WO2022242072A1

WO2022242072A1 - Intracardiac three-dimensional ultrasonic imaging catheter and system, and cardiac three-dimensional model construction method

Info

Publication number: WO2022242072A1
Application number: PCT/CN2021/131526
Authority: WO
Inventors: 何精才; 刘斌; 胡军
Original assignee: 深圳市赛禾医疗技术有限公司
Priority date: 2021-05-21
Filing date: 2021-11-18
Publication date: 2022-11-24
Also published as: CN113397602B; CN113397602A

Abstract

Provided is an intracardiac three-dimensional ultrasonic imaging catheter (100), comprising: a sheath tube (10), wherein a traction member (13) is arranged on the sheath tube (10); an ultrasonic device (20), which is arranged at a distal end of the sheath tube (10); a control handle (30), which is connected to the traction member (13); an attitude sensor (40), which is used for acquiring three-dimensional attitude coordinates of the ultrasonic device (20); and a communication unit (50), which is used for transmitting signals of the ultrasonic device (20) and the attitude sensor (40) to an ultrasonic imaging host (200). Provided are an intracardiac three-dimensional ultrasonic imaging system and a cardiac three-dimensional model construction method. By means of providing the attitude sensor (40), three-dimensional attitude coordinates of the ultrasonic device (20) are acquired while the ultrasonic device (20) acquires a three-dimensional ultrasonic imaging electrical signal, such that the attitude and location of the ultrasonic device (20) can be accurately positioned when a cardiac three-dimensional model is constructed, thereby ensuring the imaging quality and better restoring the beating state of a heart.

Description

Intracardiac three-dimensional ultrasound imaging catheter and system, and heart three-dimensional model construction method

This application claims priority to a Chinese patent application with application number 202110557641.7 filed at the China Patent Office on May 21, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of medical devices, in particular to a catheter and system for three-dimensional ultrasound imaging in the heart, and a method for constructing a three-dimensional model of the heart.

Background technique

Ultrasound can be used as a supplement to optical observation for diagnosis and control, because sound waves can travel in media that are opaque to electromagnetic waves, so it has a wide range of applications in the medical field. The corresponding three-dimensional ultrasound imaging has increasingly become an important tool for the diagnosis and treatment of cardiac abnormalities such as endocarditis, atrial septal defect, patent foramen ovale and ventricular septal defect (VSD). The device can accurately obtain the anatomical structure information of the heart, and can simultaneously display the hemodynamics of the heart, real-time dynamic evaluation of the local myocardium and the overall heart function in vivo. An ultrasound imaging device generally includes an ultrasound imaging host, an ultrasound catheter, and a control unit. The ultrasonic catheter includes a sheath and an ultrasonic device. By adjusting the posture of the ultrasonic transducer, the corresponding three-dimensional ultrasonic imaging electrical signals can be obtained, and the ultrasonic imaging host can then fit the three-dimensional ultrasonic imaging electrical signals into an image. The existing intracardiac 3D ultrasound imaging catheter cannot precisely locate the attitude of the ultrasound device during imaging, which leads to image distortion when the ultrasound imaging host uses these 3D ultrasound imaging electrical signals to construct a 3D model of the heart, thereby affecting the imaging quality.

technical problem

The application provides a three-dimensional ultrasound imaging catheter and system in the heart, and a method for constructing a three-dimensional model of the heart, which can accurately locate the posture and position of the ultrasound device during use, prevent image distortion, and ensure imaging quality.

technical solution

The embodiment of the first aspect of the present application provides a three-dimensional ultrasound imaging catheter in the heart, including:

a sheath tube, the sheath tube has a distal end and a proximal end, and the sheath tube is provided with a traction member;

an ultrasonic device, arranged at the far end of the sheath, for obtaining electrical signals for three-dimensional ultrasonic imaging;

a control handle, connected to the traction member, for controlling the posture of the ultrasonic device through the traction member;

An attitude sensor, arranged in the sheath and adjacent to the ultrasonic device, the attitude sensor is used to obtain the three-dimensional attitude coordinates of the ultrasonic device; and

The communication unit is used to transmit the signals of the ultrasonic device and the attitude sensor to the ultrasonic imaging host.

In some of the embodiments, the ultrasonic device includes a fixed seat, a flexible circuit board, a backing layer and an ultrasonic chip arranged in sequence.

In some of the embodiments, the ultrasonic chip includes an ultrasonic transceiver chip and an ultrasonic planar array chip, and the ultrasonic transceiver chip and the ultrasonic planar array chip are three-dimensionally integrated through a CMOS semiconductor process.

In some of the embodiments, the side of the backing layer away from the ultrasonic chip is provided with a plurality of grooves.

In some of these embodiments, the side wall of the groove is provided with a first reflective surface and a second reflective surface, and the first reflective surface and the second reflective surface are parallel to the bottom wall of the groove and along the The grooves are set at intervals in the depth direction.

In some of the embodiments, the first reflective surface and the second reflective surface have a height difference along the depth direction of the groove, and the height difference is 1/4 of the ultrasonic wavelength.

In some of these embodiments, a plurality of the first reflective surfaces and a plurality of the second reflective surfaces are arranged in the same groove, and a plurality of the first reflective surfaces and a plurality of the second reflective surfaces The reflective surfaces are arranged alternately, and every two adjacent first reflective surfaces and the second reflective surfaces have a height difference along the depth direction of the groove, and the multiple height differences are not all equal.

The embodiment of the second aspect of the present application provides a three-dimensional ultrasound imaging system in the heart, including:

The intracardiac three-dimensional ultrasound imaging catheter as described in the first aspect of the present application; and

Ultrasonic imaging host, the ultrasonic imaging host is used to control the ultrasonic wave device to perform ultrasonic emission scanning in the heart and receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device, the ultrasonic imaging host is used to control the three-dimensional ultrasonic imaging Imaging electrical signals undergo signal processing and image processing to produce real-time three-dimensional images of the heart.

The embodiment of the third aspect of the present application provides a method for constructing a three-dimensional model of the heart, including:

Transporting the intracardiac three-dimensional ultrasound imaging catheter into the heart cavity, and obtaining the three-dimensional attitude coordinate signal of the initial scanning point of the ultrasonic device;

Control the ultrasonic device to perform ultrasonic scanning, receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device through the ultrasonic imaging host, and perform signal processing and image processing on the three-dimensional ultrasonic imaging electrical signal to generate a real-time three-dimensional ultrasonic image;

Adjust the ultrasonic device to the next target scanning point, acquire the corresponding three-dimensional attitude coordinate signal, and generate the corresponding three-dimensional ultrasonic image through the ultrasonic imaging host;

Fitting a plurality of the three-dimensional ultrasound images and a plurality of corresponding three-dimensional attitude coordinate signals to generate a three-dimensional model of the heart.

In some of these embodiments, when the ultrasonic device is controlled to perform ultrasonic scanning, the corresponding electrocardiographic cycle signal is obtained through the electrocardiogram device; The corresponding three-dimensional posture coordinate signals are fitted to generate a three-dimensional model of the heart.

The beneficial effect of a three-dimensional ultrasound imaging catheter in the heart provided by the present application: through the posture sensor arranged adjacent to the ultrasound device, the three-dimensional posture coordinates of the ultrasound device can be acquired while the ultrasound device is obtaining three-dimensional ultrasound imaging information, so that the three-dimensional posture coordinates of the ultrasound device can be obtained during imaging. Accurately locate the posture and position of the ultrasonic device to ensure the imaging quality.

The three-dimensional imaging system of the present application uses the ultrasonic imaging host to fit the three-dimensional ultrasonic imaging electrical signal and the three-dimensional attitude coordinate signal to generate a three-dimensional model of the heart, and can obtain the attitude coordinates corresponding to each frame of three-dimensional ultrasonic imaging, which can be accurate during imaging. Positioning the posture and position of the ultrasonic device, the ultrasonic imaging host improves the imaging quality when constructing a three-dimensional model of the heart through these three-dimensional ultrasonic imaging electrical signals.

The three-dimensional imaging method of the present application generates a three-dimensional model of the heart by fitting the three-dimensional ultrasonic imaging electrical signal and the three-dimensional attitude coordinate signal, which can accurately locate the attitude and position of the ultrasonic device, avoid image distortion, and can also synthesize the time when the heart beats as needed. The three-dimensional models of the heart at different stages can reduce the influence of the beating heart on the synthesis of the three-dimensional model of the heart, and can better express the heart beating.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a schematic structural diagram of a three-dimensional ultrasound imaging catheter in the heart in one embodiment of the present application;

Fig. 2 is a schematic diagram of the relative positions of the ultrasonic device and the attitude sensor in one of the embodiments of the present application;

Fig. 3 is a cross-sectional view of Fig. 2 along the axis of the sheath;

Figure 4 is a schematic cross-sectional view of a sheath in one of the embodiments of the present application;

Figure 5 is a schematic structural view of the backing layer in one of the embodiments of the present application;

Fig. 6 is a schematic structural diagram of a three-dimensional imaging system in one embodiment of the present application;

Fig. 7 is a schematic diagram of the three-dimensional imaging principle of the three-dimensional imaging system in one embodiment of the present application;

Fig. 8 is a flowchart of a three-dimensional imaging method in one embodiment of the present application;

Fig. 9 is a schematic diagram of a three-dimensional scanning of an ultrasonic device in one of the embodiments of the present application;

Fig. 10 is a diagram of the correspondence relationship between the electrical cycle signal and the three-dimensional posture coordinates of one embodiment of the present application.

The meanings of the marks in the figure are:

100. Intracardiac three-dimensional ultrasound imaging catheter; 10. Sheath tube; 11. Distal end; 12. Proximal end; 13. Tractor; 20. Ultrasonic device; 21. Fixing seat; 22. Flexible circuit board; 23. Backing layer ; 231, groove; 2311, first reflective surface; 2312, second reflective surface; 24, ultrasonic chip; 30, control handle; 40, attitude sensor; 50, communication unit; 60, ECG cycle signal; 70, three-dimensional Attitude coordinate signal; 200. Ultrasonic imaging host.

Embodiments of the present invention

In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings, that is, embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In order to illustrate the technical solution of the present application, the following will be described in conjunction with specific drawings and embodiments.

Please refer to FIG. 1 to FIG. 4 , the embodiment of the first aspect of the present application provides a three-dimensional ultrasound imaging catheter 100 in the heart, including a sheath tube 10 , an ultrasound device 20 , a control handle 30 , a posture sensor 40 and a communication unit 50 . The ultrasonic device 20 and the attitude sensor 40 are arranged in the sheath 10 , and the control handle 30 is arranged on the sheath 10 .

The sheath tube 10 has a distal end 11 and a proximal end 12 for pushing and withdrawing the attitude sensor 40 and the ultrasonic device 20 in the body. The sheath tube 10 has a multilayer structure, including one or more of braided wire, spring, and carved tube. A reinforcing layer composed of two kinds; the sheath tube 10 is provided with a traction piece 13, which is used for the orientation adjustment of the ultrasonic device 20 in the body, and the traction piece 13 can be set as four traction wires arranged at uniform intervals along the circumferential direction of the sheath tube 10, through The stretching of the four pulling wires can realize the bending of the distal end 11 of the sheath tube 10 in different directions, and the multi-position adjustment of the ultrasonic device 20 can be realized with the rotation of the sheath tube 10. The material of the pulling wires can be polyetheretherketone wire or stainless steel wire Or nickel-titanium wire, etc., a cannula can be set in the sheath tube 10, so that the pulling wire is set in the cannula.

The ultrasonic device 20 is arranged at the distal end 11 of the sheath tube 10 , has the function of mutual conversion between acoustic energy and electrical energy, and is used to obtain electrical signals for three-dimensional ultrasonic imaging. Optionally, the ultrasonic device 20 includes a fixed seat 21 , a flexible circuit board 22 , a backing layer 23 and an ultrasonic chip 24 arranged in sequence. The ultrasonic chip 24 is a phased array ultrasonic transceiver chip, including an ultrasonic transceiver chip and an ultrasonic planar array chip, and realizes monolithic three-dimensional integration through CMOS semiconductor technology.

The ultrasonic planar array chip is a planar array of transducers arranged in a matrix with M rows and N columns, including multiple transducer units. Prepared. The ultrasonic transceiver chip includes a power management module, a clock circuit module, a transmitting circuit module, a receiving circuit module, an aperture synthesis circuit module, and an analog-to-digital conversion circuit module. It has the characteristics of high reliability, wide frequency bandwidth, and high sensitivity, which is conducive to improving image imaging quality.

The control handle 30 is connected to the traction member 13 for controlling the attitude of the ultrasonic device 20 through the traction member 13 . A steering controller is provided on the control handle 30 , and the traction member 13 is pulled by the steering controller on the control handle 30 to realize the steering of the distal end 11 of the sheath tube 10 , thereby realizing the orientation adjustment of the ultrasonic chip 24 in the body.

The attitude sensor 40 is disposed in the sheath 10 and adjacent to the ultrasonic device 20 , and the attitude sensor 40 is used to obtain the three-dimensional attitude coordinates of the ultrasonic device 20 . The attitude sensor 40 can calibrate the position and velocity of the ultrasonic device 20 relative to the shell of the distal end 11 of the sheath 10 to obtain its three-dimensional attitude coordinates. The attitude sensor 40 can be configured as an x-ray, electromagnetic or optical sensor.

The communication unit 50 is used to transmit the signals of the ultrasonic device 20 and the attitude sensor 40 to the ultrasonic imaging host 200 . The communication unit 50 can adopt wired communication and/or wireless communication. In the wired communication, the communication unit 50 can be provided with connecting lines, such as cable connectors. The flexible circuit board 22 and the electrical leads are all arranged inside the sheath tube 10. The signal of the ultrasonic chip 24 is used to transmit the signal of the ultrasonic imaging host 200 , and the electric wire transmits the signal of the posture sensor 40 to the ultrasonic imaging host 200 .

A three-dimensional ultrasound imaging catheter in the heart provided by the present application is applied in a three-dimensional imaging system, and the three-dimensional attitude coordinates of the ultrasonic device are acquired while the ultrasonic device 20 acquires ultrasonic image information through the attitude sensor 40 arranged adjacent to the ultrasonic device 20 , by fitting the ultrasonic image information and the three-dimensional attitude coordinate signal, the attitude and position of the ultrasonic device can be precisely positioned during imaging, preventing image distortion and ensuring imaging quality.

Please refer to FIG. 3 and FIG. 5 , in some embodiments, the side of the backing layer 23 away from the ultrasonic chip 24 is provided with a plurality of grooves 231 . The groove 231 is used to scatter the ultrasonic signal reflected by the back of the ultrasonic chip 24 (as shown by the arrow in Figure 5), and the ultrasonic signal sent by the ultrasonic chip 24 causes strong scattering in the groove 231, thereby effectively reducing the specular reflection on the back, Avoid the reflected ultrasonic signal and the silicon base in the ultrasonic chip 24 to resonate, distort the response of the ultrasonic chip 24, affect the useful bandwidth of the ultrasonic chip 24, and improve the imaging quality. The longitudinal waves are converted to shear waves at the back, and shear waves generally have higher propagation losses than incident longitudinal waves.

The side of the backing layer 23 away from the ultrasonic chip 24 can also be set as a serrated surface. The ultrasonic signal is scattered in irregular directions around the serrated surface. The serrated surface is also used to scatter the energy reflected from the back of the ultrasonic chip 24 to improve the imaging quality.

Please refer to FIG. 5 , in some embodiments, the sidewall of the groove 231 is provided with a first reflective surface 2311 and a second reflective surface 2312 , and the first reflective surface 2311 and the second reflective surface 2312 are along the depth direction of the groove 231 Parallel to the bottom wall of the groove 231 and arranged at intervals along the depth direction of the groove 231, the depth direction of the groove 231 is the direction connecting the notch of the groove 231 and the bottom wall, and the first reflective surface 2311 and the second reflective surface 2311 are provided. The surface 2312 increases the scattering surface of the ultrasonic signal, provides a longer propagation path for the ultrasonic signal to return to the transducer, and further improves the imaging quality.

Please refer to FIG. 5 again, in some embodiments, the first reflective surface 2311 and the second reflective surface 2312 have a height difference along the depth direction of the groove 231 , and the height difference is 1/4 of the ultrasonic wavelength. The ultrasonic signal causes stronger scattering in the stepped first reflecting surface 2311 and the second reflecting surface 2312 , thereby effectively reducing the specular reflection on the back of the ultrasonic chip 24 .

In some of these embodiments, multiple first reflective surfaces 2311 and multiple second reflective surfaces 2312 are arranged in the same groove 231, and multiple first reflective surfaces 2311 and multiple second reflective surfaces 2312 are arranged alternately, Every two adjacent first reflective surfaces 2311 and second reflective surfaces 2312 have a height difference along a direction perpendicular to the bottom surface of the groove 231 , and the plurality of height differences are not all equal. By setting multiple different height differences, ultrasonic signals of different frequencies can be scattered. As a possible implementation, four different height differences are required to eliminate the specular reflection of ultrasonic signals of two independent frequencies.

Please refer to FIG. 6 and FIG. 7, the embodiment of the second aspect of the present application provides a three-dimensional ultrasound imaging system in the heart, including:

The intracardiac three-dimensional ultrasound imaging catheter according to the first aspect of the present application; and

The ultrasonic imaging host 200, the ultrasonic imaging host 200 is used to control the ultrasonic wave device to perform two-dimensional M rows and N columns of ultrasonic emission scanning in the heart and receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device 20, the ultrasonic imaging host 200 is for the three-dimensional Ultrasound imaging electrical signals undergo signal processing and image processing to produce real-time three-dimensional images of the heart.

In the three-dimensional imaging system of the present application, since the attitude sensor 40 is set on the three-dimensional ultrasound imaging catheter in the heart, the three-dimensional attitude coordinates of the ultrasonic device 20 can be obtained while the ultrasonic device 20 obtains the ultrasonic image information, so that the ultrasonic device can be precisely positioned during imaging. Posture and position to prevent image distortion and ensure image quality.

Please refer to Fig. 6, Fig. 7 and Fig. 10, in some of the embodiments, the three-dimensional imaging system also includes an electrocardiogram device, and the ultrasonic imaging host 200 can receive the electrocardiographic cycle signal 60 obtained by the electrocardiographic device, and the three-dimensional ultrasonic imaging electrical signal , the three-dimensional posture coordinates 70 and the electrocardiographic cycle signal 60 to generate a three-dimensional model of the heart. In practical applications, the three-dimensional models of the heart at different stages of the heartbeat can be synthesized according to the needs. For example, the three-dimensional posture coordinates 70 and the three-dimensional ultrasound imaging electrical signals corresponding to the ST segment of the heartbeat can be found. At this time, the three-dimensional ultrasound imaging electrical signals and the three-dimensional attitude coordinates 70 and the electrocardiographic cycle signal 60 are fitted to generate a three-dimensional model of the heart, thereby reducing the influence of the beating heart on the synthesis of the three-dimensional heart model, and at the same time better representing the beating heart.

Please refer to FIG. 1 to FIG. 10 , the embodiment of the third aspect of the present application provides a method for constructing a three-dimensional model of the heart, including:

S10: Transport the intracardiac three-dimensional ultrasound imaging catheter 100 into the heart cavity, and acquire the three-dimensional attitude coordinate signal of the initial scanning point of the ultrasonic device 20;

Specifically, the intracardiac three-dimensional ultrasound imaging catheter 100 is transported into the heart chamber through the femoral vein, and the initial scanning point of the ultrasonic device 20 is adjusted by operating the control handle 30, so that the posture sensor acquires the three-dimensional posture of the initial scanning point of the ultrasonic device 20 coordinate signal.

S20: Control the ultrasonic device 20 to perform ultrasonic scanning, receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device 20 through the ultrasonic imaging host 200, and perform signal processing and image processing on the three-dimensional ultrasonic imaging electrical signal to generate a real-time three-dimensional ultrasonic image.

S30: Adjust the ultrasonic device 20 to the next target scanning point, acquire corresponding three-dimensional attitude coordinate signals, and generate corresponding three-dimensional ultrasonic images through the ultrasonic imaging host.

Specifically, when the ultrasonic device 20 is adjusted to the next target scanning point through the control handle 30 , the attitude sensor 40 acquires the three-dimensional attitude coordinate signal at this time, and at the same time, the ultrasonic imaging host 200 generates a corresponding three-dimensional ultrasonic image.

S40: Fitting multiple three-dimensional ultrasound images and multiple corresponding three-dimensional posture coordinate signals to generate a three-dimensional model of the heart.

Specifically, the ultrasound imaging host 200 fits multiple 3D ultrasound images and multiple corresponding 3D attitude coordinate signals. Since the 3D ultrasound images correspond to the 3D attitude coordinates one by one, an accurate 3D model of the heart can be obtained.

In the three-dimensional imaging method of the present application, since the ultrasonic imaging host 200 is used to fit the three-dimensional ultrasonic imaging electrical signal and the three-dimensional attitude coordinate signal to generate a three-dimensional model of the heart, the attitude coordinates corresponding to each frame of three-dimensional ultrasonic imaging can be obtained. Accurate positioning of the posture and position of the ultrasonic device avoids image distortion when the ultrasonic imaging host uses these three-dimensional ultrasonic imaging electrical signals to construct a three-dimensional model of the heart, and improves the imaging quality.

In some of these embodiments, when controlling the ultrasonic device 20 to perform ultrasonic scanning, the corresponding electrocardiographic cycle signal is obtained through the electrocardiogram device; The corresponding three-dimensional posture coordinate signals are fitted to generate a three-dimensional model of the heart.

Extracting the three-dimensional ultrasound imaging electrical signals corresponding to different ECG cycles and fitting them with the three-dimensional posture coordinate signal 70 can reduce the influence of the beating heart on the synthesis of the three-dimensional model of the viscera, and at the same time better represent the beating of the heart in different ECG cycles .

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still apply to the foregoing embodiments Modifications to the technical solutions recorded, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the application, and should be included in this application. within the scope of protection.

Claims

A three-dimensional ultrasound imaging catheter in the heart, characterized in that it includes:

a sheath tube, the sheath tube has a distal end and a proximal end, and the sheath tube is provided with a traction member;

an ultrasonic device, arranged at the far end of the sheath, for obtaining electrical signals for three-dimensional ultrasonic imaging;

a control handle, connected to the traction member, for controlling the posture of the ultrasonic device through the traction member;

An attitude sensor, arranged in the sheath and adjacent to the ultrasonic device, the attitude sensor is used to obtain the three-dimensional attitude coordinates of the ultrasonic device; and

The communication unit is used to transmit the signals of the ultrasonic device and the attitude sensor to the ultrasonic imaging host.
The intracardiac three-dimensional ultrasonic imaging catheter according to claim 1, wherein the ultrasonic device comprises a fixed seat, a flexible circuit board, a backing layer and an ultrasonic chip arranged in sequence.
The intracardiac three-dimensional ultrasound imaging catheter according to claim 2, wherein the ultrasonic chip includes an ultrasonic transceiver chip and an ultrasonic planar array chip, and the ultrasonic transceiver chip and the ultrasonic planar array chip are processed by a CMOS semiconductor process. 3D integration.
The intracardiac three-dimensional ultrasound imaging catheter according to claim 2, wherein a plurality of grooves are provided on the side of the backing layer away from the ultrasound chip.
The intracardiac three-dimensional ultrasound imaging catheter according to claim 4, wherein the side wall of the groove is provided with a first reflective surface and a second reflective surface, and the first reflective surface and the second reflective surface parallel to the bottom wall of the groove and arranged at intervals along the depth direction of the groove.
The intracardiac three-dimensional ultrasound imaging catheter according to claim 5, wherein the first reflective surface and the second reflective surface have a height difference along the depth direction of the groove, and the height difference is an ultrasonic 1/4 of the wavelength.
The intracardiac three-dimensional ultrasound imaging catheter according to claim 5, wherein a plurality of first reflective surfaces and a plurality of second reflective surfaces are arranged in the same groove, and a plurality of said second reflective surfaces are arranged in the same groove. The first reflective surface and a plurality of the second reflective surfaces are arranged alternately, and every two adjacent first reflective surfaces and the second reflective surfaces have a height difference along the depth direction of the groove, and the multiple The height difference is not all equal.
A three-dimensional ultrasound imaging system in the heart, characterized in that it includes:

The intracardiac three-dimensional ultrasound imaging catheter according to any one of claims 1 to 7; and

Ultrasonic imaging host, the ultrasonic imaging host is used to control the ultrasonic wave device to perform ultrasonic emission scanning in the heart and receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device, the ultrasonic imaging host is used to control the three-dimensional ultrasonic imaging Imaging electrical signals undergo signal processing and image processing to produce real-time three-dimensional images of the heart.
A method for constructing a three-dimensional model of the heart, comprising:

Transporting the intracardiac three-dimensional ultrasound imaging catheter into the heart cavity, and obtaining the three-dimensional attitude coordinate signal of the initial scanning point of the ultrasonic device;

Control the ultrasonic device to perform ultrasonic scanning, receive the real-time three-dimensional ultrasonic imaging electrical signal output by the ultrasonic device through the ultrasonic imaging host, and perform signal processing and image processing on the three-dimensional ultrasonic imaging electrical signal to generate a real-time three-dimensional ultrasonic image;

Adjust the ultrasonic device to the next target scanning point, acquire the corresponding three-dimensional attitude coordinate signal, and generate the corresponding three-dimensional ultrasonic image through the ultrasonic imaging host;

Fitting a plurality of the three-dimensional ultrasound images and a plurality of corresponding three-dimensional attitude coordinate signals to generate a three-dimensional model of the heart.
The method for constructing a three-dimensional model of the heart according to claim 9, wherein, when the ultrasonic device is controlled to perform ultrasonic scanning, the corresponding electrocardiographic cycle signal is obtained through an electrocardiogram device; A plurality of the three-dimensional ultrasound images are fitted with a plurality of corresponding three-dimensional posture coordinate signals to generate a three-dimensional model of the heart.