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Three-dimensional vascular path planning method based on ant colony algorithm

A technology of ant colony algorithm and path planning, which is applied in computing, computing models, medical science, etc.

Active Publication Date: 2015-12-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the 3D path planning based on the ant colony algorithm at home and abroad is mainly concentrated in the aspects of unmanned aerial vehicles, submersibles, 3D pipelines, robots, etc. There is no literature that applies the ant colony algorithm to the 3D path planning of blood vessels

Method used

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  • Three-dimensional vascular path planning method based on ant colony algorithm
  • Three-dimensional vascular path planning method based on ant colony algorithm
  • Three-dimensional vascular path planning method based on ant colony algorithm

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Experimental program
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Effect test

Embodiment 1

[0059] see figure 1 , a three-dimensional path planning method for blood vessels based on ant colony algorithm, characterized in that the operation steps are as follows, 1 data import, 2 vessel modeling, 3 vessel centerline extraction, 4 establishment of vessel centerline network topology, 5 ant reconnaissance algorithm, 6 parameter initialization, 7 heuristic information calculation, 8 probability selection, 9 pheromone dynamic volatilization, 10 pheromone incremental calculation, 11 pheromone update, 12 planning end judgment, 13 result output.

[0060] The step 1 data import: import a complete set of medical CTA image data (DICOM);

[0061] The step 2 vascular modeling: the imported CTA image data is used for vascular modeling based on a 3D level set method;

[0062] Said step 3 blood vessel center line extraction: the established blood vessel model is extracted based on the Voronoi diagram and the Eikonal equation to extract the blood vessel center line, and obtain the max...

Embodiment 2

[0079] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0080] Heuristic information calculation in step 7: The criteria for path planning in the present invention are surgical safety and optimal path, so not only the length of blood vessels should be considered in path planning , maximum curvature and maximum torsion , also taking into account the minimum diameter of the vessel ;

[0081] The step 8 probability selection: in each step path selection of the ant colony algorithm, the ants According to the ratio of the probability formula, decide which road to move to next;

[0082] The step 9 pheromone dynamic volatilization: the volatilization speed of pheromone will change with the passage of time due to factors such as temperature and humidity, and it is a dynamic process. The more complicated the path, the smaller the heuristic information and the faster the volatilization speed , the less pheromone re...

Embodiment 3

[0083] Embodiment three: this embodiment is basically the same as embodiment two, and the special features are as follows:

[0084]The step 10 pheromone incremental calculation: the pheromone update model is an important part of the random search and fast convergence of the basic ant colony algorithm. According to the overall optimal requirement of the problem itself, the present invention adopts the ant circle model; considering the influence of the minimum diameter of the blood vessel and the diameter of the catheter in the operation, the calculation is performed according to the improved pheromone increment model;

[0085] The step 11 pheromone update: the amount of pheromone on each path at the initial moment is equal, when the ant completes a cycle, the pheromone will gradually volatilize over time, so the pheromone concentration needs to be updated. The pheromone on the corresponding path is updated accordingly before the ant enters the next cycle;

[0086] The step 12 ...

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Abstract

The invention discloses a three-dimensional vascular path planning method based on ant colony algorithm. The three-dimensional vascular path planning method comprises the following operation steps of 1, introducing data; 2, modeling a blood vessel; 3, extracting an axis of the blood vessel; 4, establishing a network topology structure of the axis of the blood vessel; 5, performing an ant detection algorithm; 6, initializing a parameter; 7, performing a heuristic information calculation; 8, selecting a probability; 9, realizing dynamic pheromone volatilization; 10, calculating a pheromone increment; 11, updating the pheromone; 12, determining ending of planning; and 13, outputting a result. According to the three-dimensional vascular path planning method, the ant detection algorithm is used based on axis extraction of the blood vessel. Through improving the ant colony algorithm and comprehensive consideration for catheter diameter, blood vessel length, least diameter, maximal curvature and maximal torsion, planning for an optimal surgery path by a surgeon is facilitated. The three-dimensional vascular path planning method improves a path planning reliability before a vascular interventional surgery and ensures passing of the catheter. Furthermore a new surgical path reference standard can be supplied for the surgeon.

Description

technical field [0001] The invention relates to a blood vessel three-dimensional path planning method based on an ant colony algorithm, and belongs to the technical field of blood vessel three-dimensional path planning. Background technique [0002] Vascular interventional surgery has the advantages of less bleeding, less trauma, and faster recovery, so it is widely used in the treatment of vascular diseases. At present, vascular interventional operations in most hospitals across the country still rely on surgeons to operate catheter guide wires with bare hands and use medical imaging technologies such as X-rays and computer-aided technologies such as virtual reality to complete the operation. Under limited technical conditions, considering factors such as the doctor's operating level, the risk of surgery, and postoperative complications, the thicker aorta is usually used as the surgical path during surgery, regardless of other possible optimal paths. [0003] Vascular thre...

Claims

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Application Information

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IPC IPC(8): A61B19/00G06N3/00G06F17/50
Inventor 陈一民高明柯黄晨李泽宇张云华许丽娟张典华邹一波刘权邹国志高雅平吕圣卿陆佳辉赵林林
Owner SHANGHAI UNIV
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