Real-time three-dimensional intracardiac ultrasound catheter, ultrasound medical device, and ultrasound imaging method

Abstract

The present application relates to the technical field of ultrasound medical devices, and relates to a real-time three-dimensional intracardiac ultrasound catheter, an ultrasound medical device, and an ultrasound imaging method. The real-time three-dimensional intracardiac ultrasound catheter comprises a catheter structure, an ultrasound assembly, a transmission rotating shaft, and an outer sheath. An accommodating cavity is provided inside the catheter structure. The ultrasound assembly is rotatably connected to the catheter structure and suspended in the accommodating cavity. The transmission rotating shaft is connected to the ultrasound assembly and connected to an external bending adjustment handle. The outer sheath is connected to the transmission rotating shaft and located on the side of the transmission rotating shaft away from the ultrasound assembly. In the real-time three-dimensional intracardiac ultrasound catheter of the present embodiment, by providing the rotatable ultrasound assembly to cooperate with the catheter structure, the transmission rotating shaft can drive the ultrasound assembly to rotate relative to the catheter structure, so as to achieve three-dimensional scanning and detection, with a compact structure and high imaging quality.

Description

Real-time three-dimensional intracardiac ultrasound catheters, ultrasound medical equipment and ultrasound imaging methods

[0001] This application claims priority to Chinese Patent Application No. CN202411764447.6, filed on December 4, 2024, entitled “Real-time Three-dimensional Intracardiac Ultrasonic Catheter, Ultrasonic Medical Device and Ultrasonic Imaging Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of ultrasound medical equipment technology, and in particular to a real-time three-dimensional intracardiac ultrasound catheter, ultrasound medical equipment, and ultrasound imaging method. Background Technology

[0003] In interventional surgeries, observation of cardiac structures is extremely important for surgeons, directly impacting the safety and effectiveness of the procedure. Traditional observation methods primarily rely on X-ray imaging, but these suffer from issues such as radiation exposure, imaging delays, and limited viewing angles. Therefore, researchers have been seeking safer, more real-time, and more intuitive methods for observing cardiac structures.

[0004] Intracardiac ultrasound (ICE) technology has emerged to provide a new, radiation-free method for observing cardiac structures. ICE technology uses an ultrasound probe at the distal end of a catheter to enable real-time observation of cardiac structures without inserting the catheter into the heart. By adjusting the bending direction and angle of the ultrasound probe, physicians can flexibly adjust the imaging field of view, clearly seeing key information such as the structures within the heart, blood flow, and catheter position.

[0005] However, ICE technology still faces challenges in observing cardiac structures. For example, traditional ICE technology typically uses a single sound source, resulting in a limited imaging range and making it unsuitable for all types of cardiac surgery. Furthermore, ICE technology is technically demanding, requiring experienced physicians to perform precise operations to ensure accurate placement of the ultrasound probe and high-quality imaging.

[0006] Therefore, it is necessary to address these issues in order to improve the current situation. Application content

[0007] This application provides a real-time three-dimensional intracardiac ultrasound catheter, ultrasound medical device, and ultrasound imaging method, which enables more accurate volume measurement, more intuitive spatial morphology of tissues and organs, and real-time three-dimensional imaging-guided surgery.

[0008] This application proposes a real-time three-dimensional intracardiac ultrasound catheter, comprising:

[0009] The catheter structure has an internal receiving cavity;

[0010] An ultrasound component is rotatably connected to the catheter structure and suspended within the receiving cavity;

[0011] A drive shaft, connected to the ultrasonic component and connected to an external bending handle; and

[0012] An outer sheath is connected to the drive shaft and located on the side of the drive shaft away from the ultrasonic component.

[0013] According to one embodiment of this application, the ultrasound assembly includes an ultrasound transducer, a mounting bracket, and a signal transmission line. The mounting bracket is rotatably connected to the conduit structure. The ultrasound transducer is disposed on the mounting bracket. The signal transmission line is signal-connected to the ultrasound transducer and is used to connect to an external ultrasound host.

[0014] According to one embodiment of this application, the ultrasound component further includes a filling medium that fills the receiving cavity and covers the ultrasound component, and the filling medium is a flexible medium.

[0015] According to one embodiment of this application, the conduit structure includes a tube body and a support portion. The support portion is connected to the tube body and surrounds the tube body to form the receiving cavity. One end of the mounting bracket is rotatably connected to the support portion. The transmission shaft includes a shaft body and a sealing ring. The sealing ring is disposed inside the shaft body. The shaft body is connected to the tube body and connected to the bending handle. The bending handle is used to drive the shaft body to swing and adjust the tube body. The other end of the mounting bracket passes through the sealing ring and is connected to the rotation connector on the bending handle.

[0016] According to one embodiment of this application, the mounting bracket includes a first rotating shaft and a second rotating shaft, which are respectively disposed at opposite ends of the mounting bracket. The first rotating shaft is rotatably connected to the support portion, and the second rotating shaft is rotatably connected to the sealing ring. The second rotating shaft is also connected to the rotating connector.

[0017] According to one embodiment of this application, the transmission shaft further includes a connecting pipe, which is connected to the mounting bracket and the rotary connector respectively.

[0018] According to one embodiment of this application, the connecting tube has a hollow structure, the signal transmission line passes through the connecting tube and is used to connect with the ultrasonic connector, and the ultrasonic connector is connected to the ultrasonic host.

[0019] Alternatively, the connecting tube may be a solid structure, and the signal transmission line may be arranged parallel to the connecting tube.

[0020] According to one embodiment of this application, the three-dimensional intracardiac ultrasound catheter further includes a bending handle and a rotating connector. The bending handle includes a bending cable embedded in the catheter structure and is connected to both the bending handle and the transmission shaft. The bending handle drives the bending cable to drive the transmission shaft to swing the catheter structure, thereby bending the front end of the catheter structure. The rotating connector is connected to the ultrasound component and drives the ultrasound component to rotate or reciprocate relative to the catheter structure in a single direction.

[0021] This application also provides an ultrasound medical device, comprising:

[0022] Ultrasound main unit;

[0023] The real-time three-dimensional intracardiac ultrasound catheter as described in any of the above, the real-time three-dimensional intracardiac ultrasound catheter further includes an ultrasound connector that is signal-connected to the ultrasound component, the ultrasound connector being signal-connected to the rotary connector.

[0024] This application also provides an ultrasound imaging method, employing a real-time three-dimensional intracardiac ultrasound catheter as described in any one of the above claims, or an ultrasound medical device as described in any one of the above claims, the ultrasound imaging method comprising the following steps:

[0025] The ultrasound assembly is activated and driven to rotate relative to the catheter structure, the ultrasound assembly emitting at least one sound beam and all structure echo sound beams.

[0026] The filter in the ultrasound host filters out noise.

[0027] The ultrasonic component acquires the echo beam and aligns it with the trigger signal of the motor driving the transmission shaft according to the timing signal.

[0028] The three-dimensional model is reconstructed in real time based on the echo beam.

[0029] Implementing the embodiments of this application has the following beneficial effects:

[0030] In the real-time three-dimensional intracardiac ultrasound catheter of this embodiment, a rotatable ultrasound component is set to cooperate with the catheter structure. The ultrasound component can be driven to rotate relative to the catheter structure through a transmission shaft to achieve three-dimensional scanning detection. The structure is compact and the detection and recognition quality is high. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] in:

[0033] Figure 1 is a schematic cross-sectional view of the real-time three-dimensional intracardiac ultrasound catheter in an embodiment of this application;

[0034] Figure 2 is a schematic cross-sectional view of a real-time three-dimensional intracardiac ultrasound catheter in another embodiment of this application;

[0035] Figure 3 is a schematic diagram of the structure of the ultrasonic medical device in an embodiment of this application;

[0036] Figure 4 is a schematic diagram of the imaging principle of the real-time three-dimensional intracardiac ultrasound catheter in an embodiment of this application;

[0037] Figure 5 is a flowchart illustrating the ultrasound imaging method in an embodiment of this application; Marker description

[0038] 1. Ultrasonic medical equipment; 10. Real-time three-dimensional intracardiac ultrasound catheter; 100. Catheter structure; 110. Tube body; 120. Support part; 130. Guide part; 200. Ultrasonic component; 210. Ultrasonic transducer; 220. Mounting bracket; 221. First rotating shaft; 222. Second rotating shaft; 230. Signal transmission line; 240. Filling medium; 300. Transmission shaft; 310. Shaft body; 320. Bearing; 330. Sealing ring; 400. Outer sheath; 500. Ultrasonic connector; 20. Ultrasonic main unit; 21. Adjustment handle; 22. Rotary connector. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] Referring to Figures 1 to 4, this application embodiment provides a real-time three-dimensional intracardiac ultrasound catheter 10, which includes a catheter structure 100, an ultrasound component 200, a drive shaft 300, and an outer sheath 400; the catheter structure 100 has a receiving cavity inside; the ultrasound component 200 is rotatably connected to the catheter structure 100 and suspended in the receiving cavity; the drive shaft 300 is connected to the ultrasound component 200 and connected to an external bending handle; the outer sheath 400 is connected to the drive shaft 300 and is located on the side of the drive shaft 300 away from the ultrasound component 200.

[0041] In the real-time three-dimensional intracardiac ultrasound catheter 10 of this embodiment, a rotatable ultrasound component 200 is provided to cooperate with the catheter structure 100. The ultrasound component 200 can be driven to rotate relative to the catheter structure 100 through the transmission shaft 300 to realize three-dimensional scanning detection. The structure is compact and the detection and recognition quality is high.

[0042] Specifically, the ultrasound assembly 200 includes an ultrasound transducer 210, a mounting bracket 220, and a signal transmission line 230. The mounting bracket 220 is rotatably connected to the conduit structure 100. The ultrasound transducer 210 is mounted on the mounting bracket 220. The signal transmission line 230 is connected to the ultrasound transducer 210 and is used to connect to an external ultrasound host 20.

[0043] In this embodiment, a mounting bracket 220 is suspended in the receiving cavity of the conduit structure 100. The mounting bracket 220 can serve as a mounting carrier for the ultrasonic transducer 210. The mounting bracket 220 can be connected to and driven to rotate via the transmission shaft 300. At this time, the mounting bracket 220 can drive the ultrasonic transducer 210 to rotate relative to the conduit structure 100. By rotating the ultrasonic transducer 210, the ultrasonic transducer 210 can be driven to swing in the R direction, so that the ultrasonic transducer 210 can detect and identify within the S imaging space. The signal transmission line 230 can be used to transmit the corresponding signals in the ultrasonic transducer 210. These signals include, but are not limited to, the control signals of the ultrasonic transducer 210 and the image signals received by the ultrasonic transducer 210.

[0044] Furthermore, the ultrasound assembly 200 also includes a filling medium 240, which fills the cavity and covers the ultrasound assembly 200, and the filling medium 240 is a flexible medium.

[0045] In this embodiment, the filling medium 240 is preferably a liquid ultrasonic medium, which may be, but is not limited to, water, silicone oil, reinforcing agent, etc. By providing the filling medium 240 in the conduit structure 100, the ultrasonic energy emitted by the ultrasonic transducer 210 can be conducted through the filling medium 240 to realize the ultrasonic detection function of the ultrasonic transducer 210.

[0046] Specifically, the conduit structure 100 includes a tube body 110 and a support portion 120. The support portion 120 is connected to the tube body 110 and surrounds the tube body 110 to form a receiving cavity. One end of the mounting bracket 220 is rotatably connected to the support portion 120. The transmission shaft 300 includes a shaft body 310 and a sealing ring 320. The sealing ring 320 is located inside the shaft body 310. The shaft body 310 is connected to the mounting bracket 220, the tube body 110, and the bending handle 600. The bending handle 600 is used to drive the shaft body 310 to swing and adjust the tube body 110. The other end of the mounting bracket 220 passes through the sealing ring 320 and is connected to the rotating connector 700 on the bending handle 600.

[0047] With this configuration, the tube body 110 can serve as the base of the conduit structure 100 and form a receiving cavity. The support portion 120 is connected to the end of the tube body 110 and serves as the connecting carrier for the mounting bracket 220. The mounting bracket 220 only rotates relative to the support portion 120, thus avoiding contact between the ultrasonic component 200 and the tube body 110 and reducing frictional resistance, thereby improving the smoothness of the ultrasonic component 200's rotation. During the rotation of the mounting bracket 220 relative to the conduit structure 100, the sealing ring 320 can support the end of the mounting bracket 220 away from the support portion 120. Both ends of the mounting bracket 220 can be supported by the support portion 120 and the sealing ring 320 respectively, allowing the mounting bracket 220 to rotate stably relative to the conduit structure 100 and preventing swaying, thereby effectively improving the detection accuracy of the ultrasonic transducer 210.

[0048] In one embodiment, the mounting bracket 220 includes a first rotating shaft 221 and a second rotating shaft 222. The first rotating shaft 221 and the second rotating shaft 222 are respectively disposed at opposite ends of the mounting bracket 220. The first rotating shaft 221 is rotatably connected to the support portion 120, and the second rotating shaft 222 is rotatably connected to the sealing ring 320. The second rotating shaft 222 is connected to the rotating connector 700.

[0049] In this embodiment, the first rotating shaft 221 protrudes from the end of the mounting bracket 220, and the second rotating shaft 222 extends outward from the other end of the mounting bracket 220. The first rotating shaft 221 can be inserted into the support part 120, and the radial and axial movement of the first rotating shaft 221 is positioned by the support part 120. It can also rotate with the first rotating shaft 221 to achieve the support function when the mounting bracket 220 rotates. At this time, the second rotating shaft 222 is rotatably connected to the sealing ring 320 and is supported by the sealing ring 320. Thus, the mounting bracket 220 is supported by the first rotating shaft 221 and the second rotating shaft 222 respectively, so that the mounting bracket 220 can be suspended as a whole in the tube body 110.

[0050] Furthermore, the drive shaft 300 also includes a connecting pipe 330, which is connected to the mounting bracket 220 and the rotary connector 700 respectively.

[0051] With this configuration, the sealing ring 320 can seal the end of the tube body 110 away from the support 120. At this time, the two opposite ends of the receiving cavity are sealed by the support 120 and the sealing ring 320 respectively, so that the filling medium 240 is in the sealed receiving cavity, so as to avoid leakage of the liquid filling medium 240.

[0052] Referring to Figure 2, in another embodiment, the connecting tube 330 is a hollow structure, and the signal transmission line 230 passes through the connecting tube 330 and is used to connect with the ultrasonic connector 500, which is connected to the ultrasonic host 20.

[0053] In this embodiment, by setting the connecting tube 330 as a hollow structure, the signal transmission line 230 can be inserted inside the connecting tube 330 and connected to the external ultrasound host 20 through the ultrasound connector 500. At this time, the connecting tube 330 can also protect the signal transmission line 230. The real-time three-dimensional intracardiac ultrasound catheter 10 has a compact overall structure and is easy to use.

[0054] Referring to Figure 1, in one embodiment, the connecting tube 330 is a solid structure, and the signal transmission line 230 is arranged parallel to the connecting tube 330.

[0055] In this embodiment, the connecting tube 330 can be used only to drive the mounting bracket 220 to rotate, and at this time the signal transmission line 230 can be arranged parallel to the connecting tube 330 or arranged around the connecting tube 330. In some embodiments, the connecting tube 330 can also be a spring shaft, which is not limited here.

[0056] In one embodiment, the three-dimensional intracardiac ultrasound catheter 10 further includes a bending handle 600 and a rotating connector 700. The bending handle 600 includes a bending cable 610, which is embedded in the catheter structure 100 and connected to both the bending handle 600 and the drive shaft 300. The bending handle 600 drives the bending cable 610 to drive the drive shaft 300 to swing the catheter structure 100, thereby bending the front end of the catheter structure 100. The rotating connector 700 is connected to the ultrasound component 200 and drives the ultrasound component 200 to rotate or reciprocate relative to the catheter structure 100 in a single direction.

[0057] With this configuration, by pulling the bending cable 610 through the bending handle 600, the transmission shaft 300 can be driven to bend the front end of the conduit structure 100 to achieve the adjustment function; the rotating connector 700 can drive the mounting bracket 220 to rotate relative to the conduit structure 100 through the connecting pipe 330, so as to drive the ultrasonic transducer 210 to rotate or swing to achieve the imaging function.

[0058] Furthermore, the conduit structure 100 also includes a guide portion 130, which is connected to the end of the support portion 120 away from the tube body 110, and the front end of the guide portion 130 has an arc-shaped structure.

[0059] This design allows the end of the catheter structure 100 to be curved, which reduces the friction between the catheter structure 100 and human tissue and the forward resistance of the catheter structure 100 when the real-time three-dimensional intracardiac ultrasound catheter 10 is placed in a blood vessel or human body, thus preventing the catheter structure 100 from damaging human tissue during delivery.

[0060] This application also provides an ultrasound medical device 1, which includes an ultrasound host 20 and a real-time three-dimensional intracardiac ultrasound catheter 10 in any of the above embodiments; the real-time three-dimensional intracardiac ultrasound catheter 10 also includes an ultrasound connector 500 that is signal-connected to the ultrasound component 200, the ultrasound connector 500 is signal-connected to the rotation connector 700, and the bending handle 600 is connected to the catheter structure 100 and the transmission shaft 300.

[0061] It is understood that in the ultrasound medical device 1 of this embodiment, by setting the real-time three-dimensional intracardiac ultrasound catheter 10 in any of the above embodiments, the real-time three-dimensional intracardiac ultrasound catheter 10 of this embodiment is configured with a rotatable ultrasound component 200 cooperating with the catheter structure 100. The ultrasound component 200 can be driven to rotate relative to the catheter structure 100 through the transmission shaft 300, so as to realize the three-dimensional scanning detection function of the ultrasound medical device 1. It has a compact structure and high detection and recognition quality.

[0062] Specifically, the rotary connector 700 and the signal transmission line 230 can be a single integrated structure or separate cables and connection structures; no single limitation is made here.

[0063] This application also provides an ultrasound imaging method, which employs the real-time three-dimensional intracardiac ultrasound catheter 10 or the ultrasound medical device 1 in any of the above embodiments; the ultrasound imaging method includes the following steps:

[0064] Step S100: Start the ultrasound assembly 200 and drive the ultrasound assembly 200 to rotate relative to the catheter structure 100. The ultrasound assembly 200 emits at least one sound beam and all structure echo sound beams.

[0065] Step S200: The filter in the ultrasound host 20 filters out noise;

[0066] In step S300, the echo beam acquired by the ultrasonic component 200 is aligned with the trigger signal of the motor driving the transmission shaft 300 according to the timing signal.

[0067] Step S400: Reconstruct the three-dimensional model in real time based on the echo beam.

[0068] In the ultrasound imaging method of this embodiment, by activating the ultrasound component 200, the ultrasound transducer 210 can be reciprocated or scanned unidirectionally. At this time, the ultrasound transducer 210 can acquire a single frame of two-dimensional image. The ultrasound component 200 is driven to rotate by the transmission shaft 300, and the two-dimensional images can be superimposed to form an S-image space to realize the real-time three-dimensional intracardiac ultrasound catheter 10 ultrasound detection function.

[0069] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0070] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0071] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A real-time three-dimensional intracardiac echocardiography catheter, comprising: include: The catheter structure has an internal receiving cavity; An ultrasound component is rotatably connected to the catheter structure and suspended within the receiving cavity; A drive shaft, connected to the ultrasonic component and connected to an external bending handle; and An outer sheath is connected to the drive shaft and located on the side of the drive shaft away from the ultrasonic component.

2. The real-time three-dimensional intracardiac ultrasound catheter according to claim 1, characterized in that, The ultrasound assembly includes an ultrasound transducer, a mounting bracket, and a signal transmission line. The mounting bracket is rotatably connected to the conduit structure. The ultrasound transducer is mounted on the mounting bracket. The signal transmission line is connected to the ultrasound transducer and is used to connect to an external ultrasound host.

3. The real-time three-dimensional intracardiac echocardiography catheter of claim 2, wherein, The ultrasound component further includes a filling medium, which fills the cavity and covers the ultrasound component, and the filling medium is a flexible medium.

4. The real-time three-dimensional intracardiac ultrasound catheter according to claim 2, characterized in that, The conduit structure includes a tube body and a support portion. The support portion is connected to the tube body and surrounds the tube body to form the receiving cavity. One end of the mounting bracket is rotatably connected to the support portion. The transmission shaft includes a shaft body and a sealing ring. The sealing ring is disposed inside the shaft body. The shaft body is connected to the tube body and is connected to the bending handle. The bending handle is used to drive the shaft body to swing and adjust the tube body. The other end of the mounting bracket passes through the sealing ring and is connected to the rotating connector on the bending handle.

5. The real-time three-dimensional intracardiac ultrasound catheter according to claim 4, characterized in that, The mounting bracket includes a first rotating shaft and a second rotating shaft, which are respectively located at opposite ends of the mounting bracket. The first rotating shaft is rotatably connected to the support portion, and the second rotating shaft is rotatably connected to the sealing ring. The second rotating shaft is also connected to the rotating connector.

6. The real-time three-dimensional intracardiac ultrasound catheter according to claim 4, characterized in that, The transmission shaft also includes a connecting pipe, which is connected to the mounting bracket and the rotary connector respectively.

7. The real-time three-dimensional intracardiac ultrasound catheter according to claim 6, characterized in that, The connecting tube has a hollow structure, and the signal transmission line passes through the connecting tube and is used to connect to the ultrasonic connector. The ultrasonic connector is connected to the ultrasonic host. Alternatively, the connecting tube may be a solid structure, and the signal transmission line may be arranged parallel to the connecting tube.

8. The real-time three-dimensional intracardiac ultrasound catheter according to claim 4, characterized in that, The three-dimensional intracardiac ultrasound catheter also includes a bending handle and a rotating connector. The bending handle includes a bending cable embedded in the catheter structure and is connected to both the bending handle and the drive shaft. The bending handle drives the bending cable to drive the drive shaft, causing the catheter structure to swing, thereby bending the front end of the catheter structure. The rotating connector is connected to the ultrasound component and drives the ultrasound component to rotate or reciprocate relative to the catheter structure in a single direction.

9. An ultrasonic medical device, characterized in that, include: Ultrasound main unit; The real-time three-dimensional intracardiac ultrasound catheter as described in claim 8 further includes an ultrasound connector that is signal-connected to the ultrasound component, and the ultrasound connector is signal-connected to the rotating connector.

10. An ultrasound imaging method, characterized in that, Using the ultrasound medical device as described in claim 9, the ultrasound imaging method includes the following steps: The ultrasound assembly is activated and driven to rotate relative to the catheter structure, the ultrasound assembly emitting at least one sound beam and all structure echo sound beams. The filter in the ultrasound host filters out noise. The ultrasonic component acquires the echo beam and aligns it with the trigger signal of the motor driving the transmission shaft according to the timing signal. The three-dimensional model is reconstructed in real time based on the echo beam.

Images