Rotational pullback system for three-dimensional imaging and data analysis method thereof

Abstract

The present application relates to the technical field of three-dimensional imaging. Disclosed are a rotational pullback system for three-dimensional imaging and a data analysis method thereof. In the rotational pullback system for three-dimensional imaging, a detection assembly excites and transmits sound waves and acquires echo signals from a living body to be tested and acquisition moments; a rotation control assembly drives a rotating assembly and the detection assembly to rotate; a back-and-forth movement control assembly drives the rotating assembly to move back and forth; and a signal transmission line outputs a plurality of echo signals and corresponding acquisition moments to an external control assembly to perform three-dimensional image reconstruction. The present application sets different detection moments and provides the detection assembly at different detection positions to test a living body to be tested, so as to reconstruct a three-dimensional image of said living body, thus solving the technical problem that catheter tips in existing three-dimensional image assisted imaging device structures can only deflect by limited angles.

Description

A three-dimensional imaging rotation and retraction system and data analysis method thereof Technical Field

[0001] The present application relates to the technical field of three-dimensional image reconstruction, and in particular to a three-dimensional imaging rotation and retraction system and a data analysis method thereof. Background Art

[0002] In modern medicine, intracardiac ultrasound (ICE) is often used to facilitate surgical procedures. This involves placing a miniature transducer inside the heart cavity. This transducer acquires echo signals, processes them, and reconstructs ultrasound images for real-time monitoring. Unaffected by interference from air and other factors, the transducer provides clearer images, enabling the identification of subtle cardiac structures such as heart valves and papillary muscles. ICE, a miniature transducer, can be used as an imaging aid during complex structural heart surgeries (such as percutaneous closure of atrial septal defects and patent foramen ovale) or electrophysiological procedures, thereby reducing operative time.

[0003] The most commonly used ICE in clinical practice is one based on a linear array. It can provide a 90° sector-shaped field of view. At the structural imaging level, the catheter tip can be deflected at a certain angle, and the position sensor at the tip can provide position information of 2D slices. 2D slices at different positions are used to reconstruct three-dimensional information to visualize the structural information of the heart. However, due to the correction of the position sensor and the need to combine it with electrocardiogram (ECG) acquisition, its acquisition and reconstruction often takes 3-5 minutes.

[0004] Application Contents

[0005] The purpose of this application is to provide a three-dimensional imaging rotation and retraction system and a data analysis method thereof.

[0006] In a first aspect, an embodiment of the present application provides a three-dimensional imaging rotation and retraction system, the three-dimensional imaging rotation and retraction system comprising:

[0007] outer sheath;

[0008] A detection component is sleeved inside the outer sheath tube and extends along the outer sheath tube; it is used to excite and transmit sound waves and collect echo signals and collection times of the living body to be detected. The diameter of the detection component is smaller than the diameter of the outer sheath tube;

[0009] A rotating assembly, fixedly connected to the detection assembly, wherein the diameter of the rotating assembly is smaller than the diameter of the outer sheath;

[0010] A rotation control assembly is fixedly connected to the rotation assembly, and when the rotation control assembly rotates, it drives the rotation assembly and the detection assembly to rotate in the outer sheath;

[0011] A reciprocating control component is fixedly connected to the rotating component; when the reciprocating control component moves back and forth in the first direction, it drives the rotating component to move back and forth in the extending direction of the outer sheath tube;

[0012] A signal transmission line is arranged inside the outer sheath; and passes through the reciprocating control component, the rotation control component, the rotation component and the detection component in sequence; and is used to output the multiple echo signals and the corresponding acquisition moments to the external control component for three-dimensional image reconstruction to restore the three-dimensional image of the living body to be detected.

[0013] In an optional embodiment, the detection component includes a transducer and a first spring tube, the first end of the first spring tube is fixedly connected to the transducer, the second end of the first spring tube is fixedly connected to the rotation component and the rotation control component, and the signal transmission line passes through the hollow parts of the transducer and the first spring tube in sequence to transmit electrical energy to the rotation control component.

[0014] In an optional embodiment, the rotation control assembly includes a rotating motor, a sleeve, a first conductive slip ring, and a transmission belt, wherein the rotating shaft of the rotating motor is transmission-connected to the first conductive slip ring via the transmission belt; a first end of the sleeve is electrically connected to an external signal transmission line, a second end of the sleeve is rotatably arranged with the first conductive slip ring, and the first conductive slip ring is sleeved on the signal transmission line;

[0015] When the rotating motor drives the first conductive slip ring to rotate, the signal transmission line and the second spring tube are also driven to rotate.

[0016] In an optional manner, the rotation and retraction system for three-dimensional imaging further includes a sliding base and a fixed base, the rotation control assembly and the reciprocating control assembly are arranged on the sliding base, the reciprocating control assembly includes a retraction motor, at least one first sliding member, a screw rod, a retraction motor and at least one second sliding member, the first sliding member is arranged at the bottom of the sliding base, the second sliding member is arranged on the fixed base, the first sliding member and the second sliding member are slidably arranged, the retraction motor is arranged on the fixed base, the retraction motor and the first end of the screw rod are rotatably arranged, and the second end of the screw rod is fixedly connected to the fixed base or the rotation control assembly or the reciprocating control assembly;

[0017] When the retraction motor rotates, it drives the screw rod to rotate to push or pull the fixed base to move.

[0018] In an optional embodiment, the rotating assembly is coaxially arranged with the outer sheath tube.

[0019] According to a second aspect of an embodiment of the present application, the present application further provides a data analysis method for a three-dimensional imaging rotation and retraction system for 3D image reconstruction, wherein the data analysis method for the three-dimensional imaging rotation and retraction system is performed in the three-dimensional imaging rotation and retraction system, wherein the three-dimensional imaging rotation and retraction system includes an outer sheath, a detection component, a rotation component, a round-trip control component, and a signal transmission line;

[0020] The detection component is sleeved inside the outer sheath tube and extends along the outer sheath tube; it is used to excite and transmit sound waves and collect echo signals to obtain a two-dimensional ultrasonic image of the location, and the diameter of the detection component is smaller than the diameter of the outer sheath tube;

[0021] The rotating assembly is fixedly connected to the detection assembly, and the diameter of the rotating assembly is smaller than the diameter of the outer sheath;

[0022] The rotation control assembly is fixedly connected to the rotation assembly, and when the rotation control assembly rotates, it drives the rotation assembly and the detection assembly to rotate in the outer sheath;

[0023] The reciprocating control component is fixedly connected to the rotating component; when the reciprocating control component moves back and forth in the first direction, it drives the rotating component to move back and forth in the extending direction of the outer sheath tube;

[0024] A signal transmission line is provided inside the outer sheath tube and sequentially passes through the reciprocating control component, the rotation control component, the rotation component, and the detection component;

[0025] The detection component outputs an ultrasonic signal at a first preset frequency, and the detection component operates at a first rotation speed and a first axial movement speed;

[0026] Acquire, within a first acquisition duration, an echo signal of the living body to be detected and an acquisition time corresponding to each acquisition according to a first image acquisition frequency;

[0027] The three-dimensional structure of the object to be acquired is reconstructed according to the echo signals acquired within the first acquisition time and the acquisition time.

[0028] In an optional manner, the first acquisition time length is a window of a cardiac cycle, and the window includes a slow filling period, a rapid contraction period, an isovolumetric relaxation period, a rapid relaxation period, and a slow relaxation period.

[0029] In an optional manner, the step of reconstructing the three-dimensional structure of the object to be acquired based on the echo signals acquired within the first acquisition time and the acquisition time includes:

[0030] Combining the acquisition moments and the corresponding echo signals into a two-dimensional sequence;

[0031] Mapping a plurality of the two-dimensional sequences into a three-dimensional space;

[0032] The two-dimensional sequence mapped to the three-dimensional space is linearly interpolated according to the motion trajectory of the probe to obtain the three-dimensional structure of the object to be collected; based on the position of each probe, the echo signals are superimposed and beam-synthesized into a plane.

[0033] According to the third aspect of the embodiment of the present application, the present application also provides a data analysis method of a three-dimensional imaging rotation and retraction system for microbubble positioning,

[0034] S11. Acquire, within a second time period, ultrasound spatiotemporal sequence signals after injection of the contrast agent;

[0035] S12, converting the ultrasonic spatiotemporal sequence signal into a two-dimensional spatiotemporal matrix;

[0036] S13, performing singular value decomposition on the two-dimensional space-time matrix and performing wall filtering on the decomposed singular value components and then recombining them to obtain an initial microbubble signal;

[0037] S14, determining a point spread function according to the initial microbubble signal;

[0038] S15, determining a microbubble correlation coefficient according to the initial microbubble signal and the point spread function;

[0039] S16. When the correlation coefficient is greater than a first preset threshold, confirming that the point spread function is the microbubble center at the current detection moment;

[0040] S17. Pair the microbubble centers between adjacent frames according to the Hungarian algorithm to obtain blood flow velocity.

[0041] According to a fourth aspect of the embodiments of the present application, the present application further provides a data analysis method for a three-dimensional imaging rotation and retraction system for microblood flow imaging, the data analysis method for the three-dimensional imaging rotation and retraction system comprising:

[0042] Determine the sampling cycle interval based on ECG;

[0043] Acquiring enhanced ultrasound signals after injection of contrast agent according to the acquisition period interval;

[0044] Converting the enhanced ultrasound signal into an ultrasound spatiotemporal sequence signal and executing steps S11-S16 as described above to obtain the microbubble center;

[0045] The microbubble center at each acquisition moment is tracked and accumulated to obtain a super-resolution image of the microvessel where the microbubble center is located.

[0046] The present invention proposes a structure that differs from the prior art by providing a rotating assembly and a rotating control assembly that are separated from the outer sheath. This allows the rotating control assembly to drive the detection assembly within the outer sheath to achieve 360-degree rotation, thereby enabling 360-degree detection. This allows the detection assembly to rotate 360 ​​degrees, thereby resolving the technical problem of the prior art in which the catheter tip of a three-dimensional imaging-assisted imaging device can only deflect to a limited angle.

[0047] In addition, by setting the round-trip control component, the position of the detection component in the living body to be detected, that is, the position of the signal source, can be changed to achieve multi-point detection and improve the accuracy of the subsequent reconstructed three-dimensional image.

[0048] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0050] FIG1 is a schematic structural diagram of a first embodiment of a three-dimensional imaging rotation and retraction system provided by the present application;

[0051] FIG2 is a schematic structural diagram of a second embodiment of a three-dimensional imaging rotation and retraction system provided by the present application;

[0052] FIG3 is a schematic flow chart showing a first embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0053] FIG4 is a schematic flow chart showing a second embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0054] FIG5 is a schematic flow chart showing a third embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0055] FIG6 is a schematic flow chart showing a third embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0056] FIG7 shows a schematic diagram of signal acquisition in a third embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0057] FIG8 is a schematic diagram showing the structure of an echo signal in the data analysis method of the three-dimensional imaging rotation and retraction system provided by the present application;

[0058] FIG9 is a schematic structural diagram showing an acquisition state in a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0059] FIG10 is a schematic structural diagram of microvascular imaging in a third embodiment of the data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0060] FIG11 is a schematic structural diagram showing trajectory reconstruction in a first embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0061] FIG12 is a schematic structural diagram showing a mapping process in trajectory reconstruction in a first embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0062] FIG13 is a schematic structural diagram showing the interpolation process in trajectory reconstruction of the first embodiment of the data analysis method for the three-dimensional imaging rotation and retraction system provided by the present application;

[0063] FIG14 is a schematic structural diagram showing a three-dimensional reconstruction process in trajectory reconstruction in a first embodiment of a data analysis method for a three-dimensional imaging rotation and retraction system provided by the present application;

[0064] FIG15 is a schematic structural diagram showing a three-dimensional reconstruction process in trajectory reconstruction of the first embodiment of the data analysis method for the three-dimensional imaging rotation and retraction system provided by the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] The following is an analysis of existing solutions for 3D image reconstruction in combination with related technologies.

[0067] Intracardiac ultrasound (ICE) is a cardiac catheter with a miniature transducer at the tip. The ICE catheter is inserted through the superior or inferior vena cava and passed into the right atrium, right ventricle, and pulmonary artery for observation. The phased array ultrasound transducer at the catheter tip transmits sound waves and then processes the received echoes through a computer to form an ultrasound image, which can display the heart's anatomical structure. Because the transducer is placed within the heart cavity, it is not affected by factors such as air, resulting in clearer images and the ability to identify subtle structures within the heart, such as heart valves and papillary muscles. ICE can be used as an imaging aid during complex structural heart surgery (such as percutaneous closure of atrial septal defects and patent foramen ovale) or electrophysiological procedures. ICE can achieve better image quality and allow real-time monitoring, reducing surgical time. The most commonly used clinically is an ICE based on a linear array, which can provide a 90° sector-shaped field of view. At the structural imaging level, the catheter tip can be deflected at a certain angle, and the position sensor at the tip can provide position information of 2D slices. 2D slices at different positions are used to reconstruct three-dimensional images to visualize the structural information of the heart. However, due to the correction of the position sensor and the need to combine it with electrocardiogram (ECG) acquisition, the acquisition and reconstruction often take 3-5 minutes. At the functional imaging level, traditional intracardiac ultrasound can only visualize Doppler blood flow information within the heart cavity, but lacks imaging of microvessels within the myocardium.

[0068] The first 3D ICE imaging using a rotating linear phased array was performed using AcuNav TM In 2006, the first 3D ICE image of a human body was obtained by post-processing a series of ECG-gated 2D slices obtained by mechanical rotation of an ICE catheter (Acu-Nav; Siemens, Erlangen, Germany). TM An ICE catheter with a 10Fr, 64-element linear phased array multifrequency (5.5-10.0 MHz) transducer, which provides a 90° sector field of view, was used. 3D images obtained using this technique have sufficient depth and good axial, lateral, and temporal resolution. However, although acquisition and reconstruction of 3D images require 3 to 5 minutes, the imaging of the heart lacks dynamic information, and the imaging field of view is limited, it has been demonstrated to have the potential clinical value of 3D ICE. Imaging using an ICE catheter with a magnetic positioning sensor allows for simultaneous acquisition of images while the catheter is maneuvered across the entire atrioventricular imaging plane. Ultimately, grayscale information is extracted from the ultrasound images and registered with the 2D data to create a 3D model of the atrioventricular chambers.

[0069] To progress from slow 3D to real-time 3D ICE, one approach is to use a micromotor to rotate only the transducer inside the catheter tip. This approach provides excellent image quality and a large field of view (up to 90°x180°), but the image update rate (7 vol / sec for a 40° field of view) is too slow to provide smooth images of cardiac motion. Another approach is to use a traditional linear phased array with a helical twist, in which crystal elements are arranged in a row, and the array elements in the array direction scan along different planes. Different parts of the array are used to create image planes at different angles. AcuNav, based on this technology, TM The V catheter has been used for structural heart interventions, including atrial septal defect (ASD) and transcatheter aortic valve replacement (TAVR). However, the catheter's limited elevation field of view of only 22° restricts its clinical application.

[0070] The final 3D ICE approach involves direct real-time volumetric imaging using a matrix-type transducer. Duke University has pioneered the use of intraductal miniature 2D array transducers for real-time 3D ICE imaging. While these devices enable rapid volumetric imaging, their image quality is limited by the fact that each transducer element must be connected to a separate system channel via a catheter.

[0071] From the above examples, it can be seen that in the prior art, there is a technical problem that the catheter tip of the three-dimensional image-assisted imaging device structure can only deflect to a limited angle, resulting in a limited field of view of the final three-dimensional image.

[0072] FIG1 shows a structural diagram of a first embodiment of a rotation and retraction system for three-dimensional imaging of the present application. The rotation and retraction system for three-dimensional imaging includes an outer sheath tube 30, a detection component 10, a rotation component 20, a rotation control component, a reciprocating control component, and a signal transmission line 202. The detection component 10 is sleeved inside the outer sheath tube 30 and extends along the outer sheath tube 30. The rotation component 20 is fixedly connected to the detection component 10, the rotation control component is fixedly connected to the rotation component 20, and the reciprocating control component is fixedly connected to the rotation component 20. The signal transmission line 202 is provided inside the outer sheath tube 30 and passes through the reciprocating control component, the rotation control component, the rotation component 20, and the detection component 10 in sequence.

[0073] The detection assembly 10 is used to excite and emit acoustic waves and collect echo signals and acquisition times from the subject. The rotation control assembly, when rotating, drives the rotation assembly 20 and the detection assembly 10 to rotate within the outer sheath 30. The reciprocating control assembly, when reciprocating in a first direction, drives the rotation assembly 20 to reciprocate in the direction in which the outer sheath 30 extends. The signal transmission line 202 transmits the multiple echo signals and the corresponding acquisition times to the external control assembly for 3D image reconstruction, thereby restoring a 3D image of the subject.

[0074] The present embodiment proposes a structure that differs from the prior art by providing a rotating assembly 20 and a rotating control assembly that are separated from the outer sheath 30. This allows the rotating control assembly to drive the rotating assembly 20 and the detection assembly 10 to achieve 360-degree rotation within the outer sheath 30, thereby enabling 360-degree detection. This allows the detection assembly 10 to rotate 360 ​​degrees, thereby resolving the technical problem of the prior art in which the catheter tip of a three-dimensional image-assisted imaging device structure can only deflect to a limited angle.

[0075] In addition, by setting the round-trip control component, the position of the detection component 10 on the living body to be detected, that is, the position of the signal source, can be changed to achieve multi-point detection and improve the accuracy of the subsequent reconstructed three-dimensional image.

[0076] It should be noted that the diameter of the rotating assembly 20 is smaller than the diameter of the outer sheath 30 . The diameter of the detection assembly 10 is smaller than the diameter of the outer sheath 30 .

[0077] At this time, through the above-mentioned setting, a certain gap is left between the rotating component 20 and the outer sheath tube 30, and between the detection component 10 and the outer sheath tube 30, which can avoid contact between the two during rotation and cause wear of the outer sheath tube 30, the rotating component 20 and the detection component 10.

[0078] Optionally, the rotating assembly 20 and the outer sheath tube 30 are coaxially arranged.

[0079] By setting the coaxial structure, the coaxial structure can be maintained during the rotation process, thereby avoiding contact between the two during rotation, which may cause wear of the outer sheath tube 30, the rotating component 20 and the detection component 10.

[0080] Optionally, the rotating assembly 20 is coaxially arranged with the detecting assembly 10 .

[0081] By setting the coaxial structure, the coaxial structure can be maintained during the rotation process, thereby avoiding contact between the two during rotation, which may cause wear of the outer sheath tube 30, the rotating component 20 and the detection component 10.

[0082] Optionally, the outer diameter of the outer sheath tube 30 is between 8Fr and 10Fr.

[0083] Among them, the setting of the outer sheath 30 can separate the blood environment inside the catheter from the outside, prevent tissue damage, and has a certain hydrophobicity, which can effectively inhibit the formation of thrombus, so the outer sheath 30 is used for protection outside the spring tube. It should be noted that 1Fr = 0.33mm. Moreover, during actual catheterization laboratory intervention, the femoral artery-heart pathway is generally established by inserting a guide sheath and a guide wire through the femoral artery. The sheath moves along the pathway without damaging the blood vessels, and the outer sheath 30 is dedicated to intervention, taking into account the hardness and the size of the blood vessels.

[0084] In one optional embodiment, as shown in FIG1 , the detection assembly 10 includes a transducer 102 and a first spring tube 101. The transducer 102 is connected to the spring tube, and a signal transmission line 202 sequentially passes through the hollow portions of the transducer 102 and the first spring tube 101. A first end of the second spring tube 101 is fixedly connected to the transducer 102, and a second end of the second spring tube 101 is fixedly connected to the rotation assembly and the rotation control assembly.

[0085] In the above embodiment, the first spring tube 101 is provided to meet torque transmission requirements and ensure rotational stability. The transducer 102 moves along with the movement of the rotating assembly 20 and the reciprocating control assembly, thereby achieving all-round changes in the acquisition position and acquisition angle to ensure the integrity of the viewing angle of the final reconstructed three-dimensional image.

[0086] In the above solution, the transducer 102 can be implemented using a probe with a center frequency of 7.0 MHz and 64 array elements, with an array element spacing of 100 μm. The imaging field of the probe is 60°, the depth is 160 wavelengths, and the imaging depth is about 3.5 cm.

[0087] In an optional embodiment, as shown in Figure 1, the rotation control assembly includes a rotating motor 604, a sleeve 502, a first conductive slip ring 501 and a transmission belt 601. The rotating shaft of the rotating motor 604 is fixedly connected to the first conductive slip ring 501; the first end of the sleeve 502 is electrically connected to the external signal transmission line 202, and the second end of the sleeve 502 is rotatably arranged with the first conductive slip ring 501, and the first conductive slip ring 501 is sleeved on the signal transmission line.

[0088] When the rotary motor 604 drives the first conductive slip ring 501 to rotate, the first conductive slip ring 501 , the signal transmission line 202 and the first spring tube 101 are driven to rotate via the transmission belt 601 .

[0089] During the catheter's rotation, power and signals are transmitted through the sleeve 502 and the first conductive slip ring 501, transferring power and electrical signals from the fixed structure to the rotating structure. No signal transmission line 202 is connected between the sleeve 502 and the first conductive slip ring 501, thus preventing wire entanglement during 360-degree rotation. The sleeve 502 and the first conductive slip ring 501 improve mechanical performance, simplify system operation, and eliminate vulnerable wires dangling from movable joints. The sleeve 502 and the first conductive slip ring 501 connect the fixed and rotating components, respectively. The fixed component is the sleeve 502, while the rotating component comprises the rotating assembly 20, the first conductive slip ring 501, and the external signal transmission line 202. The signal transmission lines 202 on both sides of the sleeve 502 and the first conductive slip ring 501 are connected by conductive brushes in the fixed circuit portion of the conductive slip ring and the copper ring in the catheter, forming a complete circuit. As the metal ring rotates, current or signals are conducted to the metal ring via the fixed brushes, thus forming a connection.

[0090] Optionally, a roller 603 is provided on the first conductive slip ring 501 , and a roller 602 is provided on the rotary motor 604 to better drive the rotary motor 604 through the transmission belt 601 .

[0091] In an optional embodiment, as shown in Figure 1, the rotation and retraction system for three-dimensional imaging also includes a sliding base 701 and a fixed base 702, the rotation control component and the reciprocating control component are arranged on the sliding base 701, and the reciprocating control component includes a retraction motor 703, at least one first sliding member 704, a screw rod 705, a retraction motor 703 and at least one second sliding member, the first sliding member 704 is arranged at the bottom of the sliding base 701, and the second sliding member is arranged on the fixed base 702, the first sliding member 704 and the second sliding member are slidably arranged, the retraction motor 703 is arranged on the fixed base 702, the retraction motor 703 and the first end of the screw rod 705 are rotatably arranged, and the second end of the screw rod 705 is fixedly connected to the fixed base 702 or the rotation control component or the reciprocating control component.

[0092] In the above embodiment, when the retraction motor 703 rotates, it drives the screw 705 to rotate, thereby pushing or pulling the sliding base 701 to move relative to the fixed base 702. The rotating motor 604 and the sleeve 502 are fixed to a sliding base 701, and the retraction motor 703 below can drive the sliding base 701 to move back and forth, thereby driving the entire detection assembly 10, outer sheath 30, rotation assembly 20, and rotation control assembly to move back and forth, thereby achieving movement of the position of the detection assembly 10.

[0093] In traditional focused ultrasound imaging, the frame rate is approximately 20-40 frames per second, the depth is approximately 10 cm, and the angle is 90 degrees. Although these frame rates are sufficient to assess the structure and function of the heart, due to the very short cardiac cycle, traditional two-dimensional echocardiography cannot track the mechanical movement of the heart, and potentially important diagnostic information may be lost during the imaging process. Through plane wave / diverging wave imaging and multi-line transmission systems, two-dimensional ultrasound imaging can be achieved while maintaining a higher temporal resolution. These new rapid imaging methods give intracardiac echocardiography the potential to track cardiac motion, making it possible to detect some structural or functional heart diseases related to cardiac motion.

[0094] Based on the above analysis, according to a second aspect of an embodiment of the present application, the present application further provides a data analysis method for a three-dimensional imaging rotation and retraction system for 3D image reconstruction. The data analysis method for the three-dimensional imaging rotation and retraction system is performed in the three-dimensional imaging rotation and retraction system, which includes an outer sheath 30, a detection component 10, a rotation component 20, a round-trip control component, and a signal transmission line 202;

[0095] The detection assembly 10 is sleeved inside the outer sheath tube 30 and extends along the outer sheath tube 30; it is used to excite and transmit sound waves and collect echo signals to obtain a two-dimensional ultrasonic image of the location. The diameter of the detection assembly 10 is smaller than the diameter of the outer sheath tube 30;

[0096] The rotating assembly 20 is fixedly connected to the detection assembly 10, and the diameter of the rotating assembly 20 is smaller than the diameter of the outer sheath 30;

[0097] The rotation control assembly is fixedly connected to the rotation assembly 20. When the rotation control assembly rotates, it drives the rotation assembly 20 and the detection assembly 10 to rotate in the outer sheath 30.

[0098] The reciprocating control assembly is fixedly connected to the rotating assembly 20; when the reciprocating control assembly moves back and forth along the first direction, it drives the rotating assembly 20 to move back and forth in the extending direction of the outer sheath tube 30;

[0099] The signal transmission line 202 is disposed inside the outer sheath 30 and passes through the reciprocating control component, the rotation control component, the rotation component 20 and the detection component 10 in sequence.

[0100] 3 , the data analysis method of the three-dimensional imaging rotation and retraction system includes:

[0101] S1. The detection component 10 outputs an ultrasonic signal at a first preset frequency, and the detection component 10 operates at a first rotation speed and a first axial movement speed;

[0102] During the test, the outer sheath 30, the detection component 10 and the rotating component 20 need to be placed in the living body to be tested. Taking the heart as an example, the outer sheath 30 needs to be placed in the heart as shown in Figure 7, where LV is the left ventricle, RA is the right atrium, and RV is the right ventricle. Among them, the ultrasonic signal of the first preset frequency emitted by the transducer 102 can be set as needed, for example, to a center frequency of 7.0 MHz and 64 array elements. The first rotation speed is set as needed, and the first axial motion speed is the speed of the axial movement along the outer sheath 30, which determines the number of virtual point source positions in the subsequent process. It can be set as needed and can also be changed as needed during the test process. In the above embodiment, the transducer 102 of the detection component 10 is a linear phased array transducer 102. The specific method of collecting the echo signal of the living body to be detected is to set a virtual source point above the linear phased array transducer 102. The virtual source point emits a virtual spherical wave. The delay is calculated according to the sound speed and the position of the virtual point source. When the spherical wave reaches the real transducer 102 array element position, the array element is excited and starts to emit sound waves (i.e., ultrasonic signals). For a virtual point source, all array elements on the transducer 102 array are excited according to the spherical wave delay of the virtual point source. Similarly, when there are multiple virtual point sources, the excitation is still carried out according to this rule. When receiving the echo signal, the echo signal excited by each virtual point source is superimposed and beam synthesized according to the transmission delay, and the echo signals excited by all virtual point sources are coherently superimposed to obtain an ultrasonic image. The divergent wave is defined as symmetrical and evenly distributed throughout the sector image. Therefore, a virtual point source is placed at the center of the transmit subaperture, as shown in Figure 8, and the angular aperture of each transmit is defined by:

[0103] where a is the size of the subaperture, Z n Is the virtual source distance relative to the ultrasound probe on the z-axis. If a 64-element phased array probe is used, the element spacing is 0.1mm, the center frequency is 7MHz, and the position of the element is defined as (x e 0 0) T , the coordinates of the virtual source are defined as (x n 0 z n ) T , the delay of the virtual source emission is defined as follows, where c is the speed of sound:

[0104] S2. Acquire, within a first acquisition duration, an echo signal of the living body to be detected and an acquisition time corresponding to each acquisition according to a first image acquisition frequency;

[0105] A cardiac cycle for an adult is about 0.8s. During the entire cardiac cycle, the morphology of the heart in different windows is very different. In previous studies, in order to obtain 3D volume information of the heart, ECG is usually used to collect a series of 2D images, and then the collected data of the same cardiac cycle are selected for volume rendering. This imaging method often requires the combination of ECG and takes a lot of time. In this patent, in order to ensure that the obtained 3D volume information can keep up with the movement of the heart, at least one 3D volume must be collected for each cardiac cycle window, and the window of a cardiac cycle can be refined into isovolumetric contraction, rapid ejection period, slowed ejection period, prediastole, isovolumetric relaxation period, rapid filling period, slowed filling period, isovolumetric contraction period, rapid ejection period, slowed ejection period, isovolumetric relaxation period, rapid diastole period, slowed diastole period, and active filling period. The period of cardiac diastole occupies most of the cardiac cycle, while the heart changes relatively little during the slowed filling period. Therefore, in order to distinguish the movement of the heart, the rapid contraction period can be divided separately, and the isovolumetric relaxation period, rapid relaxation period and slow relaxation period are each a window. The time of each window is about 0.2s. Combined with the slip ring speed and acquisition speed, 5r / s is finally used.

[0106] Because the number of divergent waves in each composite determines the maximum frame rate, in order to meet our five rotations per second, and each 3D image is reconstructed from 100 2D images, we set 11 divergent waves to composite, that is, the frame rate is 500 frames / second.

[0107] S3. Reconstruct the three-dimensional structure of the object to be acquired based on the echo signals acquired within the first acquisition time period and the acquisition time.

[0108] The acquisition time is used to determine the position of the virtual point source. The reconstruction process is illustrated using the recombination of 11 diverging waves as an example. Each 3D structural image is composed of 11 diverging waves, excited by 11 virtual point sources at different locations. The specific calculation process for the excitation of array elements by a virtual point source is as described in the previous problem. The recombination of 11 diverging waves can also be understood as the presence of 11 virtual point sources. As shown in Figure 15, the virtual point source emits a virtual spherical wave. When the spherical wave reaches the array element, the array element is excited, and the wavefront of each array element forms a spherical wave. To obtain a single ultrasound image, the coherent recombination of the diverging wave data from 11 different angles is required.

[0109] Through the above scheme, the process from signal acquisition to three-dimensional structure reconstruction is realized, thereby achieving the goal of obtaining three-dimensional images without the need for a magnetic positioning sensor at the tip of the catheter, and using a transmission method based on coherent plane wave recombination, which greatly improves the frame rate and reduces the time of three-dimensional acquisition.

[0110] In an optional manner, as shown in FIG4 , the step of reconstructing the three-dimensional structure of the object to be acquired based on the echo signals acquired within the first acquisition time and the acquisition time includes:

[0111] S31, combining the acquisition time and the corresponding echo signal into a two-dimensional sequence;

[0112] The specific process is illustrated in Figure 12. For a single virtual point source, typically located behind the probe, the virtual point source emits a virtual spherical wave. When the spherical wave propagates to the actual transducer 102, the transducer 102 emits an acoustic wave. Due to the difference in the position of the virtual point source and the actual transducer 102 array elements, there will be delays between the different transducers 102 during the actual transmission. Beamforming involves extracting electrical signals at different locations from the overall echo RF signal based on these delays, and then converting these electrical signals into ultrasonic grayscale images, or two-dimensional sequences. Each transmission and reception produces a two-dimensional ultrasonic image. Multiple transmissions and receptions produce a spatiotemporal sequence of ultrasonic images.

[0113] S32, mapping multiple two-dimensional sequences into a three-dimensional space;

[0114] The specific process is performed with reference to FIG8 and FIG15 , where the grayscales of all virtual point sources are coherently superimposed.

[0115] S33, performing linear interpolation on the two-dimensional sequence mapped to the three-dimensional space according to the motion trajectory of the probe to obtain the three-dimensional structure of the object to be collected;

[0116] The specific process is illustrated in Figure 14 . The ultrasound probe rotates based on a fixed bearing, and the 2D data collected during each rotation is fixed. Therefore, the position of each image in volume space can be determined based on the image acquisition order. Therefore, in the reconstruction algorithm, we use a voxel-based reconstruction method and perform reconstruction along the trajectory of the probe motion. First, the plane position in 3D space must be calculated. This can be achieved by determining the probe position relative to this "virtual" plane and then performing a coordinate transformation. Referring to Figure 11 , πt represents the trajectory plane scanned by the probe. Determining the coordinate of X in πt requires two steps: first, the time at which plane πt is scanned is determined. This time t is used to estimate the probe position at that time. The probe position in the virtual plane is: Since the probe is rotating, knowing the acquisition order allows us to determine the order of the acquired 2D images in 3D space. Then, a coordinate transformation is performed to map the image. Where X is a point on πt, and πt is obtained by interpolating πti and πti+1. For the time it takes to scan a certain plane, we set the interval between two acquisitions to a fixed value. Based on the order of the images, we can get the time it takes to capture the plane, and we can also know the position of the probe.

[0117] Then, according to the position and motion trajectory of the probe, linear interpolation is performed on the two-dimensional sequence mapped to the three-dimensional space to obtain the three-dimensional structure of the object to be collected.

[0118] The two-dimensional image is then mapped to a three-dimensional image in space, as shown in Figure 12. Due to the intervals between acquisitions, some areas of Figure 12 lack values. Interpolation is required along the probe's scanning trajectory between frames, using linear interpolation. Referring to Figure 13, the straight-line-like portion labeled 231 constitutes the two-dimensional image, while the curve-like portion labeled 232 constitutes the probe's motion trajectory. Linear interpolation is performed along the probe's motion trajectory, where the values ​​on the vertical and horizontal axes represent the positions of the image pixels. Through this scheme, the probe's motion trajectory can be determined based on the acquisition time and the order of image acquisition. Linear interpolation is performed on the two-dimensional sequence mapped to three-dimensional space according to the motion trajectory, resulting in the three-dimensional structure of the object to be acquired, as shown in Figure 14, thereby reconstructing the three-dimensional structure. The technical solution of this application eliminates the need for a magnetic positioning sensor at the catheter tip when acquiring three-dimensional data, and utilizes a transmission method based on coherent plane wave recombination, significantly improving the frame rate and reducing the time required for three-dimensional acquisition.

[0119] It should be noted that since the data analysis method of the three-dimensional imaging rotation and retraction system of the present application can be implemented in all embodiments of the three-dimensional imaging rotation and retraction system, the data analysis method of the three-dimensional imaging rotation and retraction system of the present application has all the beneficial effects of the three-dimensional imaging rotation and retraction system, and will not be repeated here.

[0120] In an optional manner, the first acquisition time length is a window of a cardiac cycle, and the window includes a slow filling period, a rapid contraction period, an isovolumetric relaxation period, a rapid relaxation period, and a slow relaxation period.

[0121] Among them, the window of a cardiac cycle can be refined into isovolumetric contraction, rapid ejection period, slowed ejection period, pre-diastole, isovolumetric relaxation, rapid filling period, and slowed filling period. The period of cardiac diastole accounts for most of the cardiac cycle, while the changes in the heart during the slowed filling period are relatively small. Therefore, in order to distinguish the movement of the heart, the rapid contraction period can be divided separately, and the isovolumetric relaxation period, rapid diastole period, and slowed diastole period are each a window. Since each cardiac cycle is 0.8S, the time of each window is about 0.2s. According to the above settings, combined with the slip ring speed and acquisition speed, this application can use a rotation speed of 5r / s for signal acquisition, that is, one window cycle can be used to acquire a 3D volume.

[0122] According to the third aspect of the embodiment of the present application, as shown in FIG5 , the present application also provides a data analysis method of a three-dimensional imaging rotation and retraction system for microbubble positioning.

[0123] S11. Acquire, within a second time period, ultrasound spatiotemporal sequence signals after injection of the contrast agent;

[0124] The collected ultrasonic spatiotemporal sequence signal is S(X, Y, T), where (X, Y) is a two-dimensional ultrasonic matrix, T is the number of frames, and T frames are collected in time sequence, so (X, Y, T) is an ultrasonic spatiotemporal sequence.

[0125] S12, converting the ultrasonic spatiotemporal sequence signal into a two-dimensional spatiotemporal matrix;

[0126] The ultrasonic space-time sequence is S(X, Y, T), which is converted into a two-dimensional space-time matrix S(X×Y, T) according to the time series. Then, the singular value decomposition of S(X×Y, T) is performed to obtain: S=UΔV * .

[0127] S13, performing singular value decomposition on the two-dimensional space-time matrix and performing wall filtering on the decomposed singular value components and then compounding them to obtain an initial microbubble signal;

[0128] By hard filtering the singular values ​​and then compounding them, we can get the signal containing only microbubbles. "Δ" represents the singular value of the image time-space sequence. We hard filter the singular values, which is actually to intercept the microbubble information in the middle part, and then pass "S=UΔV * Composite into a spatiotemporal sequence of images of only microbubbles.

[0129] S14, determining a point spread function according to the initial microbubble signal;

[0130] First, the microbubble information is mapped, the main purpose of which is to map its intensity and size. Then, a Gaussian kernel similar to the size and intensity of the microbubble is generated. This Gaussian kernel is the point spread function of the microbubble.

[0131] S15, determining a microbubble correlation coefficient based on the initial microbubble signal and the point spread function;

[0132] The point spread function is used to calculate the cross-correlation with the ultrasound image containing only microbubbles after singular value filtering in the previous step. The result obtained is the correlation coefficient between each position of the ultrasound image and the psf (point spread function).

[0133] S16. When the correlation coefficient is greater than a first preset threshold, confirming that the point spread function is the microbubble center at the current detection moment;

[0134] S17. According to the Hungarian algorithm, the microbubble centers between adjacent frames are matched to obtain the blood flow velocity.

[0135] Finally, the coordinates of the contrast agent are matched frame by frame using the nearest neighbor matching algorithm (Kuhn-Munkras matching algorithm) in particle tracking velocimetry (PTV). This allows the distance of contrast agent movement between adjacent frames to be calculated, thereby obtaining the contrast agent movement velocity, which is the blood flow velocity in the imaging volume.

[0136] The KM algorithm finds each microbubble in the current frame N. In the next frame N+1, based on the microbubbles in frame N and a set window range, it searches for a matching microbubble in frame N+1. It then considers these two microbubbles to be the same, and the trajectory is the vector distance between the two microbubbles. N is greater than 1.

[0137] Through the above scheme, microbubble positioning and tracking are achieved, so that the distance of contrast agent movement between adjacent frames can be calculated, thereby obtaining the contrast agent movement speed, which is the blood flow speed in the imaging volume.

[0138] It should be noted that since the data analysis method of the three-dimensional imaging rotation and retraction system of the present application can be implemented in all embodiments of the three-dimensional imaging rotation and retraction system, the data analysis method of the three-dimensional imaging rotation and retraction system of the present application has all the beneficial effects of the three-dimensional imaging rotation and retraction system, and will not be repeated here.

[0139] According to a fourth aspect of the embodiments of the present application, the present application further provides a data analysis method for a three-dimensional imaging rotation and retraction system for microblood flow imaging. As shown in FIG6 , the data analysis method for a three-dimensional imaging rotation and retraction system includes:

[0140] S50, determining the collection cycle interval according to the ECG;

[0141] During 3D reconstruction of the heart, due to cardiac motion, acquisition requires integration with the electrocardiogram (ECG) to ensure the heart remains in the same position. The acquisition interval is the ECG window period. During acquisition, the catheter remains in the same position; only the probe rotates to obtain 3D information at the current position. Retraction allows the catheter to acquire 3D information at different positions, facilitating multi-scale analysis. The diastole, during which the heart deforms minimally, is approximately 0.2 seconds. If the reconstruction accuracy is 100 frames per 360°, combined with our acquisition speed (500 frames per second) and rotation speed (5 revolutions per second), a 3D image can be obtained within a single cardiac cycle. For higher reconstruction accuracy, more frames are required, which means acquisition over multiple cardiac cycles.

[0142] S51, acquiring enhanced ultrasound signals after injection of contrast agent according to acquisition period intervals;

[0143] The enhanced ultrasonic signal obtained at this time is also the required ultrasonic spatiotemporal sequence signal.

[0144] S52, converting the enhanced ultrasound signal into an ultrasound spatiotemporal sequence signal and executing steps S11-S16 as described above to obtain the microbubble center;

[0145] S53. Track and accumulate the microbubble center at each acquisition moment to obtain a super-resolution image of the microvessel where the microbubble center is located.

[0146] It should be noted that since the data analysis method of the three-dimensional imaging rotation and retraction system of the present application can be implemented in all embodiments of the three-dimensional imaging rotation and retraction system, the data analysis method of the three-dimensional imaging rotation and retraction system of the present application has all the beneficial effects of the three-dimensional imaging rotation and retraction system, and will not be repeated here.

[0147] In the above-described embodiment, super-resolution images of microvessels are obtained by locating, tracking, and accumulating microbubble centers within blood vessels. However, during imaging, microbubble location and tracking are accumulated over the acquisition time, during which the heart inevitably moves. Cardiac motion can generally be divided into diastole and systole, with diastole lasting the longest in the cardiac cycle. To ensure accurate microbubble location, the heart must maintain a consistent configuration as much as possible during acquisition. To achieve this, gated acquisition is performed in conjunction with the ECG, as shown in Figure 9, with each acquisition capturing 0.2 seconds of diastole.

[0148] In the above-mentioned embodiment, by localizing contrast agent microbubbles within myocardial microvasculature, the catheter of the present application can also visualize myocardial microblood flow, providing multi-scale, more comprehensive information for intraoperative guidance and early disease screening. This can provide guidance for intraoperative treatment of structural heart disease and serve as an early screening method for coronary artery disease.

[0149] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. In addition, the embodiments of the present application are not directed to any particular programming language.

[0150] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. Similarly, in order to streamline the application and help understand one or more of the various application aspects, in the above description of the exemplary embodiments of the application, the various features of the embodiments of the application are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby clearly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the application.

[0151] Those skilled in the art will appreciate that the modules in the devices of the embodiments can be adaptively changed and installed in one or more devices different from the embodiments. The modules, units, or components in the embodiments can be combined into one module, unit, or component, and furthermore, they can be divided into multiple submodules, subunits, or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0152] It should be noted that the above embodiments illustrate rather than limit the present application, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

Claims

1. A three-dimensional imaging rotation and retraction system, characterized in that: The three-dimensional imaging rotation and retraction system includes: outer sheath; A detection component is sleeved inside the outer sheath tube and extends along the outer sheath tube; it is used to excite and transmit sound waves and collect echo signals and collection times of the living body to be detected. The diameter of the detection component is smaller than the diameter of the outer sheath tube; A rotating assembly, fixedly connected to the detection assembly, wherein the diameter of the rotating assembly is smaller than the diameter of the outer sheath; A rotation control assembly is fixedly connected to the rotation assembly, and when the rotation control assembly rotates, it drives the rotation assembly and the detection assembly to rotate in the outer sheath; A reciprocating control component is fixedly connected to the rotating component; when the reciprocating control component moves back and forth in the first direction, it drives the rotating component to move back and forth in the extending direction of the outer sheath tube; A signal transmission line is arranged inside the outer sheath; and passes through the reciprocating control component, the rotation control component, the rotation component and the detection component in sequence; and is used to output the multiple echo signals and the corresponding acquisition moments to the external control component for three-dimensional image reconstruction to restore the three-dimensional image of the living body to be detected.

2. The three-dimensional imaging rotation and retraction system according to claim 1, characterized in that: The detection component includes a transducer and a first spring tube, the first end of the first spring tube is fixedly connected to the transducer, the second end of the first spring tube is fixedly connected to the rotation control component and the rotation component, and the signal transmission line passes through the hollow parts of the transducer and the first spring tube in sequence to transmit electrical energy to the rotation control component.

3. The three-dimensional imaging rotation and retraction system according to claim 2, characterized in that: The rotation control assembly includes a rotating motor, a sleeve, a first conductive slip ring, and a transmission belt. The rotating shaft of the rotating motor is transmission-connected to the first conductive slip ring via the transmission belt. The first end of the sleeve is electrically connected to an external signal transmission line, and the second end of the sleeve is rotatably arranged with the first conductive slip ring. The first conductive slip ring is sleeved on the signal transmission line. When the rotating motor drives the first conductive slip ring to rotate, the signal transmission line and the first spring tube are also driven to rotate.

4. The three-dimensional imaging rotation and retraction system according to claim 1, characterized in that: The rotation and retraction system for three-dimensional imaging also includes a sliding base and a fixed base, the rotation control assembly and the reciprocating control assembly are arranged on the sliding base, the reciprocating control assembly includes a retraction motor, at least one first sliding member, a screw rod, a retraction motor and at least one second sliding member, the first sliding member is arranged at the bottom of the sliding base, the second sliding member is arranged on the fixed base, the first sliding member and the second sliding member are slidably arranged, the retraction motor is arranged on the fixed base, the retraction motor and the first end of the screw rod are rotatably arranged, and the second end of the screw rod is fixedly connected to the fixed base or the rotation control assembly or the reciprocating control assembly; When the retraction motor rotates, it drives the screw rod to rotate to push or pull the fixed base to move.

5. The three-dimensional imaging rotation and retraction system according to any one of claims 1 to 4, characterized in that: The rotating assembly is coaxially arranged with the outer sheath tube.

6. A data analysis method for a three-dimensional imaging rotation and retraction system, characterized in that: For 3D image reconstruction, the data analysis method of the three-dimensional imaging rotation and pullback system is performed based on the three-dimensional imaging rotation and pullback system according to any one of claims 1 to 5, and the data analysis method of the three-dimensional imaging rotation and pullback system includes: The detection component of the three-dimensional imaging rotation and retraction system outputs an ultrasonic signal at a first preset frequency, and the detection component operates at a first rotation speed and a first axial movement speed; Acquire, within a first acquisition duration, an echo signal of the living body to be detected and an acquisition time corresponding to each acquisition according to a first image acquisition frequency; The three-dimensional structure of the object to be acquired is reconstructed according to the echo signals acquired within the first acquisition time and the acquisition time.

7. The data analysis method of the three-dimensional imaging rotation and retraction system according to claim 6, characterized in that: The first acquisition time length is a window of a cardiac cycle, and the window includes a slow filling period, a rapid contraction period, an isovolumetric relaxation period, a rapid relaxation period, and a slow relaxation period.

8. The data analysis method for the three-dimensional imaging rotation and retraction system according to claim 6, characterized in that: The step of reconstructing the three-dimensional structure of the object to be acquired based on the echo signals acquired within the first acquisition time and the acquisition time includes: Combining the acquisition moments and the corresponding echo signals into a two-dimensional sequence; Mapping a plurality of the two-dimensional sequences into a three-dimensional space; The two-dimensional sequence mapped to the three-dimensional space is linearly interpolated according to the motion trajectory of the probe to obtain the three-dimensional structure of the object to be collected; based on the position of each probe, the echo signals are superimposed and beam-synthesized into a plane.

9. A data analysis method for a three-dimensional imaging rotation and retraction system, characterized in that: The data analysis method of the three-dimensional imaging rotation and retraction system for microbubble positioning is performed based on the three-dimensional imaging rotation and retraction system according to any one of claims 1 to 5, and the data analysis method of the three-dimensional imaging rotation and retraction system comprises: S11. Acquire, within a second time period, ultrasound spatiotemporal sequence signals after injection of the contrast agent; S12, converting the ultrasonic spatiotemporal sequence signal into a two-dimensional spatiotemporal matrix; S13, performing singular value decomposition on the two-dimensional space-time matrix and performing wall filtering on the decomposed singular value components and then recombining them to obtain an initial microbubble signal; S14, determining a point spread function according to the initial microbubble signal; S15, determining a microbubble correlation coefficient according to the initial microbubble signal and the point spread function; S16. When the correlation coefficient is greater than a first preset threshold, confirming that the point spread function is the microbubble center at the current detection moment; S17. Pair the microbubble centers between adjacent frames according to the Hungarian algorithm to obtain blood flow velocity.

10. A data analysis method for a three-dimensional imaging rotation and retraction system, characterized in that: For micro-blood flow imaging, the data analysis method of the three-dimensional imaging rotation and retraction system is performed based on the three-dimensional imaging rotation and retraction system according to any one of claims 1 to 5, and the data analysis method of the three-dimensional imaging rotation and retraction system includes: Determine the sampling cycle interval based on ECG; Acquiring enhanced ultrasound signals after injection of contrast agent according to the acquisition period interval; Converting the enhanced ultrasonic signal into an ultrasonic spatiotemporal sequence signal and executing steps S11-S16 as claimed in claim 9 to obtain the microbubble center; The microbubble center at each acquisition moment is tracked and accumulated to obtain a super-resolution image of the microvessel where the microbubble center is located.

Images