CN108042203B - Heart three-dimensional mapping system and method based on ultrasonic ranging - Google Patents
Heart three-dimensional mapping system and method based on ultrasonic ranging Download PDFInfo
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Abstract
The invention discloses a heart three-dimensional mapping system and method based on ultrasonic ranging. The heart three-dimensional mapping system based on ultrasonic ranging comprises an ultrasonic crystal, an ultrasonic acquisition module and an ultrasonic driving module. By adopting the method combining ultrasonic ranging and electromagnetic positioning, the cloud data of the endocardium point of the heart can be rapidly acquired in the interventional operation process of the intracardiac catheter. When mapping the endocardium three-dimensional space position point, the distance information of the interventional catheter to the endocardium is provided through an ultrasonic ranging method. The distance is calculated by detecting the ultrasonic echo, so that the method has the advantages of high speed and high precision, and distance information can be communicated with an upper computer in a serial port query mode. The invention can obtain the distance from the interventional catheter to the endocardium in a non-contact way, realizes the communication with a computer, and lays a foundation for recovering three-dimensional space position information by combining electromagnetic positioning and obtaining a heart cavity three-dimensional model.
Description
Technical Field
The invention relates to the field of three-dimensional mapping of intracardiac catheters, in particular to a heart three-dimensional mapping system and method based on ultrasonic ranging.
Background
In performing interventional procedures with intracardiac catheters, its catheter-electrode positioning is a critical and important issue that determines where the catheter and electrode are placed. The function of these catheters and electrodes is to accurately measure the electrophysiological activity in the heart and to accurately locate the target of the lesion. Therefore, whether the positioning is accurate or not often determines whether the operation is successful or safe. In the conventional catheter mapping process under the guidance of an X-ray image, due to the lack of accurate three-dimensional spatial position information of a catheter in a heart cavity, the determination of the position of the catheter needs to rely on clinical experience and subjective awareness of a doctor, and the success rate of an operation is difficult to ensure for the related treatment of relatively complex arrhythmia. Therefore, in the process of operation, if the position of the catheter in the three-dimensional space of the heart cavity can be accurately obtained, great help can be provided for improving the success rate of the operation.
In addition, in the conventional cardiac interventional operation, in order to ensure that the catheter can perform accurate ablation, X-rays are required for navigation, but the X-rays are highly harmful to the human body, especially irradiate for a long time, so that a new imaging mode is required for realizing the navigation of the ablation catheter. At present, a novel three-dimensional mapping system can provide a safer and more convenient catheter navigation solution for a catheter radiofrequency ablation operation. The core technology of the method is to collect point cloud data on the surface of the endocardium, carry out accurate three-dimensional reconstruction on the heart cavity of a patient through a three-dimensional reconstruction technology of a mapping point, and simultaneously track the position of a catheter in the three-dimensional space of the heart cavity in real time, thereby carrying out targeted ablation guidance on an ablation operation.
Disclosure of Invention
In order to solve the technical problems, the invention provides a heart three-dimensional mapping system and method based on ultrasonic ranging, which can quickly and accurately acquire the distance from an interventional catheter to the endocardium in an ultrasonic ranging mode, and further can acquire an accurate three-dimensional heart cavity model by combining electromagnetic positioning information.
In order to solve the technical problems, the invention adopts the following technical scheme:
a heart three-dimensional mapping system based on ultrasonic ranging comprises an ultrasonic probe, an ultrasonic driving module and an ultrasonic acquisition processing module; wherein, the ultrasonic probe comprises an ultrasonic crystal and a magnetic positioning probe with 6 degrees of freedom; the ultrasonic driving module carries out ultrasonic excitation; the ultrasonic acquisition module performs data acquisition and calculation.
Preferably, the ultrasonic crystal is a miniature single-element ultrasonic probe which is a transmitting-receiving integrated sensor.
Preferably, the ultrasonic driving module realizes 20-80 v adjustable high-voltage output through a switching power supply, a high-voltage ultrasonic transmitting beam former is used for generating high-frequency positive and negative square wave signals to excite the ultrasonic crystal, and meanwhile, a trigger signal can be controlled by a microcontroller.
Preferably, the ultrasonic acquisition module acquires ultrasonic echo signals through an analog-to-digital conversion chip, digital high-pass low-pass filtering is realized through a field programmable gate array, the ultrasonic echo signals are processed in real time to calculate the distance, and the distance is communicated with a computer through a serial port.
Preferably, the ultrasonic driving module excites the ultrasonic crystal to emit an ultrasonic signal, the ultrasonic signal propagates in blood, is reflected when meeting endocardial wall, generates an echo signal, is received by the ultrasonic crystal, passes through the amplifying circuit, and is acquired and processed by the ultrasonic acquisition module.
Preferably, the ultrasonic driving module excites the ultrasonic crystal by using a high-voltage square wave signal, and a high-voltage isolation circuit is used between the ultrasonic driving module and the ultrasonic acquisition module, so that the ultrasonic acquisition module is prevented from being damaged by excitation high voltage.
Preferably, the interventional catheter used has both four ultrasound crystals, which are controlled by the microcontroller to sequentially excite ultrasound and acquire echo signals, and a 6-degree-of-freedom magnetic positioning probe.
Preferably, the field programmable gate array calculates the distance according to the time difference between the ultrasonic excitation signal and the ultrasonic echo signal, and stores the calculated distance in the register, and the computer can inquire the value in the distance register in a serial port inquiry mode.
9. A method for performing three-dimensional mapping of the heart by using the three-dimensional mapping system of the heart based on ultrasonic ranging comprises the following steps:
acquiring the distance from the interventional catheter to the endocardium in an ultrasonic distance measurement mode;
restoring three-dimensional space position information by combining electromagnetic positioning information;
and determining the spatial position and the direction vector of the ultrasonic crystal at any moment according to the relative position relationship between the magnetic probe and the ultrasonic crystal, and calculating the three-dimensional spatial position of the endocardium data point according to the distance obtained by ultrasonic ranging.
The invention has the beneficial effects that: the invention can rapidly acquire and acquire the point cloud data of the endocardium by adopting a method combining ultrasonic distance measurement and electromagnetic positioning in the interventional operation process of the intracardiac catheter. The invention provides the distance information from the interventional catheter to the endocardium by an ultrasonic distance measurement method mainly when mapping the three-dimensional space position point of the endocardium. The distance is calculated by detecting the ultrasonic echo, so that the method has the advantages of high speed and high precision, and distance information can be communicated with an upper computer in a serial port query mode. The invention can obtain the distance from the interventional catheter to the endocardium in a non-contact way, realizes the communication with a computer, and lays a foundation for recovering three-dimensional space position information by combining electromagnetic positioning and obtaining a heart cavity three-dimensional model.
Drawings
Fig. 1 is a functional and structural diagram of an interventional catheter of a three-dimensional cardiac mapping system based on ultrasonic ranging according to the present invention;
fig. 2 is a schematic circuit diagram of a preferred embodiment of a three-dimensional cardiac mapping system based on ultrasonic ranging according to the present invention;
fig. 3 is a schematic diagram of the internal functions of a three-dimensional cardiac mapping system based on ultrasonic ranging according to the present invention;
the parts in the drawings are numbered as follows: 1. an interventional catheter; 2. an ultrasonic crystal; 3. 6 degree of freedom magnetic positioning probes; 4. the relative position of the ultrasonic crystal and the magnetic probe; 5. distance of ultrasonic ranging; 6. an ultrasonic drive module; 7. an ultrasound acquisition module.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 and 2, a cardiac three-dimensional mapping system based on ultrasonic ranging includes an ultrasonic probe, an ultrasonic driving module, and an ultrasonic acquisition and processing module.
As shown in fig. 1, the ultrasonic probe is composed of two parts: an ultrasonic crystal and a 6 degree of freedom magnetic positioning probe. The ultrasonic probe is provided with four ultrasonic crystals and a magnetic positioning probe, the ultrasonic crystals are fixed on four surfaces of the magnetic positioning probe in a square mode, and the spatial position relationship between the ultrasonic crystals and the magnetic positioning probe is fixed.
When the ultrasonic probe moves in the heart cavity, the ultrasonic crystals fixed on the four surfaces are sequentially excited to send out ultrasonic signals, ultrasonic echo signals are simultaneously collected, and the distance from the interventional catheter to the endocardium is calculated according to the time difference between the ultrasonic excitation signals and the ultrasonic echo signals.
The magnetic positioning probe used was a 6 degree of freedom magnetic positioning probe of type NDI 610029. The ultrasonic crystal uses a miniature single-array element ultrasonic probe and a receiving and transmitting integrated sensor, and the frequency generated by the excitation of the ultrasonic crystal is 8.5 MHz.
From the magnetically positioned probe of the NDI, the position information (x) of its probe in the magnetic field can be determined0,y0,z0) And direction information (q)0,q1,q2,q3). Meanwhile, after the probe is manufactured, the relative position relation between the ultrasonic crystal and the probe cannot be changed, so that the position (x) of the probe relative to the magnetic positioning at any initial time of the ultrasonic crystal can be obtainedr,yr,zr) And orientation (cos θ)1,cosθ2,cosθ3). From which position information and distance information of the ultrasound acquisition probe can be determined.
The distance between the ultrasonic crystal and the heart cavity wall can be obtained by an ultrasonic distance measuring method, and the distance between the ultrasonic crystal and the heart cavity wall is assumed that the speed v of the ultrasonic wave propagating in the blood is 1500m/s, and the time between the ultrasonic signal emitted by the ultrasonic crystal and the ultrasonic echo detected is t
According to the position information and the distance information of the ultrasonic acquisition probe, the position information of the ultrasonic crystal at any moment can be determined, and the three-dimensional coordinate position of the ultrasonic crystal is assumed to be (x)R,yR,zR) I.e. by
At the same time, the orientation of the ultrasonic crystal at any moment can be determined, and the orientation of the ultrasonic crystal at a certain moment is assumed to be
Then
And determining the distance between the measured object and the ultrasonic crystal in an ultrasonic distance measuring mode according to the position and orientation information of the ultrasonic crystal at any moment, and calculating the position information of the measured point at any moment. Suppose the measured point coordinates are (x)p,yp,zp) I.e. by
As shown in fig. 2, in order to ensure that the ultrasound crystal can be excited and the ultrasound echo signal can be acquired and the distance from the interventional catheter to the endocardium can be calculated in real time, the ultrasound driving module is required for excitation and the ultrasound acquisition module is required for data acquisition and calculation.
The ultrasonic driving module comprises a power supply module, a clock module, a microcontroller module, an ultrasonic transmitting module, an isolating module and a pre-amplifying module.
The power supply module is divided into +5v, -5v and 3.3v power supplies from a 12v power supply and supplies voltage to each module respectively. And the adjustable high-voltage switching power supply of 20 v-80 v is realized in a direct-current chopping mode and is used for generating and adjusting the voltage amplitude of the excitation ultrasonic crystal pulse signal.
The ultrasonic transmitting module is used for generating a high-voltage pulse signal for exciting the ultrasonic crystal, the HV7351 chip is used as a high-voltage ultrasonic transmitting beam former, the frequency and the waveform of the excitation pulse signal are controlled by a register written into the HV7351, and the ultrasonic transmitting module is provided with 8 channels and is used for exciting the ultrasonic.
The center frequency of the ultrasonic wave emitted by the ultrasonic crystal is about 8.5MHz, the center frequency of the ultrasonic echo is also 8.5MHz, and when the ultrasonic crystal is excited, the high-voltage pulse for excitation is a positive and negative high-voltage square wave signal of 8.5 MHz.
The microcontroller uses the ARM chip L PC1113 to control the ultrasonic emission module, sequentially excites the four ultrasonic crystals according to the sequence, simultaneously gives synchronous signals for ultrasonic excitation to the ultrasonic acquisition module, and simultaneously can control the on and off of the positive and negative high-voltage modules in order to ensure safety and reduce power consumption.
In order to avoid damage to a signal line rear end circuit caused by positive and negative high-voltage pulses used when the ultrasonic crystal is excited, the high-voltage isolation module uses MD0105, when the signal voltage is-2 v- +2v, the signal can pass through the high-voltage isolation module, when the signal voltage is greater than +2v or less than-2 v, the high-voltage isolation module is in a turn-off state, and the signal cannot pass through the high-voltage isolation module.
Ultrasonic signals are often weak, belong to high-frequency small signals, and need to be subjected to preamplification and then subsequent operation and processing. The preamplifier performs amplification processing on the ultrasonic signal using the AD 8334.
The ultrasonic acquisition module mainly comprises an ultrasonic filtering module, a high-speed analog-to-digital conversion module and a field programmable gate array module. The ultrasonic acquisition module is mainly used for processing ultrasonic signals, calculating the distance of ultrasonic distance measurement in real time and communicating with a computer through a serial port.
Because certain noise can be introduced into the ultrasonic signals in the process of transmission and collection, in order to improve the accuracy of measurement and avoid the conditions of false detection and missed detection, certain filtering processing is firstly carried out on the ultrasonic signals, and power supply noise and the like are filtered.
The echo center frequency of the ultrasonic crystal is 8.5MHz, so that according to the signal sampling theorem, the sampling rate of the analog-to-digital conversion module is higher than 20MHz to obtain a complete echo signal. The analog-digital conversion module uses AD9266 as a digital-analog conversion chip, and the sampling rate can reach 50MHz and 12-bit precision.
The sampling rate of the acquisition system is high, and the processing and calculation of each sampling point are finished in real time, and the corresponding digital filtering processing and distance calculation are carried out on the signals, so that the field programmable gate array unit is used as a processing unit of the acquisition system.
As shown in fig. 3, the following modules, a P LL module, an AD acquisition module, a signal processing module, a control module, a serial port sending module, and a serial port receiving module, are implemented inside the field programmable gate array.
The phase-locked loop module is a clock management module of the system, and generates 50MHz and 40MHz through frequency multiplication and frequency division, wherein the 50MHz is used for a system clock and is supplied to the control module and the serial port module. 40MHz is used as a sampling clock to be supplied to an AD acquisition module, and is equivalent to a sampling rate.
The analog-to-digital conversion module is a driving module of the high-speed AD acquisition chip AD9226, performs data communication with the AD9226 in a corresponding communication mode, reads a voltage value of high-speed acquisition performed by the AD9226 according to a fixed sampling rate, completes an analog-to-digital conversion function, and transmits sampling data to the signal processing module.
The signal processing module mainly realizes the ultrasonic ranging function. The method comprises the steps of simple filtering processing, recording the time point of exciting an ultrasonic crystal to generate an ultrasonic signal, detecting and recording the time point of an ultrasonic echo signal, calculating the time difference between an excitation signal and the echo signal, converting the time difference into distance information, and sending the distance information to a control module.
The control module is mainly used for enabling the AD acquisition module, communicating with a computer through a serial port and realizing a corresponding serial port instruction. When the control module receives a serial port instruction for reading the distance information, the control module reads the numerical value of a register for storing the current distance information in the signal processing module, packs the distance information and sends the packed distance information to a computer through a serial port so as to realize the basic function of ultrasonic distance measurement.
The serial port module mainly realizes the function of communicating with a computer, and comprises the basic realization of serial port sending and serial port receiving functions. Including data buffering in the serial communication process.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The heart three-dimensional mapping system based on ultrasonic ranging is characterized by comprising an ultrasonic probe, an ultrasonic driving module and an ultrasonic acquisition processing module, wherein:
the ultrasonic probe comprises four ultrasonic crystals and a magnetic positioning probe with 6 degrees of freedom, the four ultrasonic crystals are fixed on four surfaces of the magnetic positioning probe in a square mode and are fixed with the spatial position of the magnetic positioning probe, and when the ultrasonic probe moves in a heart cavity, the ultrasonic crystals fixed on the four surfaces are sequentially excited to send ultrasonic signals;
the ultrasonic driving module is used for generating and adjusting a pulse signal for exciting the ultrasonic crystal so as to carry out ultrasonic excitation;
the ultrasonic acquisition module is used for acquiring and calculating data, and determining three-dimensional position information and orientation information of the ultrasonic crystal in the moving process of the ultrasonic probe according to the position information and the direction information of the magnetic positioning probe in a magnetic field and the fixed and unchangeable characteristics of the position information and the direction information of the ultrasonic crystal relative to the magnetic positioning probe; and determining the three-dimensional coordinate of the measured object by an ultrasonic distance measurement mode according to the three-dimensional position information and the orientation information of the ultrasonic crystal, wherein the three-dimensional coordinate is expressed as follows:
wherein the content of the first and second substances,
(x0，y0，z0) Representing position information of a magnetic positioning probe in a magnetic field, (q)0，q1，q2，q3) Representing directional information of a magnetic positioning probe in a magnetic field, (x)r，yr，zr) Ultrasonic crystalPosition information of the body initial time relative to the magnetic positioning probe, (cos θ)1，cosθ2，cosθ3) Indicating orientation information of the ultrasound crystal relative to the magnetic positioning probe at the initial instant of time.
2. The system of claim 1, wherein the ultrasound crystal is a micro single-element ultrasound probe, which is a transceiver-integrated sensor.
3. The system of claim 2, wherein the ultrasound driver module is configured to output a high voltage of 20-80 v adjustable by a switching power supply, and the high-voltage ultrasound transmit beamformer is configured to generate high-frequency positive and negative square wave signals to excite the ultrasound crystal, and the trigger signal is configured to be controlled by the microcontroller.
4. The system of claim 1, wherein the ultrasound acquisition module acquires ultrasound echo signals through an analog-to-digital conversion chip, and implements digital high-pass low-pass filtering through a field programmable gate array, and the ultrasound echo signals process the calculated distance in real time and communicate with the computer through a serial port.
5. The system as claimed in claim 1, wherein the ultrasound driving module excites the ultrasound crystal to emit an ultrasound signal, the ultrasound signal propagates in blood, is reflected by endocardial wall, and generates an echo signal, which is received by the ultrasound crystal, and the ultrasound echo signal passes through the amplifying circuit, and is collected and processed by the ultrasound collecting module.
6. The system of claim 1, wherein the ultrasound driving module excites the ultrasound crystal with a high-voltage square wave signal, and a high-voltage isolation circuit is used between the ultrasound driving module and the ultrasound acquisition module to prevent the excitation high voltage from damaging the ultrasound acquisition module.
7. The system of claim 1, wherein the interventional catheter is used with four ultrasound crystals and a 6-degree-of-freedom magnetic positioning probe, wherein the four ultrasound crystals are controlled by the microcontroller to sequentially excite ultrasound and collect echo signals.
8. The system of claim 4, wherein the FPGA calculates the distance according to the time difference between the ultrasound excitation signal and the ultrasound echo signal, and stores the calculated distance in a register, and the computer can query the value in the distance register by means of serial port query.
9. A method for performing three-dimensional mapping of a heart by using the ultrasonic ranging-based three-dimensional mapping system of the heart of claim 1, comprising the following steps:
generating and adjusting a pulse signal for exciting the ultrasonic crystal to perform ultrasonic excitation;
determining three-dimensional position information and orientation information of the ultrasonic crystal in the moving process of the ultrasonic probe according to the position information and the direction information of the ultrasonic crystal relative to the magnetic positioning probe and the characteristic that the position information and the direction information of the ultrasonic crystal relative to the magnetic positioning probe are fixed and unchangeable;
determining the three-dimensional coordinate of the measured object by an ultrasonic distance measurement mode according to the three-dimensional position information and the orientation information of the ultrasonic crystal, wherein the three-dimensional coordinate is expressed as follows:
wherein the content of the first and second substances,
(x0，y0，z0) Representing position information of a magnetic positioning probe in a magnetic field, (q)0，q1，q2，q3) Representing directional information of a magnetic positioning probe in a magnetic field, (x)r，yr，zr) Representing the position information of the initial instant of the ultrasound crystal relative to the magnetic positioning probe, (cos θ)1，cosθ2，cosθ3) Indicating orientation information of the ultrasound crystal relative to the magnetic positioning probe at the initial instant of time.
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| CN109044405B (en) * | 2018-09-12 | 2024-03-15 | 深圳开立生物医疗科技股份有限公司 | Ultrasonic catheter, ultrasonic catheter controller and ultrasonic system |
| CN109044404A (en) * | 2018-09-12 | 2018-12-21 | 深圳开立生物医疗科技股份有限公司 | A kind of ultrasound catheter, ultrasonic controller and ultrasonic system |
| CN110974305B (en) * | 2019-12-13 | 2021-04-27 | 山东大学齐鲁医院 | Remote heart ultrasonic three-dimensional imaging system and method based on deep learning |
| CN112133411A (en) * | 2020-09-09 | 2020-12-25 | 上海黛美医疗科技有限公司 | Image processing system and method |
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