CN116342497B - Three-dimensional mapping method and system for inner wall of human body cavity - Google Patents
Three-dimensional mapping method and system for inner wall of human body cavity Download PDFInfo
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- 238000002565 electrocardiography Methods 0.000 description 2
- 230000007831 electrophysiology Effects 0.000 description 2
- 238000002001 electrophysiology Methods 0.000 description 2
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- 230000003287 optical effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 208000001871 Tachycardia Diseases 0.000 description 1
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- 210000004204 blood vessel Anatomy 0.000 description 1
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Abstract
The invention provides a three-dimensional mapping method and a three-dimensional mapping system for the inner wall of a human body cavity, wherein the method comprises the steps of determining a mapping target by a user before mapping; searching in a system according to the mapping target, and determining a mapping target point of the mapping target according to a searching result; searching an electrical signal characteristic diagram of each mapping target in a system according to the mapping target; searching a target spot mapping sequence in a system according to the mapping target; collecting a real-time electric signal diagram generated during the marking; judging the similarity of the real-time electric signal diagram and the electric signal characteristic diagram of the mapping target point; when the similarity is larger than a first threshold value, prompting the catheter to reach a first target position at an operation interface; determining a second target according to the first target position and the target mapping sequence; prompting the advancing direction of the catheter in an operation interface according to the first target point and the second target point. The technical problem that mapping is difficult for novice doctors in the prior art is solved through the scheme.
Description
Technical Field
The invention relates to the field of medical data processing, in particular to a three-dimensional mapping method and system for the inner wall of a human body cavity.
Background
Atrial fibrillation is one of the most common tachyarrhythmias, and the incidence rate of atrial fibrillation is increased along with aging of population, so that the atrial fibrillation becomes one of important diseases affecting the health of the aged, and great economic burden is brought to society; in order to treat arrhythmia such as atrial fibrillation, it is necessary to know the heart structure of a patient and the electrical activity of each part of the heart, and therefore, it is necessary to measure cardiac markers at the time of treatment.
Cardiac marker measurements are generally classified into conventional and map electrocardiography. The difference between a map electrocardiogram and a conventional electrocardiogram is that the map electrocardiogram shows electrical conduction in a three-dimensional mode and the conventional electrocardiogram shows electrical conduction in a two-dimensional mode. The mapping electrocardiogram can embody the electrical conduction under the three-dimensional mapping of the normal or abnormal cardiac rate, and simultaneously can comprehensively explain the formation of the normal and abnormal electrocardiogram by combining with the anatomical information, directly and comprehensively display the cardiac electrical conduction information and better display the mapping principle of the electrocardiogram; complex arrhythmia conditions such as atrial fibrillation are more complex with respect to cardiac potential and cardiac structure, and conventional electrocardiography is often difficult to achieve, thus often requiring the use of cardiac mapping techniques.
Common methods of mapping include optical mapping and potential mapping, cardiac optical mapping records cell membrane potential with the aid of voltage sensitive dyes and digital imaging techniques, and its greatest advantage is high spatial resolution, while it is non-contact, eliminating complex wiring between the mapping electrodes and the measurement device, but currently used voltage sensitive dyes are toxic and cannot be implemented in volume mapping.
The potential mapping is a mapping method mainly applied at present, and in the existing application, such as the Carto3 system, the basic principle is that three pairs of electrodes with orthogonal space are placed on the body surface of a patient, wherein the common positions are the front chest-back, the left armpit-right armpit and the back of the neck-the inner side of the thigh, and the three pairs of electrodes form a three-dimensional space in space, which is similar to xyz three axes of three-dimensional coordinates. In the case of mapping, the catheter is delivered to the heart through the veins of the thigh, the catheter head having means for acquiring the electrocardiographic signals. As shown in FIG. 1, during the mapping, the physician manipulates the catheter head to advance, retract, bend, rotate, so that the catheter head can measure electrical signals of the endocardium and determine the position of the catheter head in the coordinate system formed by the three pairs of electrodes, thereby modeling the heart for measurement.
When the heart is marked by using the catheter in the prior art, the structure of the room is determined by touching the wall by hand in a dark room, a special position can be determined when a special position (such as doors and windows, furniture and the like) is touched, and more other positions are found from the special point, so that the structure of the room needs to be very familiar.
When the marking is carried out, the heart can be regarded as a room, different positions are touched through the catheter head to generate different electrical measurement signals, for example, when the catheter reaches the lower chamber of the atrium, potential fluctuation (such as electric signal fluctuation on the left side in fig. 1) can be measured at part of positions, a doctor determines the position of the lower chamber according to the potential fluctuation, detects and models the lower chamber, an experienced doctor can plan a certain marking route, and after determining that one position is reached, the catheter is further operated to move to enter other positions planned in advance to continue marking. Due to fluctuations in judgment potential and the long training required to determine the mapping route, it is very challenging for practitioners with inadequate experience.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides a three-dimensional mapping method and system for the inner wall of a human body cavity.
In one aspect of the present invention, there is provided a three-dimensional mapping method for an inner wall of a human body cavity, comprising: determining a target to be measured by a user before mapping; searching in a system according to the mapping target, and determining a mapping target point of the mapping target according to a searching result; searching an electrical signal characteristic diagram of each mapping target in a system according to the mapping target; searching a target spot mapping sequence in a system according to the mapping target; collecting a real-time electric signal diagram generated during the marking; judging the similarity of the real-time electric signal diagram and the electric signal characteristic diagram of the mapping target point; when the similarity is larger than a first threshold value, prompting the catheter to reach a first target position at an operation interface; determining a second target according to the first target position and the target mapping sequence; prompting the advancing direction of the catheter in an operation interface according to the first target point and the second target point.
Further, the body cavity is a heart.
Further, the mapping targets of each type of mapping targets, the electric signal feature graphs of the targets and the target mapping sequence are input into a mapping system database in advance.
Further, training the training neural network by using the historical electric signal image to obtain a neural network capable of outputting the similarity of the characteristic images, and judging the similarity of the electric signal characteristic images of the real-time electric signal image and the electric signal characteristic images of the mapping targets by using the neural network.
Further, after the second target point is determined, the specific operation of the catheter is displayed at the operation interface.
Another aspect of the present invention provides a three-dimensional mapping system for an inner wall of a human body cavity, wherein the system comprises the following modules: a selection module for determining a target of measurement by a user prior to mapping; the first retrieval module is used for retrieving in the system according to the mapping target and determining a mapping target point of the mapping target according to a retrieval result; the second retrieval module is used for retrieving the electrical signal characteristic diagram of each mapping target in the system according to the mapping target; the third retrieval module is used for retrieving target spot mapping sequences in the system according to the mapping targets; the acquisition module is used for collecting a real-time electric signal graph generated during the marking; the judging module is used for judging the similarity between the real-time electric signal image and the electric signal characteristic image of the mapping target point; the first prompting module is used for prompting the catheter to reach a first target position at the operation interface when the similarity is larger than a first threshold value; the determining module is used for determining a second target according to the first target position and the target mapping sequence; and the second prompting module is used for prompting the advancing direction of the catheter at the operation interface according to the first target point and the second target point.
Further, the body cavity is a heart.
Further, the mapping targets of each type of mapping targets, the electric signal feature graphs of the targets and the target mapping sequence are input into a mapping system database in advance.
Further, training the training neural network by using the historical electric signal image to obtain a neural network capable of outputting the similarity of the characteristic images, and judging the similarity of the electric signal characteristic images of the real-time electric signal image and the electric signal characteristic images of the mapping targets by using the neural network.
Further, after the second target point is determined, the specific operation of the catheter is displayed at the operation interface.
According to the technical scheme, the existing mapping system is modified, information such as targets provided by experienced doctors, mapping sequences and the like is input into the mapping system, and when other doctors perform mapping, the current mapping operation is prompted on an operation interface, so that the difficulty of the mapping operation is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a mapping system in the prior art;
FIG. 2 is a schematic diagram of the method of the present invention.
Detailed Description
The invention will be described with reference to the drawings and detailed description.
The present embodiment solves the above problem by:
in one embodiment, referring to fig. 2, the present invention provides a method for three-dimensional mapping of the inner wall of a human body lumen.
The method of the embodiment is a further improvement of the existing mapping system, and can be realized through interfaces or plug-in programs provided by the system, and the mapping system in the embodiment refers to the improved mapping system.
First, a target of measurement is determined by a user before mapping.
The human body cavity refers to a cavity part in a human body, such as a heart, a blood vessel, a chest cavity and the like; the inner wall of the human body cavity refers to the inner membrane position of the cavity; this embodiment is exemplified by the heart, and those skilled in the art can similarly expand for other types of chambers. Because different cavity electrophysiologies behave differently, it is desirable to determine what type of target a particular mapping is before performing the mapping, so that the system determines the corresponding mapping target and thus the corresponding electrophysiology signal characteristics.
Before mapping, the system may pop up a list of selected items, the user may manually select the target to be mapped, the user may manually input the target to be mapped, or any other method, so long as the system is informed of the target to be mapped.
The division of the target may be performed according to mapping experience, physiological structure, etc., such as division of the target into left atrium, right atrium, etc. The present embodiment is described using the right atrium as an example, and the right atrium is mapped in the subsequent steps, and mapping may be performed by similar means for other mapping targets.
And searching in the system according to the mapping target, and determining the mapping target point of the mapping target according to a searching result.
After the standard target is determined by a user, an experienced doctor can determine the target mapping target (the target point refers to a point with a certain electric signal characteristic, the specific position of the inner cavity can be determined through the signals) according to practical operation experience, and the electric signal characteristic point of each target point, and then mapping operation is carried out according to the historical operation experience. But this procedure is extremely difficult for a physician with less experience in the procedure.
In order to facilitate the operation of a doctor without operation experience, the experienced doctor inputs the mapping target points of each type of mapping targets into a system database in advance, and after the user selects the mapping targets, the mapping system can search out corresponding mapping targets in the database. Taking right atrium modeling as an example, common targets include a lower cavity, an upper cavity, an auricle, a half ring and the like, and an experienced doctor inputs target data of the right atrium in the system in advance, and when a user selects a mapping target as the right atrium, the system can automatically search out the corresponding target: lower cavity, upper cavity, auricle, half ring, etc.
And searching an electrical signal characteristic map of each mapping target in the system according to the mapping target.
The target point is a point with certain electric signal characteristics, such as that the following cavity is provided with potentials of 1 and 2 in the carto3, and no potentials of 3 and 4, and the auricle is a big A wave, etc. In order to identify the point positions of the targets, feature maps of the corresponding point positions are input into the system in advance. And after the system determines the corresponding target points according to the mapping targets, the electrical signal characteristic diagram of each target point can be retrieved from the system. The electrical signal feature map may be a feature map of a screenshot in historical operation data, for example, after an operation, a doctor inspects the data in the operation, marks a representative feature map, and serves as an electrical signal feature map of a corresponding target point. Further, the electrical signal profile for each target may be multiple in order to cover all of the characteristics of the target.
And searching out target spot mapping sequence in the system according to the mapping target.
In performing the detection, for example, in the case of performing the detection of the right atrium, it is usually performed in a certain order, such as starting from the lower wall, then the rear wall, the free wall, the front wall, etc., starting from the lower wall, it is necessary to find the lower cavity, then perform the upper cavity, model the rear wall, and then return to the lower cavity, and find the auricle … …, so the target mapping order can be expressed as follows: lower cavity upper cavity lower cavity auricle … …. Similar to the electrical signal profile, the mapping sequence is also empirical data of the physician, thus requiring prior input by the physician. The mapping system associates the mapping targets with target sequences, and when a user inputs the mapping targets, the mapping system can detect the corresponding target sequences.
The real-time electrical signal map generated at the time of the mapping is collected.
When the catheter is in contact with the inner wall of the cavity during detection operation, an electric signal is generated due to electrophysiological reaction, and when the mapping system receives the electric signal change, the electric signal is converted into an electric signal diagram, such as an electric signal waveform diagram on the left side of fig. 1. During the operation, the generated electric signal image is read in real time through an interface or an external program provided by the existing mapping system.
It should be noted that, the real-time electrical signal image herein refers to an electrical signal image acquired at a certain frequency, and generally has a short time interval, for example, 1 second, similar to most of the "real-time" concepts in the prior art.
And judging the similarity of the real-time electric signal diagram and the electric signal characteristic diagram of the mapping target point.
And after each time of acquiring the real-time electric signal image, performing similarity calculation on the acquired image and the electric signal characteristic image of the target point acquired in the previous step. The similarity calculation may be any calculation method in the prior art, such as aHash, pHash, etc., as long as the similarity of the two images can be determined, and the embodiment is not limited specifically; also, preprocessing like in the prior art, such as scaling, sharpening, etc., may be included prior to similarity calculation.
Further, training the training neural network by using the historical electric signal image to obtain a neural network capable of outputting the similarity of the characteristic images, and judging the similarity of the electric signal characteristic images of the real-time electric signal image and the electric signal characteristic images of the mapping targets by using the neural network.
And prompting the catheter to reach the first target position at the operation interface when the similarity is larger than a first threshold value.
When a doctor manipulates the catheter, the catheter contacts the inner wall of the cavity, and the mapping system continuously receives various wave-shaped electric signals which are difficult for a new doctor to judge. When the similarity of the real-time electric signal image and the electric signal feature image of the mapping target point is larger than a certain threshold value, the catheter is indicated to reach the position of one mapping target point, and then the catheter can be prompted to reach the first target point position, so that a novice doctor can be helped to recognize the target point position, and the usability of the system is improved. The indication of the catheter reaching the first target point position at the operation interface may be achieved by changing the color at the interface, such as changing the catheter head area to red, or may be performed by text prompting at the catheter head, such as displaying "reach upper lumen" near the catheter head.
The first threshold may be any empirical data, for example, 95%, etc., and the specific threshold may be determined according to a selected similarity algorithm, which is not specifically limited in this embodiment.
And determining a second target according to the first target position and the target mapping sequence.
In the previous step, the target mapping sequence is determined, and after one target in the target mapping sequence is reached, a subsequent target can be obtained. For example, the order of targets is lower cavity > upper cavity > lower cavity > auricle … …, and when the target reaches the lower cavity for the first time, the position of the next target can be determined as the upper cavity.
Further, the sequence of the targets is put into a first-in first-out queue, and when one target is reached, the corresponding target is deleted from the queue, and the target at the head of the queue is the next target to be mapped. In the mapping sequence of lower cavity upper cavity lower cavity auricle … …, the lower cavity upper cavity has been removed, and when the lower cavity is reached again, the next target point is known to be the auricle.
Prompting the advancing direction of the catheter according to the first target point and the second target point.
When the first target point and the next target point (the second target point) are determined, the relative position between the two target points can be calculated, so that the position where the catheter should go on the next step can be prompted through an arrow and the like, and a doctor can conveniently operate according to the prompt.
Further, because of the complex internal structures of organs such as the heart, some complex operations may be required to reach the next target point; the specific operation of the catheter may also be displayed in order to further guide the physician in the delivery of the catheter to the next target site. For example, red face up- - - - - - - - - - - - - - - - - - - - - - - -, a bend … … (a catheter head typically has a plurality of faces, each face having one of red, blue, green, etc., indicating the current orientation of the catheter); further, the indication may be made using an image such as an arrow, or a specific presentation may be made using a text description in the vicinity of the catheter.
In another implementation, the invention also provides a system for three-dimensional mapping of the inner wall of a human body cavity, which comprises the following modules:
a selection module for determining a target of measurement by a user prior to mapping;
the first retrieval module is used for retrieving in the system according to the mapping target and determining a mapping target point of the mapping target according to a retrieval result;
the second retrieval module is used for retrieving the electrical signal characteristic diagram of each mapping target in the system according to the mapping target;
the third retrieval module is used for retrieving target spot mapping sequences in the system according to the mapping targets;
the acquisition module is used for collecting a real-time electric signal graph generated during the marking;
the judging module is used for judging the similarity between the real-time electric signal image and the electric signal characteristic image of the mapping target point;
the first prompting module is used for prompting the catheter to reach a first target position at the operation interface when the similarity is larger than a first threshold value;
the determining module is used for determining a second target according to the first target position and the target mapping sequence;
and the second prompting module is used for prompting the advancing direction of the catheter at the operation interface according to the first target point and the second target point.
It should be noted that the detailed implementation principle and further improvement measures of the three-dimensional mapping system based on the human body chamber inner wall are the same as those of the three-dimensional mapping method of the human body chamber inner wall, and the detailed description is not needed in this embodiment, so that a person skilled in the art can implement the three-dimensional mapping method of the human body chamber inner wall in the three-dimensional mapping system of the human body chamber according to the prior art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
The present invention is not limited to the specific partial module structure described in the prior art. The prior art to which this invention refers in the preceding background section as well as in the detailed description section can be used as part of the invention for understanding the meaning of some technical features or parameters. The protection scope of the present invention is subject to what is actually described in the claims.
Claims (8)
1. The three-dimensional mapping method for the inner wall of the human body cavity is characterized in that:
determining a target to be measured by a user before mapping;
searching in a system according to the mapping target, and determining a mapping target point of the mapping target according to a searching result;
searching an electrical signal characteristic diagram of each mapping target in a system according to the mapping target;
searching a target spot mapping sequence in a system according to the mapping target;
collecting a real-time electric signal diagram generated during the marking;
judging the similarity of the real-time electric signal diagram and the electric signal characteristic diagram of the mapping target point;
when the similarity is larger than a first threshold, prompting a catheter to reach a first target point position at an operation interface, wherein the catheter is positioned in the human body cavity;
determining a second target according to the first target position and the target mapping sequence;
prompting the advancing direction of the catheter in an operation interface according to the first target point and the second target point;
prompting the advancing direction of the catheter in the operation interface according to the first target point and the second target point comprises: when the relative position between the first target spot and the second target spot is calculated after the first target spot and the second target spot are determined, the position where the catheter should advance in the next step is prompted through arrows and the like, and a doctor can conveniently operate according to the prompt.
2. The method for three-dimensional mapping of the inner wall of a human body cavity according to claim 1, wherein the method comprises the following steps: the mapping target points of each type of mapping targets, the electric signal characteristic diagrams of the target points and the target point mapping sequence are input into a mapping system database in advance.
3. The method for three-dimensional mapping of the inner wall of a human body cavity according to claim 1, wherein the method comprises the following steps: training a training neural network by using the historical electric signal image to obtain a neural network capable of outputting the similarity of the characteristic images, and judging the similarity of the electric signal characteristic images of the real-time electric signal image and the mapping target point by using the neural network.
4. The method for three-dimensional mapping of the inner wall of a human body cavity according to claim 1, wherein the method comprises the following steps: after the second target point is determined, the specific operation of the catheter is displayed on the operation interface.
5. A three-dimensional mapping system for an inner wall of a human body cavity, the human body cavity being a heart, the system comprising:
a selection module for determining a target of measurement by a user prior to mapping;
the first retrieval module is used for retrieving in the system according to the mapping target and determining a mapping target point of the mapping target according to a retrieval result;
the second retrieval module is used for retrieving the electrical signal characteristic diagram of each mapping target in the system according to the mapping target;
the third retrieval module is used for retrieving target spot mapping sequences in the system according to the mapping targets;
the acquisition module is used for collecting a real-time electric signal graph generated during the marking;
the judging module is used for judging the similarity between the real-time electric signal image and the electric signal characteristic image of the mapping target point;
the first prompting module is used for prompting the catheter to reach a first target position at the operation interface when the similarity is larger than a first threshold value, and the catheter is positioned in the human body cavity;
the determining module is used for determining a second target according to the first target position and the target mapping sequence;
the second prompting module is used for prompting the advancing direction of the catheter in an operation interface according to the first target point and the second target point;
prompting the advancing direction of the catheter in the operation interface according to the first target point and the second target point comprises: when the relative position between the first target spot and the second target spot is calculated after the first target spot and the second target spot are determined, the position where the catheter should advance in the next step is prompted through arrows and the like, and a doctor can conveniently operate according to the prompt.
6. The three-dimensional mapping system for human body chamber inner walls according to claim 5, wherein: the mapping target points of each type of mapping targets, the electric signal characteristic diagrams of the target points and the target point mapping sequence are input into a mapping system database in advance.
7. The three-dimensional mapping system for human body chamber inner walls according to claim 5, wherein: training a training neural network by using the historical electric signal image to obtain a neural network capable of outputting the similarity of the characteristic images, and judging the similarity of the electric signal characteristic images of the real-time electric signal image and the mapping target point by using the neural network.
8. The three-dimensional mapping system for human body chamber inner walls according to claim 5, wherein: after the second target point is determined, the specific operation of the catheter is displayed on the operation interface.
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