Stem cell delivery pathway selection and implantation window optimization method for ischemic heart disease

Abstract

The present application relates to the technical field of biomedical engineering, and particularly relates to a stem cell delivery path selection and implantation window optimization method for ischemic heart disease, which comprises the following steps: S1: collecting real-time electrophysiological signals of the heart and identifying the electrical conduction delay characteristics of the ischemic area; S2: identifying the boundary of the target area for stem cell targeted implantation; S3: generating a minimum stress delivery path that avoids the high-pressure area of contraction; S4: identifying a safe time window in which the two overlap; S5: associating the minimum stress delivery path with the safe time window to generate a delivery path-time coupling instruction; and S6: performing stem cell implantation based on the delivery path-time coupling instruction. According to the present application, the stem cell delivery path is dynamically optimized, real-time electrophysiological and mechanical motion data are combined, the delivery process is ensured to avoid the high-pressure area within the safe time window, mechanical stress is minimized, and the safety and effect of treatment are improved.

Description

Technical Field

[0001] This invention relates to the field of biomedical engineering technology, and in particular to a method for selecting stem cell delivery routes and optimizing implantation windows for ischemic heart disease. Background Technology

[0002] With the advancement of medical technology, stem cell therapy has become an effective means of treating ischemic heart disease. However, the delivery process of stem cells still faces many challenges, especially when it comes to accurately delivering stem cells to the target area. As a dynamic organ, the heart's contraction and relaxation processes make it difficult to deliver stem cells at the right time and along the right path, especially when the delivery path involves high-pressure areas of the heart. Some cell delivery paths pass through high-pressure areas of contraction, which may lead to excessive mechanical stress, affecting the normal function of the heart and even having an adverse effect on stem cells.

[0003] Current stem cell delivery methods mostly rely on static pathway design, failing to adequately consider the dynamic changes in the heart during systole and diastole. Existing technologies typically lack the ability to adjust delivery pathways in real time, potentially causing overlap with high-pressure areas of the heart at inappropriate times, thus increasing the risks and uncertainties in stem cell delivery. Therefore, there is an urgent need for a method for stem cell delivery pathway selection and implantation window optimization for ischemic heart disease to address these issues. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides a method for selecting stem cell delivery routes and optimizing implantation windows for ischemic heart disease.

[0005] A method for selecting stem cell delivery routes and optimizing implantation windows for ischemic heart disease includes the following steps: S1: Acquire real-time cardiac electrophysiological signals, including endocardial electrokinesis and surface electrocardiography, and identify electrical conduction delay characteristics in ischemic areas; S2: Based on the electrical conduction delay features identified in S1, determine the boundary of the target region for stem cell targeted implantation; S3: Generate a minimum stress delivery path that avoids the systolic high pressure zone based on cardiac mechanical motion data of the target area boundary; S4: Simultaneously analyze the repolarization period of electrophysiological signals and the diastolic period of mechanical motion to identify the overlapping safe time window between the two; S5: Associate the minimum stress delivery path with the safe time window to generate a delivery path-time coupled command; S6: Based on the delivery path-time coupling instructions output by S5, perform stem cell implantation along the minimum stress delivery path within a safe time window.

[0006] Optionally, S1 specifically includes: S11: Use electrocardiogram equipment to collect cardiac electrophysiological signals in real time, including endocardial electrokinesis and surface electrocardiogram; S12: A synchronous signal acquisition system is adopted to ensure the time synchronization of endocardial electrocardiogram and surface electrocardiogram signals, and to ensure the alignment of the signal data of the two on the time axis. S13: Filter the acquired electrophysiological signals to remove noise components from the signals; S14: By calculating the signal delay time difference between the endocardial electrokinetic map and the surface electrocardiogram, the electrical conduction delay region is identified and marked as the ischemic region; then, by comparing the difference in electrical conduction velocity between the normal region and the ischemic region, the characteristics of electrical conduction delay are identified.

[0007] Optionally, S14 specifically includes: S141: Calculate the signal delay time difference between endocardial electrokinetic mapping and surface electrocardiography. ; S142: By calculating the signal delay time difference Analysis is performed, and when the signal delay time difference is greater than a preset threshold, the corresponding area is considered to be an ischemic area; S143: By comparing the difference in electrical conduction velocity between the normal region and the ischemic region, when the electrical conduction velocity in the ischemic region is lower than that in the normal region, the characteristic of delayed electrical conduction can be confirmed.

[0008] Optionally, S2 specifically includes: S21: Based on the electrical conduction delay characteristics identified by S1, regions with significantly increased delay time are selected as potential stem cell targeted implantation regions; S22: The boundary of the potential stem cell target implantation area is identified by the region growing algorithm to locate the boundary of the ischemic area; S23: Three-dimensional reconstruction technology is used to convert two-dimensional electrical conduction delay images into three-dimensional models, and CAD software is used to optimize the boundary of the targeted implantation area to avoid overlap with the functional area of ​​the heart.

[0009] Optionally, S22 specifically includes: S221: Select the potential stem cell target implantation region selected by S21 as the starting seed point of the growth algorithm; S222: Starting from the seed point, extend the region along the adjacent pixels or voxels. The condition for extension is that when the electrical conduction delay time of the adjacent pixels or voxels is greater than the preset minimum delay threshold, the corresponding pixels or voxels will be included in the extended region. S223: Set a maximum expansion limit during the expansion process. When the electrical conduction delay time in the neighborhood is lower than the minimum delay threshold, or when the expansion of the region reaches the preset maximum area or volume, stop the region growth. S224: By connecting all adjacent pixels or voxels that meet the expansion conditions, the boundary of the ischemic region is formed, which serves as the boundary of the target region for stem cell targeted implantation.

[0010] Optionally, S3 specifically includes: S31: Acquire cardiac mechanical motion data at the boundary of the target region, including cardiac displacement, velocity, and acceleration during systole and diastole; S32: Based on the acquired cardiac mechanical motion data, the systolic high pressure zone of the heart is identified by calculating the maximum displacement area and the maximum pressure area of ​​the myocardium during systole. S33: Combining the target area boundary and the location of the contraction high-pressure zone, the shortest path algorithm is used to generate the minimum stress delivery path that avoids the contraction high-pressure zone from the target area boundary. S34: When generating the delivery path, the dynamic changes of cardiac motion are considered. By dynamically adjusting the delivery path, it is ensured that the path always avoids the systolic high pressure zone during cardiac contraction and relaxation, and the mechanical stress during delivery is minimized.

[0011] Optionally, S34 specifically includes: S341: When generating the delivery path, at each time step, the position of the delivery path is adjusted according to the systolic and diastolic states of the heart to ensure that the path always avoids the systolic high pressure zone; S342: During each cardiac cycle, recalculate the stress cost of the path and optimize the path based on the latest cardiac motion data by calculating the stress value of each point on the path at the current moment and selecting the path with the minimum stress value. S343: During the path adjustment process, taking into account the changes in mechanical stress during cardiac systole and diastole, a weighted average method is used to weight each point on the path to ensure that the path always avoids high-stress areas under the dynamic changes in cardiac motion.

[0012] Optionally, S4 specifically includes: S41: Real-time acquisition of cardiac electrophysiological signals, including electrical activity data during repolarization, and simultaneous acquisition of mechanical motion data during cardiac diastole; S42: Identify repolarization periods in electrophysiological signals and determine the start and end times of repolarization periods by analyzing the T-wave intervals in electrocardiogram signals; S43: Extract the diastolic period from mechanical motion data, analyze changes in cardiac displacement, and identify the start and end times of cardiac diastole; S44: By comparing the time intervals of the repolarization period and the diastolic period, the overlapping part of the two is determined as a safe time window; if there is an intersection between the repolarization period and the diastolic period, the intersection part is defined as a safe time window.

[0013] Optionally, S5 specifically includes: S51: Based on the minimum stress delivery path generated in S3, determine the stress value at each point on the delivery path to obtain the minimum stress delivery path; S52: Based on the safe time window identified in S4, and combined with the mechanical motion data and electrophysiological signals of the heart, determine the correspondence between the minimum stress delivery path and the safe time window; S53: Combine the minimum stress delivery path with the safe time window to generate a delivery path-time coupling instruction, ensuring that stem cell delivery proceeds along the minimum stress path within the safe time window.

[0014] Optionally, S53 specifically includes: S531: Based on the minimum stress delivery path generated in S3, identify the minimum stress value at each point on the path, and divide the path into multiple stages in time order, which correspond to different mechanical motion states of the heart. S532: Based on the safe time window determined in S4, calculate the intersection of each stage with the safe time window, and determine the effective time of each stage within the safe time window; the formula for calculating the intersection is: S533: Match each effective time period with the corresponding minimum stress path; S534: Generate delivery path-time coupled instructions, which contain the delivery path and execution timing for each time period.

[0015] The beneficial effects of this invention are: This invention, by combining real-time electrophysiological signals and cardiac mechanical motion data, can dynamically optimize the stem cell delivery path, ensuring that the delivery operation always avoids the high-pressure zone of the heart's systole. This method avoids the limitations of traditional static delivery path design, reduces the mechanical stress on the heart during stem cell delivery, and ensures that stem cells are delivered at the optimal time.

[0016] This invention, by generating delivery path-time coupling instructions and adjusting the matching of path and time in real time, can ensure the accuracy and safety of the stem cell delivery process, maximize the therapeutic effect, and reduce the risks that may arise during the treatment process. Attached Figure Description

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

[0018] Figure 1 This is a schematic diagram of the path selection and implantation window optimization method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the generation of delivery path-time coupled instructions according to an embodiment of the present invention. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should also be noted that, to make the embodiments more comprehensive, the following embodiments are the best and preferred embodiments, and those skilled in the art can use other alternative methods to implement some well-known technologies; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0020] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0021] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0022] like Figures 1-2 As shown, the method for selecting stem cell delivery routes and optimizing implantation windows for ischemic heart disease includes the following steps: S1: Acquire real-time cardiac electrophysiological signals, including endocardial electrokinesis and surface electrocardiography, and identify electrical conduction delay characteristics in ischemic areas; S1 specifically includes: S11: Use an electrocardiogram device to collect cardiac electrophysiological signals in real time, including endocardial electrokinesis and surface electrocardiogram. The endocardial electrokinesis is obtained by setting electrodes on the surface of the endocardium, and the surface electrocardiogram is obtained by attaching surface electrodes to the patient's chest. S12: A synchronous signal acquisition system is adopted to ensure the time synchronization of endocardial electrocardiogram and surface electrocardiogram signals, and to ensure the alignment of the signal data of the two on the time axis. S13: Filter the acquired electrophysiological signals to remove noise components and improve the signal-to-noise ratio; S14: By calculating the signal delay time difference between the endocardial electrokinetic map and the surface electrocardiogram, the electrical conduction delay region is identified and marked as the ischemic region; then, by comparing the difference in electrical conduction velocity between the normal region and the ischemic region, the characteristics of electrical conduction delay are identified; through this step, cardiac electrophysiological signals can be efficiently and accurately acquired in real time, the electrical conduction delay characteristics of the ischemic region can be accurately identified, precise data support can be provided for the subsequent optimization of the path and timing of stem cell implantation, and reliable biomarkers can be provided for the treatment of ischemic heart disease.

[0023] S14 specifically includes: S141: Calculate the signal delay time difference between endocardial electrokinetic mapping and surface electrocardiography. The formula is: ,in, Indicates the signal delay time difference. The sampling time for the endocardial electrokinetic signal is denoted as . The sampling time for the surface electrocardiogram signal; S142: By calculating the signal delay time difference Analysis is performed, and when the signal delay time difference is greater than a preset threshold, the corresponding area is considered to be an ischemic area; S143: By comparing the difference in electrical conduction velocity between the normal and ischemic regions, a delayed electrical conduction characteristic can be confirmed when the electrical conduction velocity in the ischemic region is lower than that in the normal region; the formula for calculating electrical conduction velocity is as follows: ,in, Indicates the electrical conduction velocity. The spatial distance for signal propagation. The signal delay time difference; by calculating and analyzing the delay time difference of electrophysiological signals and the difference in electrical conduction velocity, the ischemic area and its electrical conduction delay characteristics can be accurately identified, thereby providing precise regional labeling and signal basis for subsequent stem cell delivery path selection and implantation window optimization, significantly improving the accuracy of diagnosis and treatment.

[0024] S2: Based on the electrical conduction delay features identified in S1, determine the boundary of the target region for stem cell targeted implantation; S2 specifically includes: S21: Based on the electrical conduction delay characteristics identified by S1, regions with significantly increased delay time are selected as potential stem cell targeted implantation regions; The screening threshold is determined by the following formula: ,in, Indicates the filtering threshold. This refers to the electrical conduction delay time in the normal region; if the delay time in a certain region exceeds... When this occurs, the area is designated as a potential area for stem cell targeted implantation; S22: The boundary of the potential stem cell target implantation area is identified by the region growing algorithm to locate the boundary of the ischemic area; S23: Three-dimensional reconstruction technology is used to convert two-dimensional electrical conduction delay images into three-dimensional models, and CAD software is used to optimize the boundary of the targeted implantation area to avoid overlap with the cardiac functional area. The above steps, by accurately identifying and optimizing the boundary of the stem cell targeted implantation area, can ensure that stem cells are accurately delivered to the ischemic area, avoid interference of stem cell implantation with normal cardiac functional areas, thereby improving the treatment effect and reducing the risk.

[0025] S22 specifically includes: S221: Select the potential stem cell target implantation area screened by S21 as the starting seed point of the growth algorithm. The position of the starting seed point is determined by the center position of the electrical conduction delay feature area, which is the coordinate of the maximum delay time. S222: Starting from the seed point, extend the region along the adjacent pixels or voxels. The condition for extension is that when the electrical conduction delay time of the adjacent pixels or voxels is greater than the preset minimum delay threshold, the corresponding pixels or voxels will be included in the extended region. S223: Set a maximum expansion limit during the expansion process. When the electrical conduction delay time in the neighborhood is lower than the minimum delay threshold, or when the expansion of the region reaches the preset maximum area or volume, stop the region growth. S224: By connecting all adjacent pixels or voxels that meet the expansion conditions, the boundary of the ischemic region is formed, which serves as the boundary of the target region for stem cell targeted implantation. The above steps, through the region growth algorithm, can accurately and coherently identify the boundary of the ischemic region, ensuring the precise positioning of the stem cell targeted implantation region boundary, effectively avoiding stem cell delivery failure due to inaccurate boundary identification, and significantly improving treatment efficacy and accuracy.

[0026] S3: Generate a minimum stress delivery path that avoids the systolic high pressure zone based on cardiac mechanical motion data of the target area boundary; S3 specifically includes: S31: Acquire cardiac mechanical motion data at the boundary of the target region, including cardiac displacement, velocity, and acceleration during systole and diastole; S32: Based on the acquired cardiac mechanical motion data, the systolic high pressure zone of the heart is identified by calculating the maximum displacement area and the maximum pressure area of ​​the myocardium during systole. The steps to identify the area of ​​high systolic pressure in the heart are as follows: S321: First, acquire real-time mechanical motion data during cardiac systole; S322: During systole, the myocardium undergoes maximum displacement; by processing the displacement field data of each cardiac region, the region of maximum displacement is calculated using the following formula: ,in, It is the maximum displacement. It is the displacement position at the end of the contraction period. It is the displacement position at the beginning of diastole; S323: Calculates the region of maximum pressure during systole, which refers to the area where myocardial pressure reaches its highest value during cardiac systole. The formula is as follows: ,in, It is the greatest pressure. These are the pressure values ​​for each region; by analyzing the pressure distribution map, the region with the highest pressure is identified. S324: By analyzing the overlap between the region of maximum displacement and the region of maximum pressure, the systolic high-pressure zone is obtained; the systolic high-pressure zone usually refers to the region with the smallest displacement and the largest pressure, representing the part of the heart that is under the strongest force during the contraction process; this region is generally the most tense part of the heart during the contraction period.

[0027] S33: Combining the target area boundary and the location of the contraction high-pressure zone, the shortest path algorithm is used to generate the minimum stress delivery path that avoids the contraction high-pressure zone from the target area boundary. The specific steps are as follows: S331: Based on the systolic hypertension area identified in step S32, mark the location of the systolic hypertension area in the heart model; S332: Using 3D modeling technology, the boundaries of the target area and the location of the systolic high-pressure zone are mapped onto the heart model to form a geometric structure in three-dimensional space; S333: Calculates the stress value at each point along the path, based on the pressure and displacement of the heart tissue; the formula is: ,in, Points on the path The stress value; Points on the path The local pressure value represents the pressure of the cardiac tissue at that point during systole; Points on the path The displacement value represents the degree of deformation of the heart tissue during contraction; the stress value calculation reflects the magnitude of stress in the heart region, where the smaller the displacement, the greater the stress in that region; the ratio of pressure to displacement determines the stress value in that region. S334: Use Dijkstra's algorithm or A* algorithm to calculate the path from the target region boundary to the implantation point, and select the path with the minimum stress value; S335: During the path calculation process, the contraction high-pressure area is regarded as an obstacle area, and the path automatically bypasses these areas, selecting the shortest path that bypasses them.

[0028] S34: When generating the delivery path, the dynamic changes of cardiac motion are considered. By dynamically adjusting the delivery path, it is ensured that the path always avoids the systolic high-pressure zone during cardiac contraction and relaxation, and the mechanical stress during delivery is minimized. The above steps, by combining cardiac mechanical motion data of the target area boundary and the identification of the systolic high-pressure zone, can generate a minimum stress delivery path that accurately avoids the high-pressure zone, ensuring that the mechanical stress of stem cells is minimized during delivery, reducing damage to the heart, and improving the safety and effectiveness of stem cell delivery.

[0029] S34 specifically includes: S341: When generating the delivery path, at each time step, the position of the delivery path is adjusted according to the systolic and diastolic states of the heart to ensure that the path always avoids the systolic high pressure zone; S342: During each cardiac cycle, recalculate the stress cost of the path and optimize the path based on the latest cardiac motion data by calculating the stress value of each point on the path at the current moment and selecting the path with the minimum stress value. S343: During path adjustment, considering the changes in mechanical stress during cardiac systole and diastole, a weighted average method is used to weight each point on the path to ensure that the path always avoids high-stress areas under dynamically changing cardiac motion conditions; the weighting formula is: , in, At a certain point in time The path stress-weighted cost is as follows. These are time-related weighted values ​​that represent the different effects during the systolic and diastolic phases of the heart. It is the stress value at a point on the path. It is the total number of points on the path.

[0030] S4: Simultaneously analyze the repolarization period of electrophysiological signals and the diastolic period of mechanical motion to identify the overlapping safe time window between the two; S4 specifically includes: S41: Real-time acquisition of cardiac electrophysiological signals, including electrical activity data during repolarization, and simultaneous acquisition of mechanical motion data during cardiac diastole; S42: Identify repolarization periods in electrophysiological signals and determine the start and end times of repolarization periods by analyzing the T-wave intervals in electrocardiogram signals; S43: Extract the diastolic period from mechanical motion data, analyze changes in cardiac displacement, and identify the start and end times of cardiac diastole; S44: By comparing the time intervals of the repolarization period and the diastolic period, the overlapping part of the two is determined as a safe time window; if there is an intersection between the repolarization period and the diastolic period, the intersection part is defined as a safe time window; the above steps, by simultaneously analyzing electrophysiological signals and mechanical motion signals, can accurately identify the safe time window during cardiac contraction and relaxation, providing the best timing for stem cell delivery and ensuring the safety of the delivery process.

[0031] S5: Associate the minimum stress delivery path with the safe time window to generate a delivery path-time coupled command; S5 specifically includes: S51: Based on the minimum stress delivery path generated in S3, determine the stress value at each point on the delivery path to obtain the minimum stress delivery path; S52: Based on the safe time window identified in S4, and combined with the mechanical motion data and electrophysiological signals of the heart, determine the correspondence between the minimum stress delivery path and the safe time window; S53: By combining the minimum stress delivery path with the safe time window, a delivery path-time coupling instruction is generated to ensure that stem cell delivery is carried out along the minimum stress path within the safe time window, avoiding delivery operations in the high-pressure zone of systole or during unsafe periods. By coupling the minimum stress delivery path with the safe time window, stem cell delivery can be carried out along the minimum stress path at the most appropriate time, thereby ensuring the safety and effectiveness of the treatment process and avoiding delivery failure or cardiac damage caused by inappropriate timing.

[0032] S53 specifically includes: S531: Based on the minimum stress delivery path generated in S3, identify the minimum stress value at each point on the path, and divide the path into multiple stages in time order, corresponding to different mechanical motion states of the heart (such as diastole and systole). S532: Based on the safe time window determined in S4, calculate the intersection of each stage and the safe time window to determine the effective time of each stage within the safe time window; the formula for calculating the intersection is: ,in, Intersection time and This refers to the start and end times of the current phase. and These are the start and end times of the safety time window; if the intersection time is negative, it indicates that there is no overlap, and the intersection time is zero. S533: Match each effective time period with the corresponding minimum stress path to ensure that the delivery path is executed only along the minimum stress path within the safe time window, avoiding the path from coinciding with high stress areas; S534: Generate delivery path-time coupling instructions, which include the delivery path and execution timing for each time period, ensuring that the stem cell delivery operation is performed on the least stress path and within the safe time window; by combining the least stress delivery path with the safe time window, delivery path-time coupling instructions are dynamically generated to ensure that stem cells are delivered along the least stress path at the optimal time, effectively reducing stress and risk to the heart and improving the safety and efficacy of stem cell therapy.

[0033] S6: Based on the delivery path-time coupling command output by S5, perform stem cell implantation along the minimum stress delivery path within a safe time window; S6 specifically includes: S61: Receive the delivery path-time coupling command output from S5; S62: Based on the delivery path-time coupling instruction, determine the delivery path within each time period and synchronize the path with the current cardiac motion state; S63: Initiate stem cell implantation within the safe time window, and deliver stem cells step by step along the path of least stress in the order of the delivery path, avoiding overlap between the path and the high-pressure contraction zone; S64: Monitor the dynamic changes of the heart in real time to ensure that the delivery operation is performed within a safe time window. If the heart condition changes, readjust the delivery route and time to ensure that the stem cell delivery is always within a safe time.

[0034] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0035] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease, characterized in that, Includes the following steps: S1: Acquire real-time cardiac electrophysiological signals, including endocardial electrokinesis and surface electrocardiography, and identify electrical conduction delay characteristics in ischemic areas; S2: Based on the electrical conduction delay features identified in S1, determine the boundary of the target region for stem cell targeted implantation; S3: Generate a minimum stress delivery path that avoids the systolic high pressure zone based on cardiac mechanical motion data of the target area boundary; S4: Simultaneously analyze the repolarization period of electrophysiological signals and the diastolic period of mechanical motion to identify the overlapping safe time window between the two; S5: Associate the minimum stress delivery path with the safe time window to generate a delivery path-time coupled command; S6: Based on the delivery path-time coupling instructions output by S5, perform stem cell implantation along the minimum stress delivery path within a safe time window.

2. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 1, characterized in that, S1 specifically includes: S11: Use electrocardiogram equipment to collect cardiac electrophysiological signals in real time, including endocardial electrokinesis and surface electrocardiogram; S12: A synchronous signal acquisition system is adopted to ensure the time synchronization of endocardial electrocardiogram and surface electrocardiogram signals, and to ensure the alignment of the signal data of the two on the time axis. S13: Filter the acquired electrophysiological signals to remove noise components from the signals; S14: By calculating the signal delay time difference between the endocardial electrokinetic map and the surface electrocardiogram, the electrical conduction delay region is identified and marked as the ischemic region; then, by comparing the difference in electrical conduction velocity between the normal region and the ischemic region, the characteristics of electrical conduction delay are identified.

3. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 2, characterized in that, S14 specifically includes: S141: Calculate the signal delay time difference between endocardial electrokinetic mapping and surface electrocardiography. ; S142: By calculating the signal delay time difference Analysis is performed, and when the signal delay time difference is greater than a preset threshold, the corresponding area is considered to be an ischemic area; S143: By comparing the difference in electrical conduction velocity between the normal region and the ischemic region, when the electrical conduction velocity in the ischemic region is lower than that in the normal region, the characteristic of delayed electrical conduction can be confirmed.

4. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 1, characterized in that, S2 specifically includes: S21: Based on the electrical conduction delay characteristics identified by S1, regions with significantly increased delay time are selected as potential stem cell targeted implantation regions; S22: The boundary of the potential stem cell target implantation area is identified by the region growing algorithm to locate the boundary of the ischemic area; S23: Three-dimensional reconstruction technology is used to convert two-dimensional electrical conduction delay images into three-dimensional models, and CAD software is used to optimize the boundary of the targeted implantation area to avoid overlap with the functional area of ​​the heart.

5. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 4, characterized in that, S22 specifically includes: S221: Select the potential stem cell target implantation region selected by S21 as the starting seed point of the growth algorithm; S222: Starting from the seed point, extend the region along the adjacent pixels or voxels. The condition for extension is that when the electrical conduction delay time of the adjacent pixels or voxels is greater than the preset minimum delay threshold, the corresponding pixels or voxels will be included in the extended region. S223: Set a maximum expansion limit during the expansion process. When the electrical conduction delay time in the neighborhood is lower than the minimum delay threshold, or when the expansion of the region reaches the preset maximum area or volume, stop the region growth. S224: By connecting all adjacent pixels or voxels that meet the expansion conditions, the boundary of the ischemic region is formed, which serves as the boundary of the target region for stem cell targeted implantation.

6. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 1, characterized in that, S3 specifically includes: S31: Acquire cardiac mechanical motion data at the boundary of the target region, including cardiac displacement, velocity, and acceleration during systole and diastole; S32: Based on the acquired cardiac mechanical motion data, the systolic high pressure zone of the heart is identified by calculating the maximum displacement area and the maximum pressure area of ​​the myocardium during systole. S33: Combining the target area boundary and the location of the contraction high-pressure zone, the shortest path algorithm is used to generate the minimum stress delivery path that avoids the contraction high-pressure zone from the target area boundary. S34: When generating the delivery path, the dynamic changes of cardiac motion are considered. By dynamically adjusting the delivery path, it is ensured that the path always avoids the systolic high pressure zone during cardiac contraction and relaxation, and the mechanical stress during delivery is minimized.

7. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 6, characterized in that, S34 specifically includes: S341: When generating the delivery path, at each time step, the position of the delivery path is adjusted according to the systolic and diastolic states of the heart to ensure that the path always avoids the systolic high pressure zone; S342: During each cardiac cycle, recalculate the stress cost of the path and optimize the path based on the latest cardiac motion data by calculating the stress value of each point on the path at the current moment and selecting the path with the minimum stress value. S343: During the path adjustment process, taking into account the changes in mechanical stress during cardiac systole and diastole, a weighted average method is used to weight each point on the path to ensure that the path always avoids high-stress areas under the dynamic changes in cardiac motion.

8. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 1, characterized in that, S4 specifically includes: S41: Real-time acquisition of cardiac electrophysiological signals, including electrical activity data during repolarization, and simultaneous acquisition of mechanical motion data during cardiac diastole; S42: Identify repolarization periods in electrophysiological signals and determine the start and end times of repolarization periods by analyzing the T-wave intervals in electrocardiogram signals; S43: Extract the diastolic period from mechanical motion data, analyze changes in cardiac displacement, and identify the start and end times of cardiac diastole; S44: By comparing the time intervals of the repolarization period and the diastolic period, the overlapping part of the two is determined as a safe time window; if there is an intersection between the repolarization period and the diastolic period, the intersection part is defined as a safe time window.

9. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 1, characterized in that, S5 specifically includes: S51: Based on the minimum stress delivery path generated in S3, determine the stress value at each point on the delivery path to obtain the minimum stress delivery path; S52: Based on the safe time window identified in S4, and combined with the mechanical motion data and electrophysiological signals of the heart, determine the correspondence between the minimum stress delivery path and the safe time window; S53: Combine the minimum stress delivery path with the safe time window to generate a delivery path-time coupling instruction, ensuring that stem cell delivery proceeds along the minimum stress path within the safe time window.

10. The method for selecting stem cell delivery pathways and optimizing implantation windows for ischemic heart disease according to claim 3, characterized in that, S53 specifically includes: S531: Based on the minimum stress delivery path generated in S3, identify the minimum stress value at each point on the path, and divide the path into multiple stages in time order, which correspond to different mechanical motion states of the heart. S532: Based on the safe time window determined in S4, calculate the intersection of each stage with the safe time window, and determine the effective time of each stage within the safe time window; the formula for calculating the intersection is: S533: Match each effective time period with the corresponding minimum stress path; S534: Generate delivery path-time coupled instructions, which contain the delivery path and execution timing for each time period.

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