction direction, and finds the slow conduction isthmus on the closed loop formed by the converging of the conduction velocity vectors. For example, the region with a conduction velocity of 0.1 m / s – 0.4 m / s is the slow conduction isthmus.

[0050] After determining the location of the slow conduction isthmus, based on the characteristic that the main conduction arrow flows into and out of the isthmus from one end, the mapping module determines the ablation direction, while avoiding ablation of isolated low-velocity areas outside the loop. The mapping module preferably sets the ablation area to be perpendicular to the main conduction direction within the isthmus, thereby blocking the entire isthmus through ablation and preventing the re-formation of this abnormal conduction loop near the ablation area. In examples of other types of arrhythmias, the conduction velocity vector does not form a closed loop, but rather scatters outward from the same scattering center point, with a low initial velocity that gradually returns to normal during outward conduction. The mapping module determines the ablation point as this scattering center point.

[0051] In determining the location of arrhythmias, the mapping module can also assist in identifying target sites based on LAT timing matching and the waveform characteristics of bipolar signals. In one example, the mapping module uses the increase in LAT values ​​along the main conduction direction to help identify slow conduction isthmuses. For instance, it identifies areas with large LAT drops and long spatial distances leading to increased latency as slow conduction isthmuses; and it identifies acquisition points where bipolar signal potentials frequently exhibit fragmented polyphasic potentials and low-amplitude potentials as slow conduction isthmuses or their vicinity. Thus, by utilizing the characteristics of the acquired signals and LATs, the efficiency of the mapping module in identifying target sites can be improved.

[0052] In one example, the system also includes a first display unit, such as a monitor, that communicates with the mapping module. This unit is connected to a workstation, but it can also be connected to a host computer. The mapping module overlays vector information of conduction direction and velocity onto a three-dimensional anatomical model of the heart. It can further combine this vector information with mapping data such as voltage and LAT (Local Atomic Transmission) of local electrical activity signals. The module renders the conduction path and velocity in real-time on the three-dimensional anatomical model of the heart using vector arrows of different colors and / or shapes. For example, arrows can represent the direction of cardiac electrical activity conduction, with red arrows indicating high-speed conduction and blue arrows indicating low-speed conduction, or thick arrows indicating high-speed conduction and thin arrows indicating low-speed conduction, or any other visual representation of electrical activity conduction that is easily distinguishable. Thus, the mapping module can use the first display unit to display this visually processed three-dimensional anatomical model of the heart, allowing the surgeon to intuitively grasp the propagation path and abnormal areas of cardiac electrical activity by observing the first display unit. This allows the surgeon to identify the target locations for ablation, such as scar areas with abnormal conduction, or areas of blockage where conduction is slowed or even disappears, enabling real-time monitoring of the surgical process.

[0053] The mapping module's functions of analyzing signals and rendering models can be implemented by executing the corresponding computer program instruction set through its own processor or by a computer processor connected to it via wired / wireless communication. However, in a further example, the mapping module communicates with the computer system's graphics processing unit (GPU) via wired or wireless communication, building a rendering engine from the ground up based on the Vulkan graphics API. This fully leverages the GPU's parallel computing capabilities and high adaptability to computer graphics tasks, moving the computational tasks required for rendering the 3D anatomical model of the heart—such as mesh updates, color mapping, geometric editing, and duct reconstruction—to the GPU for execution, significantly reducing processor load and improving rendering efficiency. In this way, by utilizing the GPU's pipeline optimization, memory management, and asynchronous computing mechanisms, the mapping module can maintain real-time responsiveness even in complex scenes and provide high-frame-rate visual output through the first display unit, meeting the stringent requirements for smooth, lag-free visuals when judging target points during surgery.

[0054] In other examples, the mapping module may also include a three-dimensional spatial locator, such as Figure 1 The magnetic field generator in the catheter allows the operator to position the independent electrodes of the catheter relative to the patient's heart, facilitating the ablation procedure.

[0055] The system's mapping module can quickly relocate the catheter and its ablation target after reconnection of the catheter or after pacing is applied to the patient. Figures 5-6 The figures illustrate schematic diagrams of the three-dimensional mapping ablation system according to embodiments of this application, showing the location of the catheter and target point using a mapping module during the application of a pacing signal to the patient. (Reference) Figures 5-6 The display of the pacing signal device catheter and the ablation target point was observed on the first display unit to see if they disappeared. It was found that the multiple independent electrodes on the catheter and the abnormal area of ​​cardiac electrical activity were restored within 200 ms of pacing. This proves that the system can quickly restore the calibration and positioning after being subjected to external large signal intervention, has high real-time performance, and is beneficial to dealing with the intraoperative environment.

[0056] The identification module controls the ablation module to acquire feature signals at multiple contact points, and selects the output location from these locations based on these feature signals. Feature signal acquisition occurs when the ablation module's catheter-specific electrodes are mostly / fully submerged in the blood. This blood can be understood as the blood from small blood vessels outside the pericardium when the chest cavity is opened before ablation. Although excess blood is periodically aspirated during the procedure, some blood leakage and residue will always occur. The catheter-specific electrodes typically need to be immersed in the blood to contact the ablation target outside the heart. In the first example, the feature signal is the impedance-related data between the independent electrodes and the tissue. The identification module determines the grading of the contact state based on the baseline impedance, and determines the electrode contact state by the real-time impedance level of each independent electrode, thereby determining how to release ablation energy through the independent electrodes.

[0057] In a more specific example, the total number of multiple independent electrodes of the catheter, such as the multiple electrode flaps of a PFA catheter, is N (N≥3). The identification module controls the ablation module to acquire the first of these flaps. i The independent electrode and the first i The impedance data between +1 independent electrodes is collected, and a total of N-1 impedance data between adjacent independent electrodes are obtained. The identification module processes this impedance data in a specific way, such as by using the median averaging method. The impedance data between the N-1 independent electrodes are sorted according to the impedance value, and the maximum and minimum values ​​are removed. Then, the arithmetic mean, geometric mean, or weighted mean is taken to obtain the overall basic impedance value Z0 under the current independent electrode contact state.

[0058] Further, the identification module customizes the impedance threshold according to the individual differences of the patient, that is, configures the threshold to a value of a certain proportion of Z0 according to the actual situation, so as to specify the independent electrode apposition level for the patient. In a specific example, two threshold ratios k1 and k2 are set, or at least one threshold ratio k2 is set, where k1 is the critical ratio that divides the electrode apposition position where the independent electrode is completely not apposed to the target or the electrode apposition position that is apposed to the target, and k2 is the critical ratio that divides the electrode apposition position where the independent electrode is not completely / not well apposed to the target or the electrode apposition position that is completely / well apposed to the target, and satisfies 1.0≤k1<k2≤1.5, such that the threshold 1 for defining whether the independent electrode is apposed to the apposition position is Z0×k1, and the threshold 2 for defining whether the independent electrode is completely / well apposed to the apposition position is Z0×k2.

[0059] The threshold ratio is determined according to the myocardial tissue type of the patient and the impedance characteristics of the operation environment. In a preferred example, the identification module collects a plurality of basic impedance value samples with apposition state labels, further analyzes and determines the critical value k1 of the basic impedance value change of the electrode from no apposition to contact and the critical value k2 of the basic impedance value change from contact to complete apposition, so as to determine that the value ranges of k1 and k2 are set at 1.05 ~ 1.20, wherein k1 with a basic impedance level higher than 200 Ω can converge to 1.05 and k2 can converge to 1.10, while k1 with a basic impedance level lower than 180 Ω can converge to 1.10 and k2 can converge to 1.20. When the measured basic impedance value of the patient's myocardial tissue is at the intermediate level of 180 Ω – 200 Ω, the values of k1 and k2 can be reasonably set for the identification module by fitting according to the patient's clinical data or the operator's judgment between the respective endpoint values mentioned above.

[0060] After the identification module constructs the apposition state grading standard based on Z0, it judges the apposition state of the independent electrode according to the relationship between the impedance value Z at the apposition position of each independent electrode collected in real time, the basic impedance value Z0 and the threshold. A specific example is shown in Table 1 below, and the boundary value of each apposition state level can be set by adopting the principle of left-closed and right-open or left-open and right-closed: Table 1 Electrode apposition state grading based on basic impedance

[0061] In other examples, only k2 may be considered and level two and level three are set to determine whether the independent electrode is well apposed. In actual surgery, the independent electrode that needs good apposition provides ablation energy at the apposition position for ablation, otherwise it may lead to ineffective ablation and adverse effects on surrounding tissues.

[0062] In one example, the system further includes a second display unit, such as a monitor, that communicates with the identification module host and is connected to the ablation device host; the second display unit and the first display unit can be the same monitor or two separate monitors. The identification module uses the second display unit to visually display the contact status of each individual electrode of the catheter by outputting different lines, colors, or other differentiating visual elements. For example, in... Figure 2 In the commonly used 10-electrode conduit shown, the impedance value of independent electrode 2 is in the range [k1×Z0, k2×Z0), as... Figure 3 As shown, its shape is displayed as a green dashed line in the second display unit to inform the surgeon that the electrode is not fully attached; the impedance values ​​of independent electrodes 3, 4, and 5 are within the range [k2×Z0, 4×Z0], as shown. Figure 3 As shown, their shapes are displayed with solid green lines in the second display unit to inform the operator that these electrodes are well-attached and ready to release ablation energy; the impedance values ​​of independent electrodes 1, 6, 7, 8, 9, and 10 are within the range [0.4×Z0, k1×Z0), as shown. Figure 3 As shown, the shape of these electrodes is displayed in white dashed lines in the second display unit to inform the operator that these electrodes are not attached so that their position can be adjusted or they can be disabled during ablation.

[0063] For another commonly used 6-electrode catheter, such as... Figure 4 In the example of the 6-electrode split-head catheter shown, the independent electrodes include head electrodes 1, 2, and 3 and ring electrodes 4, 5, and 6. The identification module constructs a contact state grading standard by calculating Z0 based on the impedance values ​​of the following electrode combinations, i.e., the impedance values ​​between electrode pairs, for subsequent contact state determination. Specifically, the identification module controls the ablation module to collect the independent inter-electrode impedance values ​​of electrode pairs 1-2, 1-3, 2-3, 1-4, 2-4, 3-4, 4-5, and 5-6. Z0 is calculated using these inter-electrode impedance values ​​in the manner described above, and a three-level contact state standard, as described above, or a two-level contact state standard, as described above, is established by setting the threshold ratios k1 and k2.

[0064] Figure 7The illustration shows a schematic diagram of a three-dimensional mapping ablation system according to an embodiment of this application, using different threshold ratios for contact testing. Multiple independent electrodes of the catheter are completely immersed in prepared saline solution. The baseline impedance values ​​of all independent electrodes are manually collected and calculated, and the data is recorded. When the catheter electrodes are stably attached to the ablated tissue surface, the real-time impedance after contact with the tissue is collected, and the data is recorded. Saline solutions with different impedance levels are prepared to simulate different intraoperative contact environments. The process of baseline impedance acquisition and tissue contact impedance acquisition is repeated cyclically, and the impedance of the 10 independent electrodes of the catheter and the observed contact status are fully recorded for each set of conditions. Thresholds k1 and k2 are set, and the recorded data are summarized into a test data table. (Reference) Figure 7 The second display unit shows screenshots of the electrode impedance interface corresponding to each basic impedance condition. In two common cases with basic impedance values ​​of 191.2 and 219.5, if k1 and k2 are improperly configured, a green dashed box will appear on the display unit, indicating that the electrodes are not fully attached and the electrode contact cannot be accurately reflected. For the smaller basic impedance value of 191.2, the second display unit correctly displays the closest identification result to the actual situation only when k1 is between 1.05 and 1.10, k2 is between 1.10 and 1.20, and does not fall on the maximum endpoint corresponding to the 180 basic impedance value. Similarly, for the larger basic impedance value of 219.5, the second display unit correctly displays the closest identification result to the actual situation only when both k1 and k2 are at the minimum endpoint. This embodiment demonstrates the importance of the optimal value range of k1 and k2 for the identification module to correctly determine the electrode contact status under two common basic impedance conditions.

[0065] Specifically, the system allows the catheter to release ablation energy for ablation only when the identification module determines that all individual electrodes are in good contact; or, the identification module allows only the individual electrodes in good contact on the catheter to release ablation energy for intelligent ablation selection.

[0066] In the second example, the characteristic signal mainly consists of the temperature value of the individual electrodes and includes the impedance value of the aforementioned individual electrodes. The identification module primarily determines the contact status based on the changes in the temperature values ​​of the individual electrodes. Specifically, each individual electrode of the ablation module's catheter is equipped with a corresponding temperature detection device, such as a temperature sensor probe. The temperature detection device is adapted to the corresponding individual electrode to ensure synchronous operation of the individual electrodes, thereby acquiring real-time and accurate temperature data of the individual electrodes during operation and temperature differences at different times. The identification module provides two modes for identifying the contact status of individual electrodes based on two time periods: a pre-ablation identification mode and a post-ablation identification mode. The former helps the ablation module determine the control and use of the individual electrodes before a single ablation, while the latter determines the ablation status of each individual electrode after a single ablation, so as to remind the operator to perform additional ablation.

[0067] For the pre-ablation identification mode, the identification module controls the energy generator of the ablation module to apply sub-ablation level probe energy to each individual electrode of the catheter, causing a controllable micro-temperature rise at the electrode-tissue interface. The identification module utilizes the significant difference between the blood convection cooling effect and the tissue adiabatic cumulative effect, combined with the temperature difference on the electrode surface detected by the temperature detection device and the tissue impedance, to accurately determine the contact status. When the individual electrodes are suspended or poorly contacted—that is, when the individual electrodes are in the blood flow environment but not in good contact with the cardiac target—the individual electrodes are fully or partially exposed to the blood. Forced convection of the blood rapidly removes the heat provided by the probe energy to the individual electrodes, resulting in a slow temperature rise, a low steady-state value, and no significant temperature rise inflection point in its temperature time series. When the independent electrode is in good contact with the myocardial tissue at the contact point and is stable and not loose, the close contact between the independent electrode and the myocardial tissue blocks or significantly weakens the convective heat dissipation effect of blood flow. The heat provided by the detection energy accumulates locally at the contact interface between the electrode and the tissue, causing the temperature detected by the temperature detection device to rise rapidly, and the time series value will show a characteristic jump inflection point, indicating the local accumulation of heat conduction.

[0068] In this way, using the degree of change in temperature difference and temperature time series values ​​as supplementary criteria, the identification module combines the impedance changes of the tissue to quantitatively distinguish whether the independent electrode is in fluid tissue, mainly in blood, or in stable contact with non-fluid tissue, i.e., the myocardium, achieving real-time and accurate determination of the independent electrode's contact status. In one example, the contact status is initially determined using the impedance range in the above manner. At the same time, the impedance determination result is corrected by using the temperature rise detected before ablation, the steady-state temperature during ablation, and the temperature decay curve after ablation provided by the temperature probe built into the independent electrode, identifying false contact to correct misjudgments, and evaluating the ablation effectiveness after a single ablation. The evaluation results are then incorporated into the identification process of the electrode contact status in the next ablation. For example, if it is necessary to re-identify the contact status to improve the ablation effect, or to directly adjust the electrode position based on the current contact status identification result to enhance the contact degree. In particular, this contact status determination based on temperature characteristics can intervene when the impedance is critical or anomalies occur, and can be combined with post-ablation evaluation to adaptively correct the impedance contact status identification, thereby improving the robustness of the identification module in determining the electrode's contact status at the target point, improving ablation efficiency, and reducing the recurrence rate.

[0069] For the post-ablation identification mode, after the independent electrode stops outputting ablation energy and a single ablation is completed, the electrode-tissue interface exhibits a specific residual heat hysteresis decay characteristic due to tissue thermal inertia. During ablation, when the independent electrode is in good contact with the tissue at the ablation site, tissue heat accumulation is significant, convective cooling is weak, and the residual heat temperature drops slowly with a noticeable cooling tail; when the independent electrode is not in good contact with the tissue at the ablation site or when the independent electrode is mainly or entirely in the blood flow, strong convective cooling of the blood causes the temperature to drop rapidly, without a noticeable thermal tail.

[0070] Based on the aforementioned characteristic patterns of change, the identification module uses a temperature detection device to collect the post-ablation temperature values ​​at each independent electrode over a period of time starting from the ablation stop time. By analyzing the aforementioned temperature change patterns, it quickly determines whether each independent electrode has achieved effective ablation of the tissue at the contact location. Specifically, if the temperature of an independent electrode matches the characteristics of good contact, it is determined that the independent electrode is in good contact and has achieved effective ablation. If the temperature of an independent electrode matches the characteristics of poor contact / being located in the blood flow, it is determined that the position of the independent electrode needs to be adjusted and supplementary ablation should be performed.

[0071] In particular, to improve the accuracy of judging the adhesion status after ablation, the adhesion status can be further verified by calculating the temperature decay rate of the independent electrode temperature value detected by the temperature detection device, so as to determine the ablation effect.

[0072] In one example, the recognition module uses its second display unit to show the recognition results of the pre-ablation and / or post-ablation recognition modes on a visual interface. It can also calculate and display the reference ablation depth for each independent electrode outputting ablation energy based on detected temperature changes and ablation parameter values. The reference ablation depth's value range is between zero and the theoretical optimal ablation depth. Thus, for independent electrodes identified as ineffectively ablated, such as those with poor contact or located in blood flow, the operator can adjust the electrode position and perform supplementary ablation operations based on the recognition module's prompts. This significantly reduces ineffective procedures, greatly improves the efficiency of the ablation surgery, and ensures complete ablation of the target tissue at the contact location, guaranteeing a good ablation effect.

[0073] In the third example, the characteristic signal is the pressure value of each individual electrode. The identification module determines the contact state based on the changes in the pressure values ​​of the individual electrodes. This pressure value is provided by a pressure sensor configured one-to-one with each individual electrode. When an individual electrode contacts the target tissue at the contact position, it experiences a reaction force. The pressure sensor detects this reaction force and sends it to the identification module, which quantitatively measures the contact state of the individual electrodes at the contact position to identify electrodes with good contact and control their output ablation energy. This contact state identification method is mainly applicable when the individual electrodes output RF energy.

[0074] Specifically, the system may also include a parameter adjustment module. This module receives contact status result data sent by the identification module, such as the independent electrode information corresponding to each of the three contact statuses mentioned above, and automatically determines which independent electrodes can perform ablation energy output to control the appropriate output of ablation energy from the independent electrodes. In a further example, the parameter adjustment module also includes a pre-trained regression model, and synchronously acquires real-time temperature and pressure data from the temperature detection device and pressure sensor of the catheter's independent electrodes, as well as contact status result data for all independent electrodes, or contact status result data for independent electrodes capable of performing ablation energy output, and inputs these into the integrated regression model. The regression model then analyzes this input data to output the optimal ablation parameters for releasing ablation energy, including the output of well-contacted independent electrodes capable of releasing ablation energy, the power of RF energy release (e.g., 1 W ~ 100 W), the single duration and total duration of RF energy release, the temperature threshold of the independent electrodes during RF energy release, the pulse voltage value during PFA energy release, and the single duration and total duration of PFA energy release, among other key ablation energy parameters.

[0075] It is understandable that the regression model can be pre-trained using the labeled temperature values, pressure values, contact status results, independent electrode information capable of performing ablation energy output, various ablation parameters, and various ablation results, such as effective ablation results, inefficient results, and poor ablation results. These data can come from the labeled dataset of actual surgeries, enabling the regression model to automatically output the optimal ablation parameters corresponding to the effective ablation results after receiving these data, facilitating the parameter adjustment module to provide intelligent decision control for the ablation module.

[0076] In an example for protective purposes, the parameter adjustment module controls the release of ablation energy by the independent electrode when it detects that the number of independent electrodes with a complete / good contact status is not less than one. If no independent electrode meets the requirements, it insists on preventing any independent electrode from releasing ablation energy to avoid danger.

[0077] In other examples, the parameter adjustment module can also communicate with the mapping module to automatically annotate ablation effectiveness prompts on the latter's three-dimensional cardiac mapping model and display them through the first display unit. For example, the display screen can differentiate the individual electrodes capable of outputting ablation energy among all individual electrodes using any visual element. The operator can directly perform supplementary ablation operations based on this visual prompt, further ensuring the ablation effect. In this way, the system achieves intelligent control of the entire process, from contact sensing to parameter adjustment and energy output of ablation energy, through the parameter adjustment module.

[0078] The ablation module includes a catheter and an energy generator electrically connected to it via a catheter interface. The catheter is used to collect electrical activity and characteristic signals and output ablation energy at the output position. The energy generator supplies energy to the catheter. Through the energy generator control logic and programmable discharge design, the ablation module can achieve seamless switching between RF and PFA dual energy modes and flexible control of electrode valve discharge combinations, adapting to the ablation needs of different lesions, such as lesions with arrhythmias including atrial fibrillation, atrial flutter, atrial tachycardia, and ventricular tachycardia. Specifically, the energy generator integrates an RF energy output unit and a PFA energy output unit, both of which conduct energy through the catheter. The operator can manually switch between the two units by inputting a switching command through a control terminal, such as a third display unit, or the parameter adjustment module can automatically trigger a switching command based on lesion tissue characteristics, such as tissue stiffness and electrical signal intensity. The third display unit can be a monitor, for example, the same monitor as the first and second display units, or the three can be partially or separately independent monitors.

[0079] Furthermore, the ablation module supports programmable customization of combinations of ablation energy output from multiple independent electrodes. This programming customization is achieved through a human-computer interaction interface (HCI) on a control terminal, such as a graphical user interface on a first, second, or third display unit. Specifically, in one example, the operator can select a specific single independent electrode on the HCI interface, causing the ablation module to activate only that independent electrode to release ablation energy, suitable for targeted ablation of small lesions or special anatomical locations. In another example, the operator can select multiple adjacent, partially adjacent, or completely non-adjacent independent electrodes on the HCI interface, such as selecting a 2-3-4 electrode flap, causing the ablation module to drive these designated electrode flaps to discharge synchronously or asynchronously, adapting to precise shaping ablation of lesions of moderate size.

[0080] In addition, in other examples, the ablation module also includes a storage unit that supports storing, for example, no fewer than 10 sets or more of commonly used discharge protocols based on specific individual electrode combinations. This includes the combination of individual electrodes used, the type and parameters of ablation energy output by each individual electrode, and the minimum number of electrodes required for proper contact. Operators can quickly recall any discharge protocol using the discharge protocol selection shortcut or the discharge protocol search function on the human-machine interface of the display unit, enabling rapid ablation treatment, improving the efficiency of similar procedures, and further reducing the possibility of complications.

[0081] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0082] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0083] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0084] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0085] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A three-dimensional mapping and ablation system, characterized in that, It includes a mapping module, an identification module, and an ablation module; The mapping module controls the ablation module to acquire electrical activity signals at multiple acquisition points on the surface of the heart, and uses the electrical activity signals to calculate the conduction direction and conduction velocity to determine the target point; The identification module controls the ablation module to collect feature signals at multiple contact positions, and selects output positions from the multiple contact positions based on the feature signals; The ablation module includes a catheter and an energy generator electrically connected thereto. The catheter is used to collect electrical activity signals and characteristic signals, and intelligently outputs ablation energy based on feedback from each electrode. The energy generator is used to supply energy to the catheter. The electrical activity signal includes bipolar and unipolar signals, the plurality of contact positions are located at the target point, and the conduit includes a plurality of independent electrodes.

2. The three-dimensional mapping and ablation system according to claim 1, wherein, The catheter is used to collect the electrical activity signals, characteristic signals, and output ablation energy, including: The multiple independent electrodes acquire local neural electrical signals on the surface of the heart at the corresponding multiple acquisition points as unipolar signals, and the local neural electrical signals between every two independent electrodes as bipolar signals. The plurality of independent electrodes acquire feature signals at the corresponding plurality of contact positions; and The multiple independent electrodes receive radio frequency energy or pulsed electric field energy provided by the energy generator as ablation energy, and intelligently output ablation energy based on the feedback from each electrode.

3. The three-dimensional mapping ablation system according to claim 2, wherein, The local neural electrical signal is a myocardial electrical signal.

4. The three-dimensional mapping and ablation system according to claim 1, wherein, The mapping module uses electrical activity signals to calculate the conduction direction and velocity to determine the target points, including: The mapping module determines the coordinates of the multiple acquisition points in the three-dimensional anatomical model of the heart. The mapping module uses bipolar and / or unipolar signals to calculate the local activation time and determine the timing of the multiple acquisition points. Based on the timing and local activation time, it determines candidate directions in the three-dimensional anatomical model of the heart. The candidate directions are weighted based on the signal characteristics of the bipolar and unipolar signals, and the weighted candidate directions are used as the conduction directions.

5. The three-dimensional mapping and ablation system according to claim 4, wherein, The mapping module determines candidate orientations in the three-dimensional cardiac anatomical model based on timing and local excitation time, including: The mapping module determines the temporal sequence of adjacent acquisition points based on the temporal sequence, and selects the direction with the most significant gradient of local excitation time as the candidate direction; The calibration module weights the candidate directions based on the signal characteristics of bipolar and unipolar signals, including: The calibration module calculates the morphological similarity of every two acquisition points among the multiple acquisition points using the correlation coefficient, peak difference, and / or rising slope of the bipolar and unipolar signals. It then sets the weight value of all combinations of two acquisition points based on the magnitude of the morphological similarity to weight the candidate directions.

6. The three-dimensional mapping ablation system according to claim 4, wherein, The three-dimensional anatomical model of the heart is the three-dimensional anatomical model of the heart received by the mapping module.

7. The three-dimensional mapping ablation system according to claim 4, wherein, The cardiac three-dimensional anatomical model is a cardiac three-dimensional anatomical model constructed by the mapping module through image segmentation and three-dimensional reconstruction after receiving CT images and / or MRI images.

8. The three-dimensional mapping ablation system according to claim 1, wherein, The mapping module uses electrical activity signals to calculate the conduction direction and velocity to determine the target points, including: The mapping module calculates the local conduction velocity of the combination of every two acquisition points based on the difference between the spatial distance between every two acquisition points and the local excitation time, and takes the average of the local conduction velocities of all two acquisition points as the conduction velocity. The mapping module determines the slow conduction isthmus or scattering center point of the electrical activity signal as the target point based on the conduction direction and conduction velocity, in conjunction with the abnormal value and local excitation time of the electrical activity signal.

9. The three-dimensional mapping and ablation system according to claim 1 further includes a first display unit; The first display unit is used to display a three-dimensional anatomical model of the heart, and conduction vector information on the three-dimensional anatomical model of the heart, the conduction vector information including the conduction direction and the conduction velocity.

10. The three-dimensional mapping ablation system according to claim 1, wherein, The feature signal includes the inter-electrode impedance value and the electrode impedance value. The identification module filters and outputs positions from the plurality of contact positions based on the feature signal, including: The identification module uses the impedance value between adjacent independent electrodes at their corresponding contact positions as the inter-electrode impedance value, and uses the impedance value of the multiple independent electrodes at their corresponding contact positions as the electrode impedance value. The identification module calculates a base impedance value using the inter-electrode impedance value. Based on the base impedance value and multiple preset impedance thresholds, it determines the contact state of an independent electrode with the electrode impedance value at a corresponding contact position, and configures the contact position of the independent electrode whose contact state is within a specific state range as the output position.

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