Irreversible puncture system for intracardiac use

Abstract

In the prior art, the determination of the perforation position in vascular perforation treatment is usually based on judgment on vascular images, so there is a possibility that deviations may occur in the perforation position during actual surgery. [Solution] The perforation system comprises a vascular image acquisition module, a vascular position model construction module, a perforation position identification module, and a perforation module, wherein the vascular image acquisition module is used to acquire cardiovascular images of a patient, the vascular position model construction module is used to set a cardiovascular 3D model based on the cardiovascular image and mark the perforation position on the cardiovascular 3D model, the perforation module comprises a high-voltage pulse perforation unit for outputting high-voltage pulses, and the perforation position identification module is used to merge the movement position of the high-voltage pulse perforation unit with the perforation position.

Description

[Technical Field]

[0001] The present invention relates to the technical field of vascular perforation, and more particularly to an irreversible intracardiac perforation system.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Chinese Patent Application No. 202310060238.2, filed on January 16, 2023, the disclosure of which is incorporated herein by reference in its entirety. [Background technology]

[0003] The cardiovascular system consists of the heart and blood vessels, which include arteries, veins, and capillaries. In existing medical fields, pulsed field therapy is increasingly being applied in vascular perforation and ablation procedures. Pulsed field ablation technology involves applying high-voltage electrical pulses to the phospholipid bilayer of cell membranes for a short period of time, creating a membrane potential. This creates an unstable potential, resulting in irreversible electroporation in the cell membrane, forming nanometer-sized pores, which alter the permeability of the cell membrane, disrupting the homeostasis of the intracellular environment, and ultimately causing cell death. Pulsed field ablation damages the atrial muscle in the pulmonary vein antrum, preventing the electrical potential within the pulmonary vein from being transmitted to the outside, ultimately achieving the goal of treating atrial fibrillation. Summary of the Invention [Problem to be solved by the invention]

[0004] In the prior art, the determination of the perforation position in vascular perforation treatment is usually based on judgment on vascular images, which means that there is a possibility that the perforation position may differ during actual surgery, and there was a lack of a method for merging the position of the perforation device with the position of the perforation target to solve this problem.

[0005] In view of the drawbacks of the prior art, the present invention aims to provide an irreversible intracardiac perforation system that models an image of a vessel, merges the movement position of a high-voltage pulse perforation unit with the perforation position, and solves the problem of insufficient accuracy in locating conventional vessel perforations. [Means for solving the problem]

[0006] To achieve the above object, the present invention is realized by the following technical means: An intracardiac irreversible perforation system, the perforation system comprising a vascular image acquisition module, a vascular position model construction module, a perforation position identification module, and a perforation module, the vascular image acquisition module is used for acquiring a patient's cardiovascular images, and the vascular position model construction module is used for setting a 3D cardiovascular model based on the cardiovascular images and marking perforation positions on the 3D cardiovascular model.

[0007] The drilling position identifying module is used to merge the moving position of the high voltage pulse drilling unit with the drilling position, and the drilling module is used to drill the drilling position based on the identified position.

[0008] The drilling module includes the high-voltage pulse drilling unit for outputting a high-voltage pulse.

[0009] The vascular image acquisition module is configured with a vascular image acquisition strategy, and the vascular image acquisition strategy includes: installing three infrared cameras and arranging the three infrared cameras in a circular array such that the angle between adjacent infrared cameras is 120 degrees; marking the three infrared cameras as a first infrared camera, a second infrared camera, and a third infrared camera, respectively; and Setting the cardiovascular image acquired by the first infrared camera as a first vascular image, the cardiovascular image acquired by the second infrared camera as a second vascular image, and the cardiovascular image acquired by the third infrared camera as a third vascular image.

[0010] The blood vessel position model construction module is configured with a blood vessel diameter calculation strategy, and the blood vessel diameter calculation strategy includes: extracting three-dimensional features from the first vascular image, the second vascular image, and the third vascular image; Corresponding the vascular starting points and vascular ending points of the first vascular image, the second vascular image, and the third vascular image; and acquiring a vascular starting point and a vascular ending point of the first vascular image and setting them as first vascular starting points and first vascular ending points, respectively; acquiring a contour image of the first vascular image; setting the edges of the first vascular image where the first vascular starting point and the first vascular ending point are located as wide edges; setting the contour line between the two wide edges as a vascular boundary line; marking the centers of the first vascular starting point and the first vascular ending point of the first vascular image and setting them as first starting center points and first ending center points, respectively; selecting a plurality of first reference points from the first vascular image so that the distances to the vascular boundary line on both sides are the same; calculating the sums of the distances from the plurality of first reference points to the vascular boundary line on both sides and setting them as first vascular reference diameters; and marking a plurality of the first reference points in a direction from the first vascular starting point to the first vascular ending point.

[0011] The blood vessel diameter calculation strategy includes: Selecting second reference points on the second vascular image in the same manner as in the selection of the first reference points on the first vascular image, calculating the sums of distances between the second reference points and the vascular boundary lines on both sides, and setting the sums as second vascular reference diameters; and The method further includes selecting a third reference point of the third vascular image in the same manner as the method of selecting the first reference point of the first vascular image, calculating the sum of the distances between the multiple third reference points and the vascular boundary lines on both sides, and setting each as the third vascular reference diameter.

[0012] The vascular diameter calculation strategy further includes substituting the first vascular reference diameter, the second vascular reference diameter, and the third vascular reference diameter of the corresponding first reference point, the second reference point, and the third reference point into a diameter calculation formula to obtain a diameter reference value, fusing the first reference point, the second reference point, and the third reference point into a set of reference points based on their corresponding positions, setting them as fused reference points, and setting the diameter reference value as a fused diameter.

[0013] When the diameter reference value is Rcz, the first vessel reference diameter is R1, the second vessel reference diameter is R2, and the third vessel reference diameter is R3, the diameter calculation formula is expressed by the following Equation 1.

[0014]

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[0015] The blood vessel position model construction module also includes a blood vessel position model construction strategy, and the blood vessel position model construction strategy includes: establishing a three-dimensional Cartesian coordinate system, respectively obtaining coordinates of the first start center point and the first end center point, and determining coordinates of a plurality of the fusion reference points based on the coordinates of the first start center point and the first end center point; obtaining the fusion diameter of the fusion reference point, and setting a direction from the first start center point to the first end center point as a reference direction; constructing a basic reference circle based on the fusion diameter with the fusion reference point as the center of the circle, and drawing a perpendicular line of the reference circle from the fusion reference point to the previous fusion reference point in the opposite direction to the reference direction so that the constructed basic reference circle is kept perpendicular to the perpendicular line of the reference circle; constructing a cardiovascular basic model by connecting the circumferences of the basic reference circle of all the fusion reference points; and Correspondingly marking perforation locations on a cardiovascular basic model and obtaining coordinates of the perforation locations.

[0016] The drilling location module is configured with a drilling location strategy, the drilling location strategy comprising: The cardiovascular basic model and the moving position information of the high-voltage pulse perforation unit are combined to make the moving position of the high-voltage pulse perforation unit correspond to the cardiovascular basic model; and The method includes acquiring the movement coordinates of the high-voltage pulse drilling unit in real time and comparing them with the coordinates of the drilling position to calibrate them.

[0017] The drilling module is configured with a drilling strategy, which includes outputting a high-voltage pulse through the high-voltage pulse drilling unit when the movement coordinates of the high-voltage pulse drilling unit match the coordinates of the drilling position. [Effects of the Invention]

[0018] The present invention can acquire a patient's cardiovascular image through a vascular image acquisition module, then establish a cardiovascular 3D model based on the cardiovascular image through a vascular position model construction module, mark the perforation position on the cardiovascular 3D model, then merge the movement position of the high-voltage pulse perforation unit with the perforation position through a perforation position identification module, and finally perforate the perforation position based on the identified position through a perforation module, which outputs a high-voltage pulse through a high-voltage pulse perforation unit. This method can improve the perforation accuracy by matching the high-voltage pulse perforation unit to the perforation position.

[0019] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the drawings. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a block diagram illustrating the principle of the present invention. [Figure 2] FIG. 2 is a schematic diagram of the construction of the basic reference circle of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] In order to facilitate understanding of the technical means realized by the present invention, creative features, objectives achieved by the present invention and effects thereof, the present invention will be further described below in conjunction with specific embodiments.

[0022] See FIG. 1. An irreversible intracardiac perforation system includes a vascular image acquisition module, a vascular position model construction module, a perforation location identification module, and a perforation module. The vascular image acquisition module is used to acquire cardiovascular images of a patient. The vascular image acquisition module is configured with a vascular image acquisition strategy, which includes: "installing three infrared cameras and arranging the three infrared cameras in a circular array so that the angle between adjacent infrared cameras is 120 degrees," "marking the three infrared cameras as the first infrared camera, the second infrared camera, and the third infrared camera, respectively," and "setting the cardiovascular image acquired by the first infrared camera as the first vascular image, the cardiovascular image acquired by the second infrared camera as the second vascular image, and the cardiovascular image acquired by the third infrared camera as the third vascular image." Installing the infrared cameras at three angles enables more accurate corresponding images to be acquired, reducing the amount of data processing required for image recognition and analysis and ensuring the feasibility of data operation.

[0023] The vascular position model construction module is used to set a 3D cardiovascular model based on the cardiovascular image and mark a perforation position on the 3D cardiovascular model. The vascular position model construction module is configured with a vascular diameter calculation strategy, which includes: extracting three-dimensional features from the first vascular image, the second vascular image, and the third vascular image; Corresponding the vascular starting points and vascular ending points of the first vascular image, the second vascular image, and the third vascular image; obtaining a vascular starting point and a vascular ending point of the first vascular image, and setting them as the first vascular starting point and the first vascular ending point, respectively; obtaining a contour image of the first vascular image; setting the edges where the first vascular starting point and the first vascular ending point of the first vascular image are located as wide edges; setting the contour line between the two wide edges as the vascular boundary line; marking the center points of the first vascular starting point and the center points of the first vascular ending point of the first vascular image, and setting them as the first starting center point and the first ending center point, respectively; selecting a plurality of first reference points from the first vascular image so that the distances to the vascular boundary line on both sides are the same; calculating the sums of the distances from the plurality of first reference points to the vascular boundary line on both sides, and setting them as the first vascular reference diameter; and marking a plurality of first reference points in the direction from the first vascular starting point to the first vascular ending point; Selecting second reference points on the second vascular image in the same manner as the method of selecting first reference points on the first vascular image, calculating the sums of distances between the plurality of second reference points and the vascular boundary lines on both sides, and setting the sums as second vascular reference diameters; Selecting third reference points on a third vascular image in the same manner as selecting first reference points on the first vascular image, calculating the sums of distances between the plurality of third reference points and the vascular boundary lines on both sides, and setting the sums as third vascular reference diameters; and substituting the first, second, and third vascular reference diameters of the corresponding first, second, and third reference points into a diameter calculation formula to obtain a diameter reference value, fusing the first, second, and third reference points into a set of reference points based on their corresponding positions to set them as fused reference points, and setting the diameter reference value as the fused diameter. When the diameter reference value is Rcz, the first vascular reference diameter is R1, the second vascular reference diameter is R2, and the third vascular reference diameter is R3, the diameter calculation formula is expressed by the following Equation 1.

[0024]

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[0025] In extreme cases, a corresponding vascular model can be established from vascular images taken with a single infrared camera; however, using only one infrared camera will result in extreme data, and at bent portions of the vessel, the vascular diameter displayed in the vascular image taken from a certain angle will be small. By taking images from three angles and calculating the average value, the error in determining the vascular diameter can be reduced.

[0026] See Fig. 2. The vascular position model construction module also includes a vascular position model construction strategy, which includes: "establishing a three-dimensional Cartesian coordinate system, respectively obtaining coordinates of a first start center point and a first end center point, and determining coordinates of a plurality of fusion reference points based on the coordinates of the first start center point and the first end center point," "obtaining a fusion diameter of the fusion reference point, and setting the direction from the first start center point to the first end center point as a reference direction," "using the fusion reference point as the center of the circle and constructing a basic reference circle based on the fusion diameter, and drawing a perpendicular line of the reference circle from the fusion reference point to the previous fusion reference point in the opposite direction to the reference direction, so that the constructed basic reference circle remains perpendicular to the perpendicular line of the reference circle," "connecting the circumferences of the basic reference circles of all fusion reference points to construct a cardiovascular basic model," and "correspondingly marking perforation positions on the cardiovascular basic model and obtaining the coordinates of the perforation positions." The unit area of ​​the coordinates is set according to the area of ​​the perforation region each time, and is preferably kept the same as the unit perforation region of each high-voltage pulse perforation unit. The coordinates of the perforation position represent the overall coordinates of the perforation region, and the perforation region is divided into multiple coordinate points according to the unit perforation region of each high-voltage pulse perforation unit.

[0027] The perforation position identification module is used to merge the movement position of the high-voltage pulse perforation unit with the perforation position. The perforation position identification module is configured with a perforation position identification strategy, which includes "merging the movement position information of the cardiovascular basic model and the high-voltage pulse perforation unit to make the movement position of the high-voltage pulse perforation unit correspond to the cardiovascular basic model" and "acquiring the movement coordinates of the high-voltage pulse perforation unit in real time and calibrating them by comparing them with the coordinates of the perforation position."

[0028] The drilling module includes a high-voltage pulse drilling unit for outputting a high-voltage pulse, the drilling module is used to drill a drilling position based on the identified position, and a drilling strategy is configured in the drilling module, the drilling strategy including: outputting a high-voltage pulse through the high-voltage pulse drilling unit when a movement coordinate of the high-voltage pulse drilling unit matches a coordinate of the drilling position.

[0029] Working principle: firstly, obtain the patient's cardiovascular image through the vascular image acquisition module, then set up a cardiovascular 3D model based on the cardiovascular image through the vascular position model construction module, and mark the perforation position on the cardiovascular 3D model; then merge the movement position of the high-voltage pulse perforation unit with the perforation position through the perforation position identification module; finally, perforate the perforation position based on the identified position through the perforation module; in the perforation module, output a high-voltage pulse through the high-voltage pulse perforation unit, and match the high-voltage pulse perforation unit to the perforation position, thereby improving the perforation accuracy.

[0030] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention and are used to explain the technical means of the present invention, but are not limitations on the technical means of the present invention, and the protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that within the technical scope disclosed by the present invention, they can easily modify or change the technical means described in the above embodiments, or make equivalent replacements for some of the technical features therein, and such modifications, changes, or replacements do not deviate from the essence of the corresponding technical means from the spirit and scope of the technical means of the embodiments of the present invention, and should all be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined based on the protection scope of the claims.

Claims

1. An intracardiac irreversible puncture system, the puncture system comprising: a vessel image acquisition module; a vessel position model construction module; a puncture location identification module; and a puncture module; the vascular image acquisition module is used to acquire cardiovascular images of a patient; the vascular position model construction module is used to set a cardiovascular three-dimensional model based on the cardiovascular image and mark a perforation position on the cardiovascular three-dimensional model; The drilling position identification module is used to merge the moving position of the high-voltage pulse drilling unit with the drilling position; 10. An irreversible intracardiac perforation system, wherein the perforation module is used to perforate a perforation location based on an identified location.

2. The intracardiac irreversible perforation system according to claim 1, characterized in that the perforation module comprises the high-voltage pulse perforation unit for outputting high-voltage pulses.

3. The vascular image acquisition module is configured with a vascular image acquisition strategy, and the vascular image acquisition strategy includes: installing three infrared cameras and arranging the three infrared cameras in a circular array such that the angle between adjacent infrared cameras is 120 degrees; marking the three infrared cameras as a first infrared camera, a second infrared camera, and a third infrared camera, respectively; and setting the cardiovascular image acquired by the first infrared camera as a first vascular image, the cardiovascular image acquired by the second infrared camera as a second vascular image, and the cardiovascular image acquired by the third infrared camera as a third vascular image; 3. The irreversible intracardiac puncture system of claim 2, comprising:

4. The blood vessel position model construction module is configured with a blood vessel diameter calculation strategy, and the blood vessel diameter calculation strategy includes: extracting three-dimensional features from the first vascular image, the second vascular image, and the third vascular image; Corresponding the vascular starting points and vascular ending points of the first vascular image, the second vascular image, and the third vascular image; and acquiring a vascular starting point and a vascular ending point of the first vascular image, and setting them as first vascular starting points and first vascular ending points, respectively; acquiring a contour image of the first vascular image; setting the edges of the first vascular image where the first vascular starting point and the first vascular ending point are located as wide edges; setting the contour line between the two wide edges as a vascular boundary line; marking the centers of the first vascular starting point and the first vascular ending point of the first vascular image, and setting them as first starting center points and first ending center points, respectively; selecting a plurality of first reference points from the first vascular image so that the distances to the vascular boundary line on both sides are the same; calculating the sums of the distances from the plurality of first reference points to the vascular boundary line on both sides, and setting them as first vascular reference diameters; and marking a plurality of first reference points in a direction from the first vascular starting point to the first vascular ending point.

4. The irreversible intracardiac puncture system of claim 3, comprising:

5. The blood vessel diameter calculation strategy includes: Selecting second reference points on the second vascular image in the same manner as in the method of selecting the first reference points on the first vascular image, calculating the sums of distances between the second reference points and the vascular boundary lines on both sides, and setting the sums as second vascular reference diameters; and selecting third reference points on the third vascular image in the same manner as in the method of selecting the first reference points on the first vascular image, calculating the sums of distances between the plurality of third reference points and the vascular boundary lines on both sides, and setting the sums as third vascular reference diameters; 5. The irreversible intracardiac puncture system of claim 4, further comprising:

6. The blood vessel diameter calculation strategy includes: Substituting the first vascular reference diameter, the second vascular reference diameter, and the third vascular reference diameter of the corresponding first reference point, the second reference point, and the third reference point into a diameter calculation formula to obtain a diameter reference value, fusing the multiple first reference points, the second reference points, and the third reference points into a set of reference points based on their corresponding positions, and setting them as fused reference points, and setting the diameter reference value as a fused diameter; 6. The irreversible intracardiac puncture system of claim 5, further comprising:

7. 7. The irreversible intracardiac perforation system of claim 6, wherein the diameter calculation formula is expressed by the following Equation 1, where Rcz is the diameter reference value, R1 is the first vessel reference diameter, R2 is the second vessel reference diameter, and R3 is the third vessel reference diameter. [Equation 1]

8. The blood vessel position model construction module also includes a blood vessel position model construction strategy, and the blood vessel position model construction strategy includes: establishing a three-dimensional Cartesian coordinate system, respectively obtaining coordinates of the first start center point and the first end center point, and determining coordinates of a plurality of the fusion reference points based on the coordinates of the first start center point and the first end center point; obtaining the fusion diameter of the fusion reference point, and setting a reference direction as a direction from the first start center point to the first end center point; constructing a basic reference circle based on the fusion diameter with the fusion reference point as the center of the circle, and drawing a perpendicular line of the reference circle from the fusion reference point to the previous fusion reference point in the opposite direction to the reference direction so that the constructed basic reference circle is kept perpendicular to the perpendicular line of the reference circle; constructing a cardiovascular basic model by connecting the circumferences of the basic reference circle of all the fusion reference points; and Correspondingly marking perforation locations on a cardiovascular basic model and obtaining coordinates of said perforation locations; 8. The irreversible intracardiac puncture system of claim 7, comprising:

9. The drilling location module is configured with a drilling location strategy, the drilling location strategy comprising: The cardiovascular basic model and the movement position information of the high-voltage pulse perforation unit are combined to make the movement position of the high-voltage pulse perforation unit correspond to the cardiovascular basic model; and acquiring the movement coordinates of the high-voltage pulse drilling unit in real time and comparing them with the coordinates of the drilling position for calibration; 9. The irreversible intracardiac puncture system of claim 8, comprising:

10. The drilling module is configured with a drilling strategy, the drilling strategy comprising: outputting a high voltage pulse through the high voltage pulse drilling unit when the movement coordinate of the high voltage pulse drilling unit coincides with the coordinate of the drilling position; 10. The irreversible intracardiac puncture system of claim 9, comprising:

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