CN117710571A

CN117710571A - Three-dimensional model rendering effect enhancement method, three-dimensional mapping system and electronic equipment

Info

Publication number: CN117710571A
Application number: CN202311618939.XA
Authority: CN
Inventors: 王彦磊; 孙毅勇; 沈刘娉
Original assignee: Shanghai Microport EP MedTech Co Ltd
Current assignee: Shanghai Microport EP MedTech Co Ltd
Priority date: 2023-11-29
Filing date: 2023-11-29
Publication date: 2024-03-15

Abstract

The invention provides a three-dimensional model rendering effect enhancement method, a three-dimensional mapping system, electronic equipment and a readable storage medium, wherein the enhancement method comprises the following steps: in the process of rendering the three-dimensional model to be rendered, detecting edge information of the three-dimensional model to be rendered in real time; and carrying out visual enhancement on the rendering effect of the edge part of the three-dimensional model to be rendered according to the edge information in real time. According to the invention, when the three-dimensional model is rendered, the edge information of the three-dimensional model is detected in real time, and the rendering effect of the edge part of the three-dimensional model is enhanced to a certain extent, so that the three-dimensional sense and the spatial sense of the three-dimensional model can be increased, and an operator can observe the structural information of the three-dimensional model conveniently.

Description

Three-dimensional model rendering effect enhancement method, three-dimensional mapping system and electronic equipment

Technical Field

The invention relates to the technical field of medical equipment, in particular to a three-dimensional model rendering effect enhancement method, a three-dimensional mapping system, electronic equipment and a readable storage medium.

Background

Cardiac electrophysiology mapping has an important role in the diagnosis and treatment of cardiac arrhythmias. One or more electrophysiology catheters with various sensors are typically delivered into the heart in the clinic; using different types of data acquired by the various sensors, the cardiac electrophysiology mapping system reconstructs a three-dimensional model of the heart and can present various electrophysiology information in different forms on or near the surface of the three-dimensional model, such as changing colors, adding markers, and the like. In the process, an operator can diagnose and treat according to the presentation effect of the three-dimensional model, such as judging the starting point and the conduction path of arrhythmia, applying a stimulation signal or ablation treatment at a proper position, and the like. It follows that the effect of the presentation of the three-dimensional model directly affects the efficiency and accuracy of the diagnosis and treatment of the operator.

However, in the prior art, the rendered three-dimensional model, especially the three-dimensional model added with the respective color coding information, is difficult to distinguish the structural information of the model. Thus, there is a need in surgery to remove some unwanted visual disturbances, often according to the needs of the operator, so that the operator can be more focused on his desired visual information. For example, an operator may mark or edit the three-dimensional model, or adjust the orientation and angle of the three-dimensional model, etc., however this process is often cumbersome and time consuming. It is therefore highly desirable to provide a more convenient and quick solution to enhance the rendering effect of three-dimensional models so that operators can more concentrate on their required visual information.

It should be noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a three-dimensional model rendering effect enhancement method, a three-dimensional mapping system, electronic equipment and a readable storage medium, which are used for detecting edge information of a three-dimensional model in real time and enhancing the rendering effect of the edge part of the three-dimensional model to a certain extent when the three-dimensional model is rendered, so that the stereoscopic impression and the spatial impression of the three-dimensional model can be enhanced, and an operator can observe the structural information of the three-dimensional model conveniently.

In order to achieve the above object, the present invention provides a method for enhancing rendering effect of a three-dimensional model, comprising:

in the process of rendering a three-dimensional model to be rendered, detecting edge information of the three-dimensional model to be rendered in real time;

and carrying out visual enhancement on the rendering effect of the edge part of the three-dimensional model to be rendered according to the edge information in real time.

Optionally, in some embodiments, the detecting edge information of the three-dimensional model to be rendered in real time includes:

judging whether each side on the triangular mesh forming the three-dimensional model to be rendered is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint;

and acquiring the edge information of the three-dimensional model to be rendered under the current viewpoint according to the position information of all edges positioned at the edge part of the three-dimensional model to be rendered.

Optionally, the determining whether the edge is located at the edge portion of the three-dimensional model to be rendered under the current viewpoint includes:

determining the sight line vector of the current viewpoint and any point on the edge, and determining two adjacent triangular patches sharing the edge from the triangular mesh;

calculating an included angle between a normal vector of each triangular patch and the sight line vector for each triangular patch in the two adjacent triangular patches;

And if the included angle between the normal vector of one triangular surface patch of the two adjacent triangular surface patches and the sight line vector is an obtuse angle and the included angle between the normal vector of the other triangular surface patch and the sight line vector is an acute angle, judging that the edge is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint.

Optionally, for each edge located at the edge of the three-dimensional model to be rendered, determining the visual enhancement intensity of the rendering effect of the edge according to the relative magnitude relation of the included angles between the normal vector of two adjacent triangular patches sharing the edge and the sight line vector.

Optionally, in other embodiments, the detecting edge information of the three-dimensional model to be rendered in real time includes:

judging whether each point on the triangular mesh forming the three-dimensional model to be rendered is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint;

and acquiring the edge information of the three-dimensional model to be rendered under the current viewpoint according to the position information of all the points positioned at the edge part of the three-dimensional model to be rendered.

Optionally, the determining whether the point is located at the edge portion of the three-dimensional model to be rendered under the current viewpoint includes:

Determining a ray vector from a light source to the point and a normal vector at the point under the current viewpoint;

calculating an included angle between the light vector and the normal vector;

judging whether the included angle between the light ray vector and the normal vector is within a preset angle range or not;

if yes, judging that the point is located at the edge part of the three-dimensional model to be rendered under the current viewpoint.

Optionally, for each point located at the edge of the three-dimensional model to be rendered, determining the visual enhancement intensity of the rendering effect of the point according to the degree that the included angle between the ray vector corresponding to the point and the normal vector approaches 90 degrees.

Optionally, the visual enhancement of the rendering effect of the edge portion of the three-dimensional model to be rendered includes:

and adding another color on the basis of the rendering color of the edge part of the three-dimensional model to be rendered.

and adjusting the intensity of the rendering color of the edge part of the three-dimensional model to be rendered.

In order to achieve the above purpose, the invention also provides a three-dimensional mapping system, which comprises a catheter, a data acquisition module and a data processing module, wherein the catheter is in communication connection with the data acquisition module, and the data acquisition module is in communication connection with the data processing module;

The catheter is configured to be placed within a lumen of a target organ to acquire anatomical data of the target organ and to transmit the anatomical data to the data acquisition module;

the data acquisition module is configured to preprocess the anatomical structure data and transmit the preprocessed anatomical structure data to the data processing module;

the data processing module is configured to reconstruct a three-dimensional model of the target organ based on the preprocessed anatomical structure data, and perform visual enhancement rendering on the edge part of the three-dimensional model of the target organ by adopting the three-dimensional model rendering effect enhancement method.

Optionally, the catheter is further configured to collect position data of the catheter, and transmit the position data to the data collection module;

the data acquisition module is further configured to preprocess the position data and transmit the preprocessed position data to the data processing module;

the data processing module is further configured to map the three-dimensional model of the catheter to a corresponding location of the three-dimensional model of the target organ based on the preprocessed location data.

Optionally, the data processing module is further configured to visually enhance an edge portion of the three-dimensional model of the catheter when a contact force between the catheter and the target organ is greater than a preset threshold.

Optionally, the catheter is further configured to acquire electrophysiological data for each site within the lumen of the target organ, the electrophysiological data including at least one of electrocardiographic data, unipolar voltage data, bipolar voltage data, impedance data, temperature data, and contact force data;

the data acquisition module is further configured to preprocess the electrophysiological data and transmit the preprocessed electrophysiological data to the data processing module;

the data processing module is further configured to render the preprocessed electrophysiological data to a corresponding portion of the three-dimensional model of the target organ according to a preset color mapping relationship.

Optionally, the three-dimensional mapping system further includes an interaction module configured to display a processing result of the data processing module and provide man-machine interaction for an operator.

Optionally, the three-dimensional mapping system further includes a control module and an ablation module that are communicatively connected, the ablation module is communicatively connected with the catheter, the data acquisition module is communicatively connected with the data processing module through the control module, so as to transmit the preprocessed data to the data processing module through the control module, and the ablation module is configured to provide ablation energy to the catheter under the control of the control module.

In order to achieve the above object, the present invention further provides an electronic device, including a processor and a memory, where the memory stores a computer program, and the computer program implements the three-dimensional model rendering effect enhancing method described above when executed by the processor.

To achieve the above object, the present invention also provides a readable storage medium having stored therein a computer program which, when executed by a processor, implements the three-dimensional model rendering effect enhancing method described above.

Compared with the prior art, the three-dimensional model rendering effect enhancement method, the three-dimensional mapping system, the electronic equipment and the readable storage medium have the following beneficial effects:

according to the three-dimensional model rendering effect enhancement method provided by the invention, when the three-dimensional model is rendered, the edge information of the three-dimensional model is detected in real time, and the rendering effect of the edge part of the three-dimensional model is enhanced visually to a certain extent, so that the three-dimensional sense and the spatial sense of the three-dimensional model can be enhanced, an operator can observe the structural information (such as anatomical structure information) of the three-dimensional model conveniently, and especially when the related information is required to be rendered on the three-dimensional model in a color mapping mode for display, the rendering effect of the edge part of the three-dimensional model is enhanced visually by adopting the three-dimensional model rendering effect enhancement method provided by the invention, the structural information (such as anatomical structure information) of the three-dimensional model can be well highlighted while the color mapping information is displayed, and the three-dimensional sense and the spatial sense of the three-dimensional model are enhanced.

Because the three-dimensional mapping system, the electronic device and the readable storage medium provided by the invention belong to the same conception as the three-dimensional model rendering effect enhancement method provided by the invention, the three-dimensional mapping system, the electronic device and the readable storage medium at least have the beneficial effects of the three-dimensional model rendering effect enhancement method provided by the invention, and the related description can be referred to in detail, the beneficial effects of the three-dimensional mapping system, the electronic device and the readable storage medium provided by the invention are not repeated one by one.

Drawings

FIG. 1 is a flow chart of a method for enhancing rendering effects of a three-dimensional model according to an embodiment of the present invention;

FIG. 2 is a graph of rendering effects of a three-dimensional model of a heart without visual enhancement of rendering effects of edge portions of the three-dimensional model and without color mapping information, according to an embodiment of the present invention;

FIG. 3 is a graph of rendering effects of a three-dimensional model of a heart that does not visually enhance the rendering effects of edge regions of the three-dimensional model, but exhibits color mapping information, in accordance with an embodiment of the present invention;

FIG. 4 is an effect diagram of enhanced rendering of an edge portion of a three-dimensional heart model by using the three-dimensional model rendering effect enhancement method provided by the invention;

FIG. 5 is a schematic diagram of detecting edge information of a three-dimensional model according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of detecting edge information of a three-dimensional model according to another embodiment of the present invention;

FIG. 7 is a block diagram of a three-dimensional mapping system according to an embodiment of the present invention;

fig. 8 is a schematic block diagram of an electronic device according to an embodiment of the present invention.

Wherein, the reference numerals are as follows:

triangular patches-100 a, 100b; edge-101; normal vectors-102 a, 102b, 205; line-of-sight vector-103; view-104, 203; a three-dimensional model to be rendered-200; point-201; light sources-202 a, 202b; ray vectors-204 a, 204b;

a catheter-310; sensor-311; a data acquisition module-320; a data processing module-330; a three-dimensional model reconstruction unit-331; a rendering unit-332; a catheter positioning unit-333; an electrophysiology data processing unit-334; an interaction module-340; a display unit-341; peripheral-342; a control module-350; an ablation module-360;

auricle structure-11; a three-dimensional model of the target organ-12; three-dimensional model of catheter-13; ball-shaped marker points-14;

a processor-410; a communication interface-420; a memory-430; communication bus-440.

Detailed Description

The three-dimensional model rendering effect enhancement method, the three-dimensional mapping system, the electronic device and the readable storage medium provided by the invention are further described in detail below with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, and are merely intended to facilitate a convenient and clear description of the objects provided by the present invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are shown only in connection with the present disclosure for the understanding and reading of the present disclosure, and are not intended to limit the scope of the invention, which is defined by the appended claims, and any structural modifications, proportional changes, or dimensional adjustments, which may be made by the present disclosure, should fall within the scope of the present disclosure under the same or similar circumstances as the effects and objectives attained by the present invention.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The singular forms "a," "an," and "the" include plural referents, the term "or" is generally used in the sense of comprising "and/or" and the term "several" is generally used in the sense of comprising "at least one," the term "at least two" is generally used in the sense of comprising "two or more," and the term "first," "second," "third," are for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated.

Furthermore, in the description herein, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described in this specification and the features of the various embodiments or examples may be combined and combined by those skilled in the art without contradiction.

For easy understanding, before describing the three-dimensional model rendering effect enhancement method, the three-dimensional mapping system, the electronic device and the readable storage medium provided by the invention, a brief description is given of the research background of the invention.

Taking a three-dimensional heart electrophysiology mapping system as an example, in the practical application process, the catheter continuously acquires electrophysiology information of different types through various sensors in the heart cavity. The display module can display the heart three-dimensional model and render various electrophysiological information at the relevant positions of the model in real time. For example, different parts of the heart have different local activation times (Local activation time, LAT), different unipolar voltage values, bipolar voltage values, impedance values, etc. at different times. Colors are commonly used clinically to distinguish differences in electrophysiological information at different locations of the heart. For example, when observing the order of conduction of the depolarization wave between different parts of the heart, the part with the earliest LAT value will be rendered red, the part with the latest LAT value will be rendered purple, and the part with the between the earliest and latest LAT values will be rendered as the other color in the color bar. Therefore, an operator can judge the origin position and the propagation trend of the depolarization wave on the surface of the heart by observing the color distribution and the trend on the three-dimensional heart model, so that diagnosis and treatment can be performed. Similarly, similar color mapping can be performed for voltage values and impedance values of different magnitudes for different locations. Furthermore, the mapping method of the colors can be dynamically adjusted to observe the area change condition of the boundary areas with different colors on the three-dimensional heart model, and at the moment, an animation-like effect can be generated. Still further, the model surface or surrounding may also display a variety of cues including, but not limited to, points, markers, text, anatomical features, color mapping distributions, and the like. This results in very complex information displayed on the display module, and it is difficult to distinguish the anatomical information of the three-dimensional model of the heart, and thus it is difficult to distinguish other contents displayed on the display module, such as the relative positional relationship between the points or catheters and the three-dimensional model of the heart, which easily results in some misoperation.

In addition, operators may have different needs for what is presented on the display module at different times during the operation. For example, the modeling phase may focus on anatomical information of the heart and positional information of the catheter; a diagnosis stage, possibly focusing on the color distribution rule of the heart three-dimensional model surface and other prompt information; during the ablation phase, it may be necessary to know whether the catheter is placed at the appropriate location within the heart, contact of the inner walls of the concentric lumens of the catheter, temperature information at the tip of the catheter, etc. Therefore, the content displayed on the display module needs to be adjusted according to the needs of the operator in the operation, so that unnecessary visual interference is removed as much as possible, and the operator can concentrate more on the visual information required by the operator. To achieve this, operators need to remove temporarily unwanted content, such as marking or editing a three-dimensional model of the heart, or adjusting the orientation and angle of the model, etc., by various tools and methods, which is often cumbersome and time consuming. Thus, there is a need to provide a more convenient and quick solution to enable an operator to focus more on the visual information he needs.

Based on the above, the core idea of the present invention is to provide a three-dimensional model rendering effect enhancement method, a three-dimensional mapping system, an electronic device and a readable storage medium, which detect model edge information under a current viewpoint in real time and perform a certain visual enhancement on a rendering effect of an edge portion of the three-dimensional model when rendering the three-dimensional model, so that a stereoscopic impression and a spatial impression of the three-dimensional model can be increased, and an operator can observe structural information of the three-dimensional model conveniently.

It should be noted that, the method for enhancing the rendering effect of the three-dimensional model provided by the invention can be applied to the electronic device provided by the invention, and the electronic device provided by the invention can be applied to the three-dimensional mapping system provided by the invention, wherein the electronic device can be a personal computer, a mobile terminal and the like, and the mobile terminal can be a mobile phone, a tablet computer and other hardware devices with various operating systems. It should be further noted that, as those skilled in the art can understand, the method for enhancing the rendering effect of the three-dimensional model provided by the present invention is not limited to the three-dimensional model of the heart, but may be applied to the three-dimensional model of other organs or the three-dimensional model of other objects except for the three-dimensional model of the organ.

In order to achieve the above-mentioned idea, the present invention provides a method for enhancing a rendering effect of a three-dimensional model, please refer to fig. 1, which is a flow chart of a method for enhancing a rendering effect of a three-dimensional model according to an embodiment of the present invention. As shown in fig. 1, the method for enhancing the rendering effect of the three-dimensional model provided by the invention comprises the following steps:

step S100, detecting edge information of the three-dimensional model to be rendered in real time in the process of rendering the three-dimensional model to be rendered.

And step 200, visually enhancing the rendering effect of the edge part of the three-dimensional model to be rendered according to the edge information in real time.

Therefore, the three-dimensional model rendering effect enhancement method provided by the invention can be used for detecting the edge information of the three-dimensional model in real time and visually enhancing the rendering effect of the edge part of the three-dimensional model to a certain extent, so that the three-dimensional sense and the spatial sense of the three-dimensional model can be increased, an operator can observe the structural information (such as anatomical structure information) of the three-dimensional model conveniently, and especially when the related information (such as electrophysiological information) is required to be rendered on the three-dimensional model for display in a color mapping mode, the three-dimensional model rendering effect enhancement method provided by the invention is used for visually enhancing the rendering effect of the edge part of the three-dimensional model, so that the three-dimensional model can well highlight the structural information (such as anatomical structure information) of the three-dimensional model while displaying the color mapping information, and simultaneously the three-dimensional sense and the spatial sense of the three-dimensional model are enhanced.

It should be noted that, as those skilled in the art can understand, the three-dimensional model to be rendered may be a reconstructed three-dimensional model of an organ (for example, a reconstructed three-dimensional model of a heart), or may be a reconstructed three-dimensional model of an object other than the organ, which is not limited in this aspect of the invention. It should be further noted that, as those skilled in the art can understand, editing the three-dimensional model to be rendered (such as modifying the resolution of a certain portion of the model, "digging holes" in the model, etc.) may affect the structure of the model, and rotating or scaling the three-dimensional model to be rendered may affect the state and edge structure information presented by the model, so that it is necessary to detect the edge information of the three-dimensional model to be rendered in real time during the rendering process.

In addition, as can be understood by those skilled in the art, in some embodiments, the rendering the three-dimensional model to be rendered refers to performing normal rendering on the three-dimensional model to be rendered according to a preset viewpoint and a light source (specific reference may be made to a three-dimensional model rendering technology known to those skilled in the art, and detailed details are not repeated here), and a specific rendering effect is shown in fig. 2, which is a rendering effect diagram of a heart three-dimensional model provided by a specific example of the present invention and not performing visual enhancement on a rendering effect of an edge portion of the three-dimensional model and not displaying color mapping information; in other embodiments, the rendering the three-dimensional model to be rendered refers to rendering relevant information to a corresponding position of the three-dimensional model in real time (or simultaneously) in a color mapping manner after the three-dimensional model to be rendered is generally rendered according to a preset viewpoint and a light source, and a specific rendering effect is shown in fig. 3, which is a rendering effect diagram (fig. 3 is a grayed image) of a heart three-dimensional model that is provided by a specific example of the present invention and does not visually enhance a rendering effect of an edge position of the three-dimensional model but shows color mapping information. Please continue to refer to fig. 4, which is a schematic diagram illustrating an enhanced rendering of an edge portion of a three-dimensional heart model by using the method for enhancing a rendering effect of a three-dimensional model provided by the present invention. As can be seen by comparing fig. 3 and fig. 4, by adopting the method for enhancing the rendering effect of the three-dimensional model provided by the invention to visually enhance the rendering effect of the edge portion of the three-dimensional model of the heart, the three-dimensional model of the heart can display color mapping information and simultaneously well highlight anatomical structure information of the three-dimensional model of the heart, so that the auricle structure 11 which is originally blurred in fig. 3 can observe more obvious contour information in fig. 4.

In some exemplary embodiments, the visual enhancement of the rendering effect of the edge portion of the three-dimensional model to be rendered in step S200 includes:

Specifically, the rendering color of the edge portion of the three-dimensional model to be rendered may be a color obtained by performing ordinary rendering on the three-dimensional model to be rendered according to a preset viewpoint and a light source as shown in fig. 2, or may be a color obtained by mapping according to color mapping information of a corresponding portion as shown in fig. 3. By adding another color on the basis of the rendering color of the edge part of the three-dimensional model to be rendered, the color of the edge part of the three-dimensional model to be rendered can be different from the color of the non-edge part of the model, so that the effect of visually enhancing the rendering effect of the edge part of the three-dimensional model to be rendered is achieved. It should be noted that, as will be understood by those skilled in the art, the specific kind of additional color to be added is not limited in the present invention, as long as the visual enhancement effect can be achieved. Preferably, the added additional color can enable the edge part of the three-dimensional model to be rendered to present a glassy state color, so that the visual enhancement effect of the edge part of the three-dimensional model to be rendered can be effectively improved.

In other exemplary embodiments, the visual enhancement of the rendering effect of the edge portion of the three-dimensional model to be rendered in step S200 includes:

Specifically, the rendering color of the edge portion of the three-dimensional model to be rendered may be brighter than the rendering colors of other portions of the three-dimensional model to be rendered, so that the edge portion of the three-dimensional model to be rendered presents a glassy state color, thereby realizing an effect of visually enhancing the rendering effect of the edge portion of the three-dimensional model to be rendered.

In some exemplary embodiments, the detecting edge information of the three-dimensional model to be rendered in real time in the step S100 includes:

step S111, judging whether each edge on the triangular mesh forming the three-dimensional model to be rendered is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint;

and step S112, acquiring edge information of the three-dimensional model to be rendered under the current viewpoint according to the position information of all edges positioned at the edge part of the three-dimensional model to be rendered.

In particular, the three-dimensional model to be rendered (e.g., the reconstructed three-dimensional model of the heart) is typically represented using a form of triangular mesh. Fig. 5 is a schematic diagram of detecting edge information of a three-dimensional model according to an embodiment of the invention. As shown in fig. 5, two adjacent triangular patches 100a and 100b in a triangular mesh constituting a three-dimensional model are shown, the two adjacent triangular patches 100a and 100b sharing one side 101. When one triangular patch 100a (or triangular patch 100 b) faces the viewpoint 104 and the other triangular patch 100b (or triangular patch 100 a) faces away from the viewpoint 104, it is determined that the edge 101 is located at the edge position of the model. Therefore, for each side on the triangular mesh forming the three-dimensional model to be rendered, by judging whether the side is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint, accurate edge information of the three-dimensional model to be rendered under the current viewpoint can be obtained according to the position information of all sides positioned at the edge part of the three-dimensional model to be rendered.

Further, the determining in step S111 whether the edge is located at the edge portion of the three-dimensional model to be rendered under the current viewpoint includes:

Step S1111, determining the sight line vector of the current viewpoint and any point on the edge, and determining two adjacent triangular patches sharing the edge from the triangular mesh;

step S1112, calculating an included angle between a normal vector of each triangular patch and the sight line vector for each triangular patch in the two adjacent triangular patches;

and step 1113, if the included angle between the normal vector of one triangular surface patch of the two adjacent triangular surface patches and the sight line vector is an obtuse angle and the included angle between the normal vector of the other triangular surface patch and the sight line vector is an acute angle, determining that the edge is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint.

With continued reference to fig. 5, as shown in fig. 5, 102a and 102b are normal vectors of triangular patches 100a and 100b, respectively. Let 103 be a line of sight vector from viewpoint 104 to any point on edge 101. The step of determining whether the edge 101 is located at an edge portion of the three-dimensional model includes: the angle a between line of sight vector 103 and normal vector 102a of triangular patch 100a and the angle B between line of sight vector 103 and normal vector 102B of triangular patch 100B are calculated. When one of the included angle a and the included angle B is an obtuse angle and the other is an acute angle (i.e., the included angle a is an obtuse angle, the included angle B is an acute angle, or the included angle a is an acute angle, and the included angle B is an obtuse angle), the edge 101 can be determined to be located at the edge position of the three-dimensional model. And executing the judging process on each side of the triangular mesh forming the three-dimensional model to be rendered, and obtaining the edge information of the three-dimensional model to be rendered. In particular, the details of how to determine the normal vector 102a of the triangular patch 100a and how to determine the normal vector 102a of the triangular patch 100b can be referred to as related art known to those skilled in the art, and will not be described herein. Further, the details of how to calculate the angle a between the line-of-sight vector 103 and the normal vector 102a and how to calculate the angle B between the line-of-sight vector 103 and the normal vector 102B can also refer to the related art known to those skilled in the art, and will not be described herein.

In some exemplary embodiments, for each edge located at an edge portion of the three-dimensional model to be rendered, the visual enhancement intensity of the rendering effect of the edge is determined according to a relative magnitude relation of an included angle between a normal vector and the line-of-sight vector of two adjacent triangular patches sharing the edge.

Thus, for each side located at the edge portion of the three-dimensional model to be rendered, by determining the visual enhancement intensity of the rendering effect of the side according to the relative magnitude relation of the included angle between the normal vector of two adjacent triangular patches sharing the side and the line-of-sight vector, the shadow and the bright-dark effect of the three-dimensional model can be enhanced, so that the structural information (such as anatomical structure information) of the three-dimensional model can be more emphasized. Specifically, if the difference between the normal vector of two adjacent triangular patches sharing the strip edge and the line-of-sight vector is larger, the higher the visual enhancement intensity of the rendering effect of the strip edge is, that is, the higher the intensity of the glassy state color exhibited by the strip edge is. Conversely, if the difference between the normal vector of two adjacent triangular patches sharing the strip edge and the sight line vector is smaller, the lower the visual enhancement intensity of the rendering effect of the strip edge is, that is, the lower the intensity of the glassy state color exhibited by the strip edge is.

In other exemplary embodiments, the detecting edge information of the three-dimensional model to be rendered in real time in the step S100 includes:

step S121, judging whether each point on the triangular mesh forming the three-dimensional model to be rendered is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint;

step S122, according to the position information of all the points located at the edge part of the three-dimensional model to be rendered, acquiring the edge information of the three-dimensional model to be rendered under the current viewpoint.

Therefore, for each point on the triangular mesh forming the three-dimensional model to be rendered, by judging whether the point is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint, the edge information of the three-dimensional model to be rendered under the current viewpoint can be accurately obtained according to the position information of all the points positioned at the edge part of the three-dimensional model to be rendered.

Further, the determining in step S121 whether the point is located at the edge portion of the three-dimensional model to be rendered under the current viewpoint includes:

step S1211, determining a light source corresponding to the point under the current viewpoint;

step S1212, determining a ray vector from the light source to the point and a normal vector at the point;

Step S1213, calculating an included angle between the light ray vector and the normal vector;

step S1214, determining whether an included angle between the light vector and the normal vector is within a preset angle range;

and step S1215, if yes, judging that the point is positioned at the edge part of the three-dimensional model to be rendered under the current viewpoint.

Specifically, please refer to fig. 6, which is a schematic diagram illustrating a method for detecting edge information of a three-dimensional model according to another embodiment of the present invention. As shown in fig. 6, 200 represents a reconstructed three-dimensional model to be rendered, and 201 represents any point on the three-dimensional model to be rendered. 202a and 202b represent two light sources rendering a scene and 203 represents the viewpoint of the rendering scene. In one embodiment, when looking toward the three-dimensional model 200 to be rendered from the direction of the viewpoint 203, the light source 202a and the light source 202b are respectively located at front and rear positions of the three-dimensional model 200 to be rendered; in other embodiments, the light sources 202a and 202b are located at left and right positions of the three-dimensional model 200 to be rendered, respectively, when the three-dimensional model 200 to be rendered is seen from the direction of the viewpoint 203. When the point 201 is located on the front side of the three-dimensional model 200 to be rendered, the illumination effect of one of the light sources 202a (or 202 b) is used; when the point 201 is located at the back of the three-dimensional model 200 to be rendered, the illumination effect of the other light source 202b (or 202 a) is used. In rendering the three-dimensional model 200 to be rendered, for any point 201 on the three-dimensional model 200 to be rendered, 204a is the vector of rays emanating from the light source 202a to the point 201, 204b is the vector of rays emanating from the light source 202b to the point 201, and 205 is the normal vector at the point 201. Because for a certain point at the edge of the model, the angle between the ray vector corresponding to the point and the normal vector 205 is approximately 90 degrees (i.e., within the preset angle range); for a certain point of the non-edge position of the model, the included angle between the ray vector corresponding to the point and the normal vector 205 is an acute angle or an obtuse angle (i.e. not within the preset angle range), so as to determine whether any point 201 on the three-dimensional model 200 to be rendered is located at the edge position of the three-dimensional model 200 to be rendered. The above determination process is performed for each point of the triangle mesh constituting the three-dimensional model 200 to be rendered, so that the edge information of the three-dimensional model 200 to be rendered can be obtained.

It should be noted that, as will be understood by those skilled in the art, if the illumination effect of the light source 202a is used for a point located on the front surface of the three-dimensional model 200 to be rendered and the illumination effect of the light source 202b is used for a point located on the back surface of the three-dimensional model 200 to be rendered, the light vector corresponding to the point is a vector from the light source 202a to the point for any point located on the front surface of the three-dimensional model 200 to be rendered, and the light vector corresponding to the point is a vector from the light source 202b to the point for any point located on the back surface of the three-dimensional model 200 to be rendered; conversely, if the illumination effect of the light source 202b is used for a point located on the front side of the three-dimensional model 200 to be rendered and the illumination effect of the light source 202a is used for a point located on the back side of the three-dimensional model 200 to be rendered, the light vector corresponding to the point is a vector from the light source 202b to the point for any point located on the front side of the three-dimensional model 200 to be rendered, and the light vector corresponding to the point is a vector from the light source 202a to the point for any point located on the back side of the three-dimensional model 200 to be rendered.

In some exemplary embodiments, for each point located at an edge portion of the three-dimensional model to be rendered, the visual enhancement intensity of the rendering effect of the point is determined according to the degree to which the included angle between the ray vector corresponding to the point and the normal vector approaches 90 °.

Thus, for each point located at the edge part of the three-dimensional model to be rendered, the shadow and the bright-dark effect of the three-dimensional model can be enhanced by determining the visual enhancement intensity of the rendering effect of the point according to the degree that the included angle between the ray vector corresponding to the point and the normal vector approaches 90 degrees, so that the structural information (such as anatomical structure information) of the three-dimensional model can be more highlighted. Specifically, if the included angle between the ray vector corresponding to the point and the normal vector is closer to 90 °, the visual enhancement intensity of the rendering effect of the point is higher, that is, the intensity of the glassy state color exhibited by the point is higher. Conversely, if the included angle between the ray vector corresponding to the point and the normal vector is further away from 90 °, the visual enhancement intensity of the rendering effect of the point is lower, that is, the intensity of the glassy state color exhibited by the point is lower.

Based on the same inventive concept, the present invention also provides a three-dimensional mapping system, please refer to fig. 7, which is a block structure schematic diagram of the three-dimensional mapping system according to an embodiment of the present invention. As shown in fig. 7, the three-dimensional mapping system provided by the invention comprises a catheter 310, a data acquisition module 320 and a data processing module 330, wherein the catheter 310 is in communication connection with the data acquisition module 320, and the data acquisition module 320 is in communication connection with the data processing module 330; the catheter 310 is configured to be placed within a lumen of a target organ to acquire anatomical data of the target organ and to transmit the anatomical data to the data acquisition module 320; the data acquisition module 320 is configured to pre-process the anatomical data and transmit the pre-processed anatomical data to the data processing module 330; the data processing module is configured to reconstruct a three-dimensional model of the target organ based on the preprocessed anatomical structure data, and perform visual enhancement rendering on the edge part of the three-dimensional model of the target organ by adopting the three-dimensional model rendering effect enhancement method. Because the three-dimensional mapping system provided by the invention and the three-dimensional model rendering effect enhancement method provided by the invention belong to the same inventive concept, the three-dimensional mapping system provided by the invention has at least all the beneficial effects of the three-dimensional model rendering effect enhancement method provided by the invention, and the description of the beneficial effects of the three-dimensional model rendering effect enhancement method provided by the invention can be referred to in detail, and will not be repeated here.

In particular, the three-dimensional mapping system may include one or more catheters 310. Types of catheters 310 include, but are not limited to, fixed bend catheters 310, adjustable bend catheters 310, ring catheters 310, multi-limb catheters 310, and the like. One or more catheters 310 are typically delivered into the lumen of the target organ (e.g., heart chamber) through vascular access during clinical procedures. The catheter 310 may not only collect electrophysiological data of a patient (e.g., an arrhythmia patient) via various sensors 311 mounted thereon, but may also be used to apply ablation energy to patient tissue via the ablation module 360 for therapeutic purposes (e.g., treating an arrhythmia). Further, the sensors mounted on the catheter 310 may be of various types, such as position sensors, electrical sensors, pressure sensors, temperature sensors, and the like. Position sensors on catheter 310 may be used to assist in locating the position and orientation of catheter 310 in the lumen (e.g., heart chamber) of the target organ; the pressure sensor on the catheter 310 may be used to monitor the degree of contact of the catheter 310 with tissue; a temperature sensor on catheter 310 may be used to monitor the temperature change of the tissue as it is ablated. Electrical sensors (typically electrodes) on catheter 310 may be used to map the cardiac signals in the target heart chamber, and may also be used to apply ablation energy delivered by ablation module 360 to patient tissue, such as the inner wall of an atrium or ventricle. It should be noted that, as those skilled in the art will appreciate, the present invention is not limited to the type of sensor mounted on the catheter 310, nor is the number of sensors of each type.

The data acquisition module 320 is configured to perform preprocessing such as amplification, filtering, notch, and analog-to-digital conversion on the anatomical data, and the data acquisition module 320 generally includes various hardware devices and firmware devices to perform the preprocessing functions described above. It should be noted that, as will be appreciated by those skilled in the art, the specific structure of the data acquisition module 320 may refer to related art known to those skilled in the art, and will not be described herein.

Further, as shown in fig. 7, the data processing module 330 includes a three-dimensional model reconstruction unit 331 and a rendering unit 332, the three-dimensional model reconstruction unit 331 being configured to reconstruct a three-dimensional model of the target organ based on the preprocessed anatomical structure data; the rendering unit 332 is configured to perform visual enhancement rendering on an edge portion of the three-dimensional model of the target organ using the three-dimensional model rendering effect enhancement method described above. In particular, the data processing module 330 may include one or more processors, and may implement the functions of each unit in the form of hardware or software.

In some exemplary embodiments, the catheter 310 is further configured to collect location data where it is located and transmit it to the data collection module 320;

The data acquisition module 320 is further configured to pre-process the location data and transmit the pre-processed location data to the data processing module 330;

the data processing module 330 is further configured to map the three-dimensional model of the catheter 310 to corresponding locations of the three-dimensional model of the target organ based on the preprocessed position data.

Thus, by mapping the three-dimensional model of the catheter 310 to the corresponding position of the three-dimensional model of the target organ based on the position data acquired in real-time by the position sensor on the catheter 310, it is more convenient for the operator to know clearly whether the catheter 310 is placed at the appropriate site of the target organ.

Specifically, the data acquisition module 320 is configured to perform preprocessing such as amplification, filtering, notch, and analog-to-digital conversion on the position data acquired by the position sensor on the catheter 310.

With continued reference to fig. 7, as shown in fig. 7, the data processing module 330 includes a catheter positioning unit 333, the catheter positioning unit 333 is configured to position the catheter 310 within the target organ according to the preprocessed position data, and the rendering module is further configured to map the three-dimensional model of the catheter 310 to a corresponding position of the three-dimensional model of the target organ according to the catheter 310 position positioned by the catheter positioning unit 333.

In some exemplary embodiments, the data processing module 330 is further configured to visually enhance an edge portion of the three-dimensional model of the catheter 310 when a contact force between the catheter 310 and the target organ is greater than a preset threshold. Therefore, when the contact force between the catheter 310 and the target organ is greater than the preset threshold, the visual enhancement is performed on the edge portion of the three-dimensional model of the catheter 310 (as shown in fig. 4), so that an operator can intuitively understand that the contact force between the catheter 310 and the target organ is too large at the current moment, and can adjust the catheter 310 in time, so as to avoid damage to the patient. In particular, the specific content of how to visually enhance the edge portion of the three-dimensional model of the catheter 310 may be adaptively understood with reference to the three-dimensional model rendering effect enhancement method provided above, and will not be described herein.

In some exemplary embodiments, the catheter 310 is further configured to acquire electrophysiology data for each site within the lumen of the target organ, the electrophysiology data including at least one of electrocardiographic data, unipolar voltage data, bipolar voltage data, impedance data, temperature data, and contact force data;

The data acquisition module 320 is further configured to pre-process the electrophysiological data and transmit the pre-processed electrophysiological data to the data processing module 330;

the data processing module 330 is further configured to render the preprocessed electrophysiological data to a corresponding location of the three-dimensional model of the target organ according to a preset color mapping relationship.

Therefore, the preprocessed electrophysiological data are rendered to the corresponding part of the three-dimensional model of the target organ according to the preset color mapping relation, so that an operator can intuitively know the distribution situation of the electrophysiological data at each part of the target organ, and the operator can be better assisted in clinical diagnosis and treatment.

Specifically, the data acquisition module 320 is configured to perform preprocessing such as amplifying, filtering, notch, and analog-to-digital conversion on electrophysiological data such as electrocardiographic data, unipolar voltage data, bipolar voltage data, impedance data, temperature data, and contact force data.

With continued reference to fig. 7, as shown in fig. 7, the data processing module 330 further includes an electrophysiology data processing unit 334, where the electrophysiology data processing unit 334 is configured to obtain electrophysiology data color mapping information according to a preset color mapping relationship and the preprocessed electrophysiology data; the rendering module is further configured to render the electrophysiology data color mapping information onto a corresponding location of a three-dimensional model of the target organ.

In some exemplary embodiments, the data processing module 330 (in particular, the rendering module) is further configured to visually enhance an edge portion of a currently selected spheroid marker point of a plurality of spheroid marker points added to the three-dimensional model of the target organ. As shown in fig. 4, the three-dimensional model of the target organ is displayed with a plurality of spherical marker points with different colors, and the operator can intuitively know the specific position of the selected spherical marker point 14 on the three-dimensional model of the target organ by visually enhancing the edge part of the spherical marker point 14 currently in the selected state. Specifically, the specific content of how to visually enhance the edge portion of the selected spherical marker point 14 can be adaptively understood with reference to the three-dimensional model rendering effect enhancement method provided above, and will not be described herein.

With continued reference to fig. 7, in some exemplary embodiments, as shown in fig. 7, the three-dimensional mapping system further includes an interaction module 340, where the interaction module 340 is configured to display the processing result of the data processing module 330 and provide for human-computer interaction by an operator. Therefore, the processing result of the data processing module 330 is displayed through the interaction module 340, so that an operator can observe the processing result of the data processing module 330 more conveniently; the interaction module 340 is used for human-computer interaction by an operator, so that the operator can conveniently edit, rotate and the like the three-dimensional model of the target organ. It should be noted that, as those skilled in the art will appreciate, the operator may be a physician performing a clinical operation, or may be a system operator assisting a physician in completing an operation.

Further, as shown in fig. 7, the interaction module 340 includes a display unit 341 and a peripheral device 342, wherein the display unit 341 is configured to display the processing result of the data processing module 330, such as the rendered three-dimensional model 11 of the target organ and the three-dimensional model 12 of the catheter 310, and the peripheral device 342 is configured for human-computer interaction by an operator. In particular, the display unit 341 may include one or more displays, and the peripheral 342 includes some auxiliary interaction devices, such as a keyboard, a touch screen, or a mouse.

Further, the display unit 341 is further configured to display a three-dimensional model of the target organ (e.g. a three-dimensional model of the heart) reconstructed via other imaging devices, such as a CT device. Still further, the display unit 341 is further configured to display the catheter 310 and electrophysiological data acquired by the catheter 310 on a three-dimensional model of the target organ, for example, the heart, the electrophysiological data including, but not limited to: LAT value at a location of the heart, unipolar/bipolar voltage value at a location of the heart, impedance value at a location of the heart, magnitude of heart contact force of catheter 310, temperature information at a location of the heart, etc. The display modes include, but are not limited to: rendering objects (e.g., catheters 310, points, markers, etc.), characterizing the size of electrophysiological data at different locations using different color maps on the surface of a three-dimensional model of the target organ, etc.

It should be noted that the display unit 341 is the most direct component that the operator touches in the three-dimensional mapping system, as will be appreciated by those skilled in the art, is a key tool that provides accurate visual presentation and guidance during clinical diagnosis and treatment of diseases (e.g., cardiac arrhythmias).

In some exemplary embodiments, the three-dimensional mapping system further comprises a control module 350 and an ablation module 360 communicatively coupled, the ablation module 360 being communicatively coupled to the catheter 310, the data acquisition module 320 being communicatively coupled to the data processing module 330 via the control module 350 to transmit the preprocessed data to the data processing module 330 via the control module 350, the ablation module 360 being configured to provide ablation energy to the catheter 310 under control of the control module 350.

In particular, the ablation module 360 may provide various energies including, but not limited to, radiofrequency energy, cryoenergy, high frequency electrical pulse energy, or pacing pulses, among others. The energy provided by the ablation module 360 may be used to both assist in locating a lesion (e.g., an arrhythmia lesion) and ablate a lesion (e.g., a lesion that causes an arrhythmia) for therapeutic purposes. Further, the ablation energy provided by the ablation module 360 may be applied to the lesion of the patient through electrodes on the catheter 310.

It should be noted that, as those skilled in the art can understand, fig. 7 only schematically shows a structural frame of the three-dimensional mapping system provided by the present invention, and other auxiliary components in the implementation process of each module function, or other components for diagnostic and therapeutic purposes are not described herein in detail.

Based on the same inventive concept, the present invention also provides an electronic device, please refer to fig. 8, which is a block structure schematic diagram of the electronic device according to an embodiment of the present invention. As shown in fig. 8, the electronic device provided by the present invention includes a processor 410 and a memory 430, where the memory 430 stores a computer program, and when the computer program is executed by the processor 410, the three-dimensional model rendering effect enhancing method described above is implemented. Because the electronic device provided by the invention and the method for enhancing the rendering effect of the three-dimensional model provided by the invention belong to the same inventive concept, the electronic device provided by the invention has at least all the beneficial effects of the method for enhancing the rendering effect of the three-dimensional model provided by the invention, and the description thereof can be referred to in detail, so that the description thereof will not be repeated.

As shown in fig. 8, the electronic device further comprises a communication interface 420 and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The communication bus 440 may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry StandardArchitecture, EISA) bus, among others. The communication bus 440 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The communication interface 420 is used for communication between the electronic device and other devices.

The processor 410 of the present invention may be a central processing unit (Central Processing Unit, CPU), other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 410 is the control center of the electronic device and connects the various parts of the overall electronic device using various interfaces and lines.

The memory 430 may be used to store the computer program, and the processor 410 implements various functions of the electronic device by running or executing the computer program stored in the memory 430 and invoking data stored in the memory 430.

The memory 430 may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The present invention also provides a readable storage medium having stored therein a computer program which, when executed by a processor, can implement the three-dimensional model rendering effect enhancement method described above. Because the readable storage medium provided by the invention and the three-dimensional model rendering effect enhancement method provided by the invention belong to the same inventive concept, the readable storage medium provided by the invention has at least all the beneficial effects of the three-dimensional model rendering effect enhancement method provided by the invention, and the description thereof can be referred to in detail, so that the description thereof will not be repeated here.

The invention provides a readable storage medium that may take the form of any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

In summary, compared with the prior art, the three-dimensional model rendering effect enhancement method, the three-dimensional mapping system, the electronic device and the readable storage medium provided by the invention have the following beneficial effects:

according to the invention, when the three-dimensional model is rendered, the edge information of the three-dimensional model is detected in real time, and the rendering effect of the edge part of the three-dimensional model is visually enhanced to a certain extent, so that the three-dimensional sense and the spatial sense of the three-dimensional model can be increased, and an operator can observe the structural information (such as anatomical structure information) of the three-dimensional model conveniently.

It should be noted that computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages, as will be appreciated by those skilled in the art. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

It should be noted that the apparatus and methods disclosed in the embodiments herein may be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in the embodiments herein may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.

It should also be noted that the above description is only for the preferred embodiments of the present invention, and not for any limitation of the scope of the present invention, and any changes and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, the present invention is intended to include such modifications and alterations insofar as they come within the scope of the invention or the equivalents thereof.

Claims

1. A method for enhancing rendering effect of a three-dimensional model, comprising:

2. The method for enhancing the rendering effect of the three-dimensional model according to claim 1, wherein the detecting edge information of the three-dimensional model to be rendered in real time includes:

3. The method for enhancing a rendering effect of a three-dimensional model according to claim 2, wherein the determining whether the edge is located at an edge portion of the three-dimensional model to be rendered at the current viewpoint comprises:

4. A three-dimensional model rendering effect enhancing method according to claim 3, wherein for each edge located at the edge portion of the three-dimensional model to be rendered, the visual enhancement strength of the rendering effect of the edge is determined according to the relative magnitude relation of the included angle between the normal vector of two adjacent triangular patches sharing the edge and the line-of-sight vector.

5. The method for enhancing the rendering effect of the three-dimensional model according to claim 1, wherein the detecting edge information of the three-dimensional model to be rendered in real time includes:

6. The method for enhancing a rendering effect of a three-dimensional model according to claim 5, wherein the determining whether the point is located at an edge portion of the three-dimensional model to be rendered at the current viewpoint comprises:

calculating an included angle between the light vector and the normal vector;

7. The method for enhancing the rendering effect of the three-dimensional model according to claim 6, wherein for each point located at the edge portion of the three-dimensional model to be rendered, the visual enhancement intensity of the rendering effect of the point is determined according to the degree to which the included angle between the ray vector corresponding to the point and the normal vector approaches 90 °.

8. The method for enhancing the rendering effect of the three-dimensional model according to claim 1, wherein the visually enhancing the rendering effect of the edge portion of the three-dimensional model to be rendered comprises:

adding another color on the basis of the rendering color of the edge part of the three-dimensional model to be rendered; or alternatively

9. The three-dimensional mapping system is characterized by comprising a catheter, a data acquisition module and a data processing module, wherein the catheter is in communication connection with the data acquisition module, and the data acquisition module is in communication connection with the data processing module;

the data processing module is configured to reconstruct a three-dimensional model of the target organ based on the preprocessed anatomical structure data, and perform visual enhancement rendering on an edge portion of the three-dimensional model of the target organ by using the three-dimensional model rendering effect enhancement method according to any one of claims 1 to 8.

10. The three-dimensional mapping system of claim 9, wherein the catheter is further configured to acquire location data at which it is located and transmit to the data acquisition module;

11. The three-dimensional mapping system of claim 10, wherein the data processing module is further configured to visually enhance an edge portion of the three-dimensional model of the catheter when a contact force between the catheter and the target organ is greater than a preset threshold.

12. The three-dimensional mapping system of claim 9, wherein the catheter is further configured to acquire electrophysiology data for each site within a lumen of the target organ, the electrophysiology data including at least one of electrocardiographic data, unipolar voltage data, bipolar voltage data, impedance data, temperature data, and contact force data;

13. The three-dimensional mapping system of claim 9, further comprising an interaction module configured to display the processing results of the data processing module and for human-machine interaction by an operator.

14. The three-dimensional mapping system of claim 9, further comprising a control module and an ablation module in communication connection, the ablation module in communication connection with the catheter, the data acquisition module in communication connection with the data processing module through the control module to transmit the preprocessed data to the data processing module through the control module, the ablation module configured to provide ablation energy to the catheter under control of the control module.

15. An electronic device comprising a processor and a memory, the memory having stored thereon a computer program which, when executed by the processor, implements the three-dimensional model rendering effect enhancement method of any one of claims 1 to 8.

16. A readable storage medium, characterized in that a computer program is stored in the readable storage medium, which, when executed by a processor, implements the three-dimensional model rendering effect enhancement method of any one of claims 1 to 8.