CN115089216A - In-vivo navigation method for intravascular ultrasonic probe - Google Patents

In-vivo navigation method for intravascular ultrasonic probe Download PDF

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Publication number
CN115089216A
CN115089216A CN202210699349.3A CN202210699349A CN115089216A CN 115089216 A CN115089216 A CN 115089216A CN 202210699349 A CN202210699349 A CN 202210699349A CN 115089216 A CN115089216 A CN 115089216A
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probe
mpi
ivus
subsystem
blood vessel
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李玮
张水兴
田捷
杨志云
黄文慧
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First Affiliated Hospital of Jinan University
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First Affiliated Hospital of Jinan University
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Priority to CN202210699349.3A priority Critical patent/CN115089216A/en
Publication of CN115089216A publication Critical patent/CN115089216A/en
Priority to CN202310664960.7A priority patent/CN116763357A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0891—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points

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  • Life Sciences & Earth Sciences (AREA)
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Abstract

The invention belongs to the field of tissue imaging, in particular to an in-vivo navigation method of an intravascular ultrasound probe, which aims at the problem that the existing intravascular ultrasound (IVUS) probe navigation technology needs to use X-rays and generates ionizing radiation damage to a patient and a diagnostician, and provides the following scheme, which comprises the following steps: s1, placing the probe into the blood vessel through the catheter, and enabling the probe to be located in an imaging view field of the MPI subsystem; s2, starting to carry out real-time imaging of the IVUS subsystem; the invention visualizes the blood vessel distribution and the focus position through MPI angiography and simultaneously uses MPI to detect and position the in-vivo IVUS probe coated with the superparamagnetic coating, realizes the direct-viewing and non-ionizing radiation navigation of the MPI to the in-blood IVUS probe, and has clinical application prospect.

Description

In-vivo navigation method for intravascular ultrasonic probe
Technical Field
The invention relates to the technical field of tissue imaging, in particular to an in-vivo navigation method of an intravascular ultrasonic probe.
Background
Intravascular ultrasound (IVUS) is a technique in which an ultrasound transducer is placed inside a blood vessel and ultrasound imaging is performed from inside the blood vessel. Due to its higher spatial resolution, IVUS has been widely used for feature recognition at the site of vascular stenosis and to aid preoperative intraoperative decision making for interventional procedures. During imaging in IVUS, the patient needs to be injected with an iodine contrast agent, followed by angiography using X-rays from CT and intravascular navigation of the IVUS probe. However, the damage of ionizing radiation by X-rays not only increases the incidence of leukemia, thyroid cancer, and other cancers in patients and IVUS diagnostic technicians, but also affects the development of fetuses, making it difficult for pregnant women to make a normal IVUS diagnosis. To avoid ionizing radiation damage, IVUS probes are navigated intravascularly by new imaging techniques without ionizing radiation.
Magnetic Particle Imaging (MPI) utilizes superparamagnetic substances, such as: a technique for quantitatively detecting the spatial distribution of superparamagnetic iron oxide nanoparticles (SPIO) by their nonlinear response in a varying magnetic field. The MPI has: fast imaging speed, no imaging depth limitation, high sensitivity, no ionizing radiation in the imaging process and the like. The intravascular navigation of the IVUS probe is implemented based on the magnetic particle imaging technology, so that the IVUS image diagnosis without ionizing radiation can be realized, the harm of ionizing radiation to a patient and an IVUS diagnostician is avoided, and the limitation of the IVUS diagnosis to pregnant women is broken.
Disclosure of Invention
The invention aims to solve the problem that X-rays are needed to be used in the existing IVUS probe navigation technology to cause ionizing radiation damage to a patient and a diagnostician, and provides an in-vivo navigation method of an intravascular ultrasound probe.
In order to achieve the purpose, the invention adopts the following technical scheme:
an in-vivo navigation method of an intravascular ultrasonic probe comprises an IVUS subsystem, an MPI subsystem and an IVUS and MPI control subsystem, and comprises the following steps:
s1, placing the probe into the blood vessel through the catheter, and enabling the probe to be located in an imaging view field of the MPI subsystem;
s2, starting to perform real-time imaging of the IVUS subsystem; and performing angiography and detection of superparamagnetic coating signals of the intravascular IVUS probe by MPI imaging techniques;
s3, carrying out three-dimensional image reconstruction by using the MPI signal obtained in the S2, and simultaneously obtaining a blood vessel image and the spatial position of the IVUS probe; then, calculating the spatial distribution of the IVUS detection area in the blood vessel image according to the spatial position of the IVUS probe;
s4, navigating the IVUS probe to the diagnostic site of the blood vessel based on the blood vessel image obtained in S3 and the immediate display of the IVUS probe region.
Preferably, the IVUS subsystem comprises: the ultrasonic diagnosis device comprises an ultrasonic probe, a transmitting circuit, a receiving circuit and a catheter, wherein the transmitting circuit excites the ultrasonic probe to transmit ultrasonic waves to a vascular lumen and a vascular wall of a detected person, the receiving circuit controls the ultrasonic probe to receive echoes of the ultrasonic waves returned by the vascular lumen and the vascular wall to obtain ultrasonic echo signals, and the catheter sends the ultrasonic probe into the vascular and reaches a diagnosis part.
Preferably, the blood vessel image obtaining method comprises: injecting the diluted SPIO solution into a blood vessel, exciting the SPIO by using a high-frequency sinusoidal alternating magnetic field in the MPI subsystem, receiving a nonlinear response signal of the SPIO in the alternating magnetic field by a receiving coil of the MPI subsystem, and realizing the spatial positioning of the SPIO by spatial scanning of the MPI subsystem; after the image reconstruction of the MPI subsystem, the SPIO in the blood vessel is tracked by the MPI image, and the flow track of the SPIO solution in the blood vessel is the blood vessel image.
Preferably, the MPI subsystem comprises: the scanning device comprises a first scanning coil, a first permanent magnet, a second scanning coil, an exciting coil, a third scanning coil, a fourth scanning coil, a second permanent magnet and a receiving coil.
Preferably, the surface of the ultrasonic probe is coated with a superparamagnetic coating material for detecting and positioning the ultrasonic probe by an MPI subsystem, and the preparation method of the superparamagnetic coating material comprises the following steps: heating and stirring a polyvinyl alcohol (PVA) solution for more than 12 hours; after the solution is cooled to room temperature, dimethyl sulfoxide (dimethyl sulfoxide) and superparamagnetic iron oxide are added, and the mixture is stirred at room temperature; then, dialyzing the reacted mixed solution, and mixing the dialysate with isopropanol; separating the iron-containing substances and the non-iron-containing impurities in the mixed solution by using a magnet; finally, the separated iron-containing fraction is incorporated into a varnish.
Preferably, the IVUS and MPI control subsystem comprises: a terminal computer PC and a multi-channel data acquisition card DAQ.
Preferably, the multi-channel data acquisition card comprises at least 2 receiving channels and 1 trigger output channel; the 2 receiving channels are respectively used for receiving a receiving coil detection signal in the MPI subsystem and an ultrasonic probe detection signal in the IVUS subsystem; the trigger output channel is used for sending a trigger signal to the IVUS subsystem to realize the regulation and control of the IVUS subsystem.
Preferably, the terminal computer processes the ultrasonic echo signal to obtain blood vessel ultrasonic image data of the detected person and displays the image data, and at the same time, the terminal computer processes the detection data of the MPI subsystem to obtain blood vessel MPI image data of the detected person and the position of the IVUS probe in the image and displays the image data and the position of the IVUS probe.
In the invention, the in-vivo navigation method of the intravascular ultrasonic probe has the beneficial effects that:
the invention visualizes the blood vessel distribution and the focus position through MPI angiography, and simultaneously uses MPI to detect and position the in-vivo IVUS probe coated with the superparamagnetic coating, thereby realizing that MPI can intuitively navigate the IVUS probe in the blood vessel without ionizing radiation, and having clinical application prospect.
Drawings
Fig. 1 is a schematic diagram of an implementation of an intravascular ultrasound probe in-vivo navigation method according to the present invention;
fig. 2 is a block diagram of an in-vivo navigation method of an intravascular ultrasound probe according to the present invention;
fig. 3 is a block diagram of the control subsystem of the in-vivo navigation method of the intravascular ultrasound probe according to the present invention and the MPI signal generator integrated in the subsystem.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-3, an in-vivo navigation method of an intravascular ultrasound probe, including an IVUS subsystem, an MPI subsystem, and an IVUS and MPI control subsystem, includes the following steps:
(1): placing the probe 105 into the vessel through the catheter 104 and leaving the probe in the imaging field of view of the MPI subsystem; simultaneously, starting to carry out real-time imaging of the IVUS subsystem;
(2): injecting the diluted SPIO solution into a blood vessel, simultaneously exciting the SPIO and a superparamagnetic coating of the intravascular probe 105 by using a high-frequency sinusoidal alternating magnetic field in the MPI subsystem, and simultaneously receiving nonlinear response signals of the SPIO and the superparamagnetic coating of the probe 105 in the alternating magnetic field through a receiving coil 113; high-frequency sine alternating current is connected into the exciting coil 109, a high-frequency exciting magnetic field is generated, and the scanning of a free point of the magnetic field in the direction vertical to the paper surface is realized; low-frequency sine alternating current is connected into the first scanning coil 106 and the third scanning coil 110 to generate an alternating magnetic field in the horizontal direction, so that the scanning of a free point of the magnetic field in the horizontal direction is realized; low-frequency sinusoidal alternating current is connected into the second scanning coil 108 and the fourth scanning coil 111 to generate an alternating magnetic field in the vertical direction, so that the scanning of the free point of the magnetic field in the vertical direction is realized; magnetic fields generated by an excitation coil 109, a first scanning coil 106, a second scanning coil 108, a third scanning coil 110 and a fourth scanning coil 111 in the MPI subsystem are combined with each other, so that the space scanning of a magnetic field free point and the excitation of a non-linear response signal of a superparamagnetic substance in an MPI imaging field of view are realized;
(3): using the response signal measured in (2) by the receiving coil 113, realizing three-dimensional image reconstruction of the MPI subsystem by a standard MPI system matrix image reconstruction method, thereby simultaneously obtaining the position of the probe 105 and the blood vessel image; then, the spatial distribution of the IVUS detection region in the blood vessel image is calculated according to the spatial position of the probe 105;
(4): navigating the IVUS probe 105 to the diagnostic site of the blood vessel based on the blood vessel image obtained in step (3) and the immediate display of the IVUS probe region.
As shown in fig. 1, the IVUS subsystem includes: an ultrasound probe 105, a transmit circuit 101, a receive circuit 103, and a catheter 104. In addition to this, a transmission/reception selection switch 102 may be included.
The ultrasound probe 105 is any probe used for intravascular ultrasound detection, wherein the sonotrode portion of the ultrasound probe 105 may be an array of multiple ultrasound transducers, such as a circular array about the catheter axis. The ultrasonic transducer is used for emitting ultrasonic beams according to the excitation electric signals or converting the received ultrasonic echoes into electric signals, so that the generation of ultrasonic detection waves and the receiving of echo signals are realized; the surface of the end point position of the ultrasonic probe 105 is coated with a superparamagnetic coating material for detecting and positioning the ultrasonic probe by an MPI subsystem;
the catheter 104 is used for delivering the ultrasonic probe 105 into the blood vessel and realizing the connection of the ultrasonic probe 105 and the transmitting/receiving selection switch 102;
the transmit circuitry 101 is used to generate a transmit sequence for controlling the single or multiple ultrasound transducers to transmit ultrasound waves to the tissue, as controlled by the control subsystem.
The receiving circuit 103 is used for receiving the electric signal of the ultrasonic echo transmitted back from the probe 105 and sending the ultrasonic echo signal into the control subsystem.
As shown in fig. 1, the MPI subsystem includes: a first scanning coil 106, a first permanent magnet 107, a second scanning coil 108, an excitation coil 109, a third scanning coil 110, a fourth scanning coil 111, a second permanent magnet 112, and a receiving coil 113; wherein, the first permanent magnet 107 and the second permanent magnet 112 are oppositely arranged in the same pole, and a magnetic field free point is generated at the central position of the receiving coil 113, which is used for coding the space position of the superparamagnetic substance; the first scanning coil 106 and the third scanning coil 110 are connected in series, and are connected with low-frequency sine alternating current for scanning a free point of a magnetic field in the horizontal direction; the second scanning coil 108 and the fourth scanning coil 111 are connected in series, and are connected with low-frequency sinusoidal alternating current for scanning a magnetic field free point in the vertical direction; the exciting coil 109 is connected with high-frequency sine alternating current and is used for exciting a non-linear response signal of a superparamagnetic substance and scanning a free point of a magnetic field in a direction vertical to the paper surface; the receiving coil 113 is used to receive a response signal of the magnetic substance.
As shown in fig. 3, the IVUS and MPI control subsystem includes: a terminal computer PC and a multi-channel data acquisition card DAQ; wherein, the terminal computer is connected to the multi-channel data acquisition card DAQ; the multi-channel data acquisition card DAQ comprises a first analog receiving channel IO0, a second analog receiving channel IO1 and a trigger output channel Tri, and also comprises first to third analog output channels AO 0-IO 2; the trigger output channel Tri is connected to a trigger end of the IVUS transmitting circuit and used for regulating and controlling synchronous operation of the IVUS subsystem and the MPI subsystem; the first analog receiving channel IO0 and the second analog receiving channel IO1 are respectively connected with the receiving coil 113 of the MPI subsystem and the receiving circuit 103 of the IVUS subsystem, and are respectively used for receiving MPI receiving coil signals and IVUS probe detection signals; the first to third analog output channels AO 0-IO 2 are used as signal generators of the MPI subsystem; the first to third analog output channels AO 0-IO 2 are respectively connected to a power amplifier of the MPI subsystem and are respectively used for generating sinusoidal alternating currents of an MPI exciting coil, an MPI vertical direction scanning coil and an MPI horizontal direction scanning coil; after the multi-channel data acquisition card DAQ receives a regulation and control instruction from a terminal computer PC, the first to third analog output channels AO 0-IO 2 respectively send out 1 high-frequency excitation current and 2 low-frequency scanning currents at the specified frequency and amplitude; the first analog receiving channel IO0 and the second analog receiving channel IO1 synchronously start to respectively acquire signals of the MPI subsystem and the IVUS subsystem; and storing the acquired signals into a terminal computer PC cache for waiting for image reconstruction.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (8)

1. An in-vivo navigation method of an intravascular ultrasonic probe comprises an IVUS subsystem, an MPI subsystem and an IVUS and MPI control subsystem, and is characterized by comprising the following steps:
s1, placing the probe into the blood vessel through the catheter, and enabling the probe to be located in an imaging view field of the MPI subsystem;
s2, starting to perform real-time imaging of the IVUS subsystem; and performing angiography and detection of superparamagnetic coating signals of the intravascular IVUS probe by MPI imaging techniques;
s3, carrying out three-dimensional image reconstruction by using the MPI signal obtained in the S2, and simultaneously obtaining a blood vessel image and the spatial position of the IVUS probe; then, calculating the spatial distribution of the IVUS detection area in the blood vessel image according to the spatial position of the IVUS probe;
s4, navigating the IVUS probe to the diagnostic site of the blood vessel based on the blood vessel image obtained in S3 and the immediate display of the IVUS probe region.
2. The method of claim 1, wherein the IVUS subsystem comprises: the ultrasonic diagnosis device comprises an ultrasonic probe, a transmitting circuit, a receiving circuit and a catheter, wherein the transmitting circuit excites the ultrasonic probe to transmit ultrasonic waves to a vascular lumen and a vascular wall of a detected person, the receiving circuit controls the ultrasonic probe to receive echoes of the ultrasonic waves returned by the vascular lumen and the vascular wall to obtain ultrasonic echo signals, and the catheter sends the ultrasonic probe into the vascular and reaches a diagnosis part.
3. The method for navigating the intravascular ultrasound probe in the body according to claim 2, wherein the method for obtaining the blood vessel image comprises: injecting the diluted SPIO solution into a blood vessel, exciting the SPIO by using a high-frequency sinusoidal alternating magnetic field in the MPI subsystem, receiving a nonlinear response signal of the SPIO in the alternating magnetic field through a receiving coil of the MPI subsystem, and realizing the spatial positioning of the SPIO through the spatial scanning of the MPI subsystem; after the image reconstruction of the MPI subsystem, the SPIO in the blood vessel is tracked by the MPI image, and the flow track of the SPIO solution in the blood vessel is the blood vessel image.
4. The method for on-body navigation of an intravascular ultrasound probe according to claim 3, wherein the MPI subsystem comprises: the scanning device comprises a first scanning coil, a first permanent magnet, a second scanning coil, an exciting coil, a third scanning coil, a fourth scanning coil, a second permanent magnet and a receiving coil.
5. The method of claim 4, wherein the IVUS and MPI control subsystem comprises: a terminal computer PC and a multi-channel data acquisition card DAQ.
6. The method for navigating the intravascular ultrasound probe in the body according to claim 5, wherein the surface of the ultrasound probe is coated with a superparamagnetic coating material for detecting and positioning the ultrasound probe by the MPI subsystem.
7. The method for navigating in vivo by using the intravascular ultrasound probe according to claim 6, wherein the multi-channel data acquisition card comprises at least 2 receiving channels and 1 trigger output channel; the 2 receiving channels are respectively used for receiving a receiving coil detection signal in the MPI subsystem and an ultrasonic probe detection signal in the IVUS subsystem; the trigger output channel is used for sending a trigger signal to the IVUS subsystem to realize the regulation and control of the IVUS subsystem.
8. The in-vivo navigation method of the intravascular ultrasound probe according to claim 7, wherein the terminal computer processes the ultrasound echo signal to obtain the vascular ultrasound image data of the detected person and displays the image data; the terminal computer processes the detection data of the MPI subsystem to obtain the blood vessel MPI image data of the detected person and the position of the IVUS probe in the image, and displays the image data and the position of the IVUS probe.
CN202210699349.3A 2022-06-20 2022-06-20 In-vivo navigation method for intravascular ultrasonic probe Pending CN115089216A (en)

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CN202310664960.7A CN116763357A (en) 2022-06-20 2023-06-07 In-vivo navigation method of intravascular ultrasound probe

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Application publication date: 20220923