Automatic guide wire advancing monitoring method in vascular intervention robot surgery

Abstract

The invention discloses a guide wire advancing automatic monitoring method in a vascular intervention robot operation. The method comprises the following steps: S1, extracting an intervention path from a preoperative CT contrast image; s2, electromagnetic navigation equipment is placed in the operation space, coordinate values of the experimental model pasted with the electromagnetic sensor mark points in the magnetic field space and coordinate values of the corresponding image coordinate space are obtained, and a registration transformation matrix is obtained; s3, sequentially binding 3-5 electromagnetic sensors at the front end of the guide wire, and pushing the guide wire to an intervention starting point; s4, in the process that the guide wire advances to the intervention end point, electromagnetic navigation equipment is used for obtaining the position Pi, t of an electromagnetic sensor at the moment t, the image coordinate space position Pi, t is obtained based on the registration transformation matrix, and the front end form of the guide wire is fitted and fused and displayed in a reconstructed image; and S5, monitoring according to the intervention path and the relative position relation of the electromagnetic sensor. According to the invention, the moving state of the guide wire in the moving process can be positioned in real time, and moving deviation early warning is given.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical navigation, and particularly relates to an automatic monitoring method for the advancement of a guide wire in a vascular intervention robot surgery. Background Art

[0002] In recent years, the development of vascular intervention robots has been very rapid. Compared with traditional vascular intervention surgeries, intervention robots not only have good stability but also can avoid doctors being exposed to the radiation environment for a long time. After the robot holds the guide wire and pushes it into the human body, in order to monitor the advancement state of the guide wire, the current mainstream method relies on a large amount of X-rays for imaging. However, since the intervention instrument itself is made of flexible material and there is hysteresis after long-distance movement along the blood vessel, doctors sometimes find that the guide wire being operated does not show the correct movement trajectory in the X-ray image, and the movement of the guide wire between two X-ray acquisitions cannot be captured in real time. This brings some challenges to observing the advancement of the guide wire, especially near the blood vessel bifurcation point. Summary of the Invention

[0003] Aiming at the defects of the prior art and in order to better capture the movement of the guide wire, the present invention proposes an automatic monitoring method for the advancement of a guide wire in a vascular intervention robot surgery, aiming to automatically and real-time track the movement state of the guide wire in the blood vessel and give a warning of advancement deviation according to the relative position relationship between the front end of the guide wire and the intervention path.

[0004] To achieve the above technical purpose, the technical solution adopted by the present invention is:

[0005] An automatic monitoring method for the advancement of a guide wire in a vascular intervention robot surgery specifically includes the following steps:

[0006] Step 1: Extract the intervention path from the preoperative CT angiography image to obtain the discrete center point coordinate values P j and the corresponding blood vessel radius values R j , where j = 1,..., n, n represents the number of central discrete points, P j represents the j-th center point position of the intervention path, and R j represents the blood vessel radius value at the j-th position point;

[0007] Step 2: Place an electromagnetic navigation device in the surgical space to obtain the coordinate values U i of the experimental model with electromagnetic sensor marker points in the magnetic field space and the coordinate values V i in the corresponding image coordinate space, where i = 1,..., w, w represents the number of marker points, U i and V i correspond to each other in position in space, and obtain the registration transformation matrix T Mag->Img ;

[0008] Step 3: Bind 3 to 5 electromagnetic sensors to the front end of the guide wire in sequence, and use the interventional robot to push the guide wire to the intervention starting point;

[0009] Step 4: During the process of the interventional robot pushing the guide wire to the intervention end point, use the electromagnetic navigation device to obtain the position P of the electromagnetic sensor at time t i,t , i = 1, …, m, where m represents the number of electromagnetic sensors, and based on the registration transformation matrix, obtain the image coordinate space position P` i,t = P i,t * T Mag->Img , and then fit the shape of the front end of the guide wire and fuse it for display in the reconstructed image;

[0010] Step 5: Monitor according to the intervention path and the relative position relationship of the electromagnetic sensors.

[0011] Preferably, in Step 2, calculate the registration transformation matrix T according to the principle of the minimum distance between the marker points Mag->Img ,

[0012]

[0013] where r and s represent the rotation matrix and the translation matrix respectively, and ||.|| represents the Euclidean norm.

[0014] Furthermore, in Step 5, the judgment basis for monitoring according to the intervention path and the relative position relationship of the electromagnetic sensors is:

[0015]

[0016] where D i,t represents the difference between the distance from the i-th electromagnetic sensor of the guide wire to its nearest discrete center point and the blood vessel radius at time t, and D` represents the average value of the shortest distances from all electromagnetic sensors to the center point of the intervention path. When D ` ≤0, the guide wire travels normally; when D ` >0, the guide wire travels deviating, and at this time, the robot system should give a warning prompt.

[0017] The present invention can not only real-time locate the motion state of the guide wire during travel, but also monitor and give early warnings according to the relative position relationship between the guide wire and the center line of the intervention path, and serve the development of the interventional robot surgery with richer visual feedback, having good application prospects.

[0018] Obviously, based on the above content of the present invention, according to the common general technical knowledge and customary means in the art, without departing from the above basic technical idea of the present invention, other various forms of modifications, substitutions or changes can also be made.

[0019] The following is a further detailed description of the above content of the present invention through specific embodiments in the form of examples. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following examples. Any technology implemented based on the above content of the present invention falls within the scope of the present invention. Brief Description of the Drawings

[0020] Figure 1 It is a schematic flowchart of an embodiment of the present invention. Detailed Embodiment

[0021] It should be specifically noted that the algorithms for steps such as data acquisition, transmission, storage, and processing not specifically described in the embodiments, as well as the hardware structures and circuit connections not specifically described, can be implemented through the publicly disclosed content of the prior art.

[0022] This embodiment discloses an automatic monitoring method for the advancement of a guide wire in a vascular interventional robotic surgery, specifically including the following steps:

[0023] Step 1: Extract the interventional path from the preoperative CT angiography image to obtain the discrete center point coordinate values P{P j ,j = 1,...,n} and the corresponding blood vessel radius values R{R j ,j = 1,...,n}, where P j represents the j-th center point position of the interventional path, n represents the number of center discrete points, and R j represents the blood vessel radius value at the j-th position point.

[0024] Step 2: Place an electromagnetic navigation device in the surgical space to obtain the coordinate values U = {U i ,i = 1,...,w} of the experimental model with electromagnetic sensor marker points in the magnetic field space and the coordinate values V = {V i ,i = 1,...,w} of the corresponding image coordinate space, where w is the number of marker points, the quantities of U and V are equal, and the positions of U i and V i in the space correspond one by one. According to the constraint of the minimum distance between the marker points, the registration transformation matrix T Mag->Img is obtained from the following formula,

[0025]

[0026] where r and s represent the rotation matrix and the translation matrix respectively, and ||.|| represents the Euclidean norm.

[0027] Step 3: Bind 3 to 5 electromagnetic sensors in sequence to the front end of the guide wire and place them at the interventional starting point.

[0028] Step 4. During the process of advancing to the intervention end point, use the electromagnetic navigation device to obtain the position P of the electromagnetic sensor at time t t ={P i,t , i = 1, …, m}, where m represents the number of electromagnetic sensors, and based on the registration transformation matrix, obtain the position P in the image coordinate space i ` ,t =P i,t *T Mag->Img , and then fit the shape of the front end of the guide wire and fuse it for display in the reconstructed image.

[0029] Step 5. Monitor according to the intervention path and the relative position relationship of the electromagnetic sensors

[0030]

[0031] where P j represents the j-th center point position of the intervention path, n represents the number of central discrete points, ||.|| represents the Euclidean norm, R j represents the blood vessel radius value at the j-th position point, D i,t represents the difference between the distance from the i-th electromagnetic sensor of the guide wire to its nearest center point and the blood vessel radius at time t, D ` represents the average value of the shortest distances from all electromagnetic sensors to the center points of the intervention path; when D ` ≤0, the guide wire advances normally; when D ` >0, the guide wire advances deviating, and at this time, the robot system should give a warning prompt.

[0032] Certainly, the present invention can also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all fall within the protection scope of the appended claims of the present invention.

Claims

1. An automatic monitoring method for the advancement of a guide wire in vascular interventional robotic surgery, characterized in that: Including the following steps: Step 1: Extract the intervention path from the preoperative CT angiography image to obtain the discrete center point coordinate values P in the image coordinate system j and the corresponding blood vessel radius values R j , where j = 1,..., n, and n represents the number of central discrete points, P j represents the j-th center point position of the intervention path, and R j represents the blood vessel radius value at the j-th position point; Step 2: Place an electromagnetic navigation device in the surgical space to obtain the coordinate values U of the experimental model with electromagnetic sensor marking points in the magnetic field space i and the coordinate values V in the corresponding image coordinate space i , where i = 1,..., w, w represents the number of marking points, U i and V i correspond to each other in position in space, and the registration transformation matrix T Mag -> Img; Step 3: Sequentially bind 3 to 5 electromagnetic sensors to the front end of the guide wire, and use the interventional robot to push the guide wire to the intervention starting point; Step 4. During the process of the interventional robot pushing the guide wire to the intervention end point, use the electromagnetic navigation device to obtain the position P of the electromagnetic sensor at time t i，t , i = 1,..., m, where m represents the number of electromagnetic sensors, and obtain the position P' in the image coordinate space based on the registration transformation matrix i，t = P i，t * T Mag-＞Img , and then fit the shape of the front end of the guide wire and fuse it for display in the reconstructed image; Step 5: Monitor according to the intervention path and the relative positional relationship of the electromagnetic sensors.

2. The automatic monitoring method for the guide wire advancement in the vascular interventional robotic surgery according to claim 1, wherein: In step 2, the registration transformation matrix T is calculated according to the principle of the minimum distance between the marked points Mag-＞Img , Where r and s represent the rotation matrix and the translation matrix respectively, and ||.|| represents the Euclidean norm.

3. The automatic monitoring method for the guide wire advancement in the vascular interventional robotic surgery according to claim 1, wherein: In Step 5, the judgment basis for monitoring according to the intervention path and the relative positional relationship of the electromagnetic sensors is: Among them, D i，t represents the difference between the distance from the i-th electromagnetic sensor of the guide wire to its nearest discrete center point at time t and the blood vessel radius at the corresponding position. D` represents the average value of the shortest distances from all electromagnetic sensors to the center point of the intervention path. When D` ≤ 0, the guide wire travels normally; when D` > 0, the guide wire travels deviantly, and at this time, the robotic system should give a warning prompt.

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