Microcatheter shaping methods, systems and related devices for adjuvant treatment of aneurysms

Abstract

The invention provides a micro-catheter shaping method and system for adjuvant therapy of aneurysm and related equipment, and relates to the technical field of image processing, and the micro-catheter shaping method for adjuvant therapy of aneurysm comprises the steps: obtaining an aneurysm to be treated and an image corresponding to a blood vessel where the aneurysm is located; according to the image, performing overall modeling on the aneurysm and a blood vessel where the aneurysm is located to obtain a corresponding global model, the global model including an aneurysm model and a blood vessel model; according to the global model, first key parameters corresponding to the aneurysm model and second key parameters corresponding to the blood vessel model are obtained, the micro catheter is shaped based on the first key parameters and the second key parameters, physical laws and the shaping form of the head end of the aneurysm can be considered, it can be guaranteed that the head end of the micro catheter is fed into the aneurysm, and the shaping accuracy is improved. And the in-place rate and the stability of the operation are improved.

Description

Technical Field

[0001] The present application generally relates to the field of image processing technology. More specifically, the present application relates to a microcatheter shaping method, system, medium, and device for assisting in the treatment of aneurysms. Background Art

[0002] Aneurysms are abnormal bulges in the arterial wall and are highly prevalent. Currently, the most common treatments for aneurysms are coil embolization or stent-assisted coil embolization. During these procedures, the successful placement and stability of the microcatheter tip are crucial for successful execution.

[0003] In order to ensure the success rate and stability of the operation, it is generally necessary to shape the tip of the microcatheter before the operation. For the shaping of the microcatheter, the current solutions mainly include modeling the microcatheter using the Position Based Dynamics (PBD) model, modeling the microcatheter using the Discrete Elastic Rods (DER) model, and modeling the microcatheter using a combination of the PBD model and the DER model, and shaping the microcatheter according to the modeling results. These solutions are mainly aimed at simulating the movement of the microcatheter inside the blood vessel, and only consider the traction, internal force and friction exerted on the microcatheter, as well as the collision with the blood vessel wall. Although they can reflect the natural course of the microcatheter following the blood vessel, since the posture of the microcatheter tip does not necessarily conform to the physical laws, it cannot guarantee that the tip of the microcatheter can be delivered into the aneurysm, resulting in poor success rate and stability of the operation.

[0004] In view of this, there is an urgent need to provide a microcatheter shaping solution to ensure the success rate and stability of the operation. Summary of the Invention

[0005] In order to at least solve one or more of the technical problems mentioned above, the present application proposes a microcatheter shaping method, system, medium and device for assisting in the treatment of aneurysms in multiple aspects.

[0006] In a first aspect, the microcatheter shaping method for assisting the treatment of aneurysms proposed in this application includes:

[0007] Images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located are acquired.

[0008] Based on the image, the aneurysm and the blood vessel where the aneurysm is located are integrally modeled to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model.

[0009] According to the global model, a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model are obtained, wherein the first key parameter includes at least the center point, vertex and aneurysm neck center point of the aneurysm model, and the second key parameter includes at least the center line of the blood vessel model.

[0010] The microcatheter is shaped based on the first key parameter and the second key parameter.

[0011] In some examples, obtaining a first key parameter corresponding to the aneurysm and a second key parameter corresponding to the blood vessel includes:

[0012] Get the vertex M of the aneurysm model and the vector of the center point N of the first blood vessel wall where the aneurysm model is located The midpoint A of the aneurysm model is used as the vertex M, the midpoint A is used as the center point of the aneurysm model, and the center point N is used as the center point of the aneurysm neck of the aneurysm model;

[0013] Get Vector and the intersection point B of the extended line of the aneurysm model and the second blood vessel wall where the aneurysm model is located, wherein the second blood vessel wall is located on the opposite side of the first blood vessel wall.

[0014] In some examples, obtaining a first key parameter corresponding to the aneurysm and a second key parameter corresponding to the blood vessel includes:

[0015] Acquiring the centerline of the blood vessel model, and using the posture of the centerline as the initial posture of the microcatheter;

[0016] The microcatheter is modeled according to the initial posture of the microcatheter to obtain a microcatheter model.

[0017] In some examples, obtaining a first key parameter corresponding to the aneurysm and a second key parameter corresponding to the blood vessel further includes:

[0018] Get the vector where the center point N and the intersection point B are located The midpoint O and the point on the center line closest to the midpoint O are used as reference points C;

[0019] In the distal end direction, obtaining a point on the center line whose distance from the reference point C is a preset first threshold value, to obtain a reference point D;

[0020] In the proximal end direction, points on the center line whose distances from the reference point C are a preset second threshold and a preset third threshold are obtained respectively, to obtain point E and point F.

[0021] In some examples, after obtaining point E and point F, the method further includes:

[0022] Point F is used as the tail end of the microcatheter model, and point E is used as the head end of the microcatheter model;

[0023] At point F, applying a thrust to the microcatheter model so that the microcatheter model moves within the blood vessel model;

[0024] During the movement of the microcatheter model, the current position of point E is acquired in real time.

[0025] In some examples, shaping the microcatheter based on the first key parameter and the second key parameter includes:

[0026] When the current position of point E is between the center N and the midpoint A, the thrust applied to the microcatheter model is stopped;

[0027] Taking the intersection point B as a reference point, randomly acquiring a preset number of points on the wall of the second blood vessel within a preset area to obtain a first point set;

[0028] Calculating the geodesic distance between each point in the first point set and the intersection point B respectively, obtaining points whose geodesic distance is less than a preset fourth threshold, and obtaining a second point set;

[0029] respectively calculating the Euler distance between each point in the second point set and each corresponding nearest point on the microcatheter model to obtain a first distance set;

[0030] Obtaining a point on the microcatheter corresponding to the distance with the smallest value in the first distance set as the support point G;

[0031] Connecting the support point G, the center point N, and the midpoint A, and using the posture of the generated curve GNA as the posture of the microcatheter tip;

[0032] The microcatheter is shaped according to the posture of the microcatheter tip.

[0033] In some examples, shaping the microcatheter based on the first key parameter and the second key parameter further includes:

[0034] When the current position of point E is between reference point C and reference point D, the application of thrust to the microcatheter model is stopped;

[0035] A cross product vector of the vector where NC is located and the tangent vector of point C is obtained, an intersection point H of the plane determined by the cross product vector and NC and the microcatheter model is obtained, a preset distance is traced back from the intersection point H, and multiple points on the microcatheter model are randomly selected within the distance range to obtain a third point set;

[0036] respectively calculating the Euler distance between each point in the third point set and each corresponding nearest point on the first blood vessel wall to obtain a second distance set;

[0037] Obtaining a distance with a minimum value in the second distance set, and using a point on the microcatheter model corresponding to the distance as a support point K of the microcatheter model;

[0038] Connect the support point K, the intersection point B, the center point N, and the midpoint A, and use the posture of the generated curve GBNA as the posture of the microcatheter tip;

[0039] The microcatheter is shaped according to the posture of the microcatheter tip.

[0040] In a second aspect, the microcatheter shaping system for assisting in the treatment of aneurysms proposed in this application includes:

[0041] A first acquisition module is configured to acquire images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located;

[0042] a modeling module configured to perform overall modeling of the aneurysm and the blood vessel based on the image to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model;

[0043] a second acquisition module configured to acquire, based on the global model, first key parameters corresponding to the aneurysm model and second key parameters corresponding to the blood vessel model, wherein the first key parameters include at least a center point, a vertex, and a center point of the aneurysm neck of the aneurysm model, and the second key parameters include at least a centerline of the blood vessel model;

[0044] The shaping model is configured to shape the microcatheter based on the first key parameter and the second key parameter.

[0045] In a third aspect, the present application provides a computer-readable storage medium, which contains program instructions. When the program instructions are executed by a processor, the method described in the first aspect is implemented.

[0046] In a fourth aspect, the present application provides an electronic device, comprising:

[0047] processor; and

[0048] A memory stores computer instructions, which, when executed by the processor, enable the electronic device to execute the method described in the first aspect.

[0049] Through the microcatheter shaping method, system, medium and equipment for assisting the treatment of aneurysms provided above, this application shapes the microcatheter based on the first key parameter and the second key parameter, and combines physical model simulation and graphical head shaping methods to take into account physical laws and the shaping morphology of the aneurysm head, and can ensure that the tip of the microcatheter is delivered into the aneurysm, thereby improving the success rate and stability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0051] Figure 1 An exemplary flow chart showing a microcatheter shaping method for assisting in the treatment of aneurysms according to some embodiments of the present application is shown;

[0052] Figure 2 An exemplary schematic diagram showing a global model including a blood vessel model and an aneurysm model according to other embodiments of the present application is shown;

[0053] Figure 3 An exemplary schematic diagram showing the marking of a first key parameter corresponding to an aneurysm model and a second key parameter corresponding to a blood vessel model in some embodiments of the present application is shown;

[0054] Figure 4 Another exemplary schematic diagram showing a first key parameter corresponding to an aneurysm model and a second key parameter corresponding to a blood vessel model according to some embodiments of the present application;

[0055] Figure 5 An exemplary structural block diagram of a microcatheter shaping system for assisting in the treatment of aneurysms according to some embodiments of the present application is shown;

[0056] Figure 6 An exemplary structural block diagram of an electronic device according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0058] It should be understood that the terms "include" and "comprising" used in the description and claims of this application indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0059] It should also be understood that the terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this specification and claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" as used in this specification and claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0060] As used in this specification and claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0061] The specific implementation of the present application will be described in detail below with reference to the accompanying drawings.

[0062] Explanation of terms

[0063] CTA images are obtained using computed tomography angiography (CT Angiography). CT Angiography uses non-invasive vascular imaging technology. Its basic principle is to inject an iodine-containing contrast agent intravenously, followed by a CT scan. The CT scan images are then processed by a computer to create a three-dimensional image of the blood vessels. CTA images are also called CT angiography images.

[0064] MRA images are images of blood vessels obtained using magnetic resonance angiography (MRA). MRA is a noninvasive medical imaging method that uses magnetic resonance imaging to display vascular structure and blood flow. It does not require X-rays or contrast agent injection (which is sometimes required). Instead, it generates vascular images by detecting blood flow signals and is widely used to examine cardiovascular, cerebrovascular, and peripheral vascular diseases.

[0065] DSA (Digital Subtraction Angiography) is a computer-assisted angiography method. It uses X-rays to penetrate human tissue and capture images of tissues and blood vessels. It is suitable for examining systemic vascular diseases such as coronary heart disease, arrhythmias, and acute stroke, as well as tumors.

[0066] Geodesic distance refers to the distance between two points along the shortest path along a surface in a geometric space or manifold. Essentially, geodesic distance describes the actual "distance traveled" in space. Typical calculations include the Dijkstra algorithm and the Floyd-Warshall algorithm.

[0067] Figure 1 An exemplary flow chart of a microcatheter shaping method for assisting in the treatment of aneurysms provided in an embodiment of the present application is shown.

[0068] like Figure 1 As shown, the microcatheter shaping method for assisting in the treatment of aneurysms provided in the embodiment of the present application includes the following steps:

[0069] First, in step S101 , images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located are acquired.

[0070] Specifically, the image is stored in DICOM format locally or on a cloud server.

[0071] Next, at step S102 , the aneurysm and the blood vessel where the aneurysm is located are integrally modeled based on the image to obtain a corresponding global model, wherein the global model includes the aneurysm model and the blood vessel model.

[0072] Specifically, the image includes a CTA image, an MRA image, or a DSA image.

[0073] Specifically, the embodiment of the present application adopts a universal linear physical model for modeling, which includes but is not limited to the PBD model or the DER model. The main principle of the PBD model or the DER model is to update the current position and velocity of the object through the internal force, external force and relative position relationship of the object at each atomic time. Since the PBD model updates the position of the next moment and corrects the current position through the position relationship, the simulation efficiency is high and the effect is stable; while the DER model needs to solve the balance equation of elasticity and torsional energy at each moment, so the efficiency is relatively low and the simulation results are unstable. The global model obtained in the embodiment of the present application is as follows Figure 2 As shown, the global model includes a blood vessel model and an aneurysm model.

[0074] Then, in step S103, based on the global model, the first key parameters corresponding to the aneurysm model and the second key parameters corresponding to the blood vessel model are obtained, wherein the first key parameters at least include the center point, vertex and aneurysm neck center point of the aneurysm model, and the second key parameters at least include the center line of the blood vessel model.

[0075] Specifically, an aneurysm is generally spherical in shape, the center of the sphere can be used as the center point of the aneurysm model, and the end points of the sphere far away from the blood vessel can be used as the vertices of the aneurysm model.

[0076] In some examples, step S103 includes the following steps:

[0077] Get the vertex M of the aneurysm model and the vector of the center point N of the first blood vessel wall where the aneurysm model is located The midpoint A of the aneurysm model is used, the vertex M is used as the vertex of the aneurysm model, the midpoint A is used as the center point of the aneurysm model, and the center point N is used as the center point of the aneurysm neck of the aneurysm model;

[0078] Get Vector The intersection point B of the extended line and the second blood vessel wall where the aneurysm model is located is used as the support point on the blood vessel model, wherein the second blood vessel wall is located on the opposite side of the first blood vessel wall.

[0079] In some examples, step S103 further includes the following steps:

[0080] Obtain the centerline of the blood vessel model and use the posture of the centerline as the initial posture of the microcatheter;

[0081] According to the initial posture of the microcatheter, the microcatheter is modeled to obtain a microcatheter model.

[0082] Specifically, the centerline's posture includes its length and direction. The centerline's direction corresponds to the direction of the corresponding vascular model. Generally, a vascular model has at least two bends, and the centerline's direction aligns with the angles of the at least two bends.

[0083] In some examples, step S103 further includes the following steps:

[0084] Get the vector where the center point N and the intersection point B are located The midpoint O and the point on the center line closest to the midpoint O are used as reference points C.

[0085] In the distal end direction, a point on the center line whose distance from the reference point C is a preset first threshold is obtained to obtain the reference point D.

[0086] In some examples, the first threshold is 2R, where R is the average diameter of the blood vessel where the aneurysm is located.

[0087] In the proximal end direction, points on the center line whose distances from the reference point C are a preset second threshold and a preset third threshold are obtained respectively, to obtain point E and point F.

[0088] In some examples, the second threshold is 5 mm and the third threshold is 10 mm.

[0089] In some examples, after obtaining point E and point F, the method further includes:

[0090] Point F is used as the tail end of the microcatheter model, and point E is used as the head end of the microcatheter model;

[0091] At point F, a thrust is applied to the microcatheter model, causing the microcatheter model to move within the blood vessel model;

[0092] During the movement of the microcatheter model, the current position of point E is obtained in real time.

[0093] Next, in step S104 , the microcatheter is shaped based on the first key parameter and the second key parameter.

[0094] In some examples, step S104 includes:

[0095] Get the current position of point E in real time;

[0096] When the current position of point E is between the center point N and the midpoint A, the thrust applied to the microcatheter model is stopped.

[0097] Specifically, if Figure 3 As shown in the figure, when point E is currently located between center point N and midpoint A, it indicates that the tip of the microcatheter has reached the aneurysm and is near intersection point B, where support point G can be directly found. The dotted line in the vascular model is the centerline of the vascular model, and the solid line in the vascular model is the microcatheter model.

[0098] In this case,

[0099] Taking the intersection point B as a reference point, randomly acquiring a preset number of points on the wall of the second blood vessel within a preset area to obtain a first point set;

[0100] Calculating the geodesic distance between each point in the first point set and the intersection point B respectively, obtaining points whose geodesic distance is less than a preset fourth threshold, and obtaining a second point set;

[0101] respectively calculating the Euler distance between each point in the second point set and each corresponding nearest point on the microcatheter model to obtain a first distance set;

[0102] Obtaining a point on the microcatheter corresponding to the distance with the smallest value in the first distance set as the support point G;

[0103] The support point G, the center point N, and the midpoint A are connected, and the posture of the generated curve GNA is used as the posture of the tip of the microcatheter, thereby ensuring that the tip of the microcatheter is delivered into the aneurysm.

[0104] Specifically, since the blood vessel wall is curved, the distance between each point on the blood vessel wall is a geodesic distance, and each point in the second point set is in one-to-one correspondence with the nearest points on the microcatheter model.

[0105] The microcatheter is shaped according to the posture of the microcatheter tip.

[0106] Specifically, the posture of the microcatheter tip is represented by curve GNA. Multiple (at least five) points behind midpoint A are obtained on the microcatheter model along the alignment of curve GNA. A strip-like fitting process is performed on support point G, center point N, midpoint A, and multiple points behind midpoint A to obtain a smooth curve for the entire microcatheter model. Based on this smooth curve, the microcatheter is reshaped as a whole. The resulting microcatheter is approximately 25 mm in length.

[0107] In some examples, step S104 further includes:

[0108] When the current position of point E is between reference point C and reference point D, the application of thrust to the microcatheter model is stopped.

[0109] Specifically, if Figure 4 As shown, when the current position of point E is between reference point C and reference point D, it means that the tip of the microcatheter cannot reach the aneurysm and cannot directly find the support point G near the intersection point B.

[0110] In this case,

[0111] Obtaining a cross product vector of the vector where NC is located and the tangent vector of point C, obtaining an intersection point H of the plane determined by the cross product vector and NC and the microcatheter model, tracing back (toward point F) a preset distance from the intersection point H, and randomly selecting multiple points on the microcatheter model within the distance range to obtain a third point set;

[0112] respectively calculating the Euler distance between each point in the third point set and each corresponding nearest point on the first blood vessel wall to obtain a second distance set;

[0113] Obtaining a distance with a minimum value in the second distance set, and using a point on the microcatheter model corresponding to the distance as a support point K of the microcatheter model;

[0114] The support point K, the intersection point B, the center point N and the midpoint A are connected, and the posture of the generated curve KBNA is used as the posture of the microcatheter tip, which further ensures that the tip of the microcatheter is delivered into the aneurysm.

[0115] Specifically, since the microcatheter is linear, the distance between each point on the microcatheter is the Euler distance, and each point in the third point set has a one-to-one correspondence with the nearest points on the first blood vessel wall.

[0116] The microcatheter is shaped according to the posture of the microcatheter tip.

[0117] Specifically, the curve KBNA represents the posture of the microcatheter tip. Multiple (at least five) points behind midpoint A on the microcatheter model are obtained along the curve KBNA. A strip-like fitting process is performed on the support point K, intersection point B, center point N, midpoint A, and multiple points behind midpoint A to obtain a smooth curve for the entire microcatheter model. Based on this smooth curve, the microcatheter is reshaped as a whole. The resulting microcatheter is approximately 30 mm long.

[0118] like Figure 5 As shown, the microcatheter shaping system for assisting in the treatment of aneurysms provided in an embodiment of the present application includes:

[0119] A first acquisition module is configured to acquire images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located;

[0120] a modeling module configured to perform overall modeling of the aneurysm and the blood vessel based on the image to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model;

[0121] a second acquisition module configured to acquire, based on the global model, first key parameters corresponding to the aneurysm model and second key parameters corresponding to the blood vessel model, wherein the first key parameters include at least a center point, a vertex, and a center point of the aneurysm neck of the aneurysm model, and the second key parameters include at least a centerline of the blood vessel model;

[0122] The shaping model is configured to shape the microcatheter based on the first key parameter and the second key parameter.

[0123] On the other hand, the present invention also provides an electronic device. Figure 6 , Figure 6 is an exemplary structural block diagram of an electronic device according to an embodiment of the present application, such as Figure 6 As shown, the electronic device includes a processor and a memory, wherein the memory stores computer instructions, and the processor executes the method provided in the present application when running the computer instructions.

[0124] Specifically, the processor 601 may include a central processing unit (CPU) or a graphics processing unit (GPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application. The memory 602 may include a memory for data or instructions. For example, the memory 602 may be at least one of the following: a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, a universal serial bus (USB) drive or other physical / tangible memory storage device. For another example, the memory 602 includes a removable or non-removable (or fixed) medium. For another example, the memory 602 may be inside or outside the integrated gateway disaster recovery device. The memory 602 may be a non-volatile solid-state memory. In other words, typically the memory 602 includes a tangible (non-transitory) computer-readable storage medium (such as a memory device) encoded with executable instructions, wherein the stored executable instructions, when executed by the processor 601 (such as executed by one or more processors), can implement the method in the embodiment of the present application.

[0125] In one example, Figure 6 The electronic device shown may also include a communication interface 603 and a bus 610. The processor 601, memory 602, and communication interface 603 are connected via bus 610 and communicate with each other. The communication interface 603 is primarily used to enable communication between modules, devices, units, and / or devices within the electronic device. Bus 610, which may include hardware, software, or both, couples components of the online data traffic metering device. For example, the bus may include at least one of the following: an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industrial Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Area Bus (VLB) bus, or other suitable buses. Bus 610 may include one or more buses. Although the embodiments of the present application describe or illustrate a specific bus, the embodiments of the present application may consider any suitable bus or interconnection method.

[0126] In another aspect, embodiments of the present application further provide a computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the aforementioned method. The computer-readable storage medium is, for example, a classic computer-readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device.

[0127] In another aspect, embodiments of the present application further provide a computer program product comprising computer program instructions that, when executed by a processor, implement the methods provided by embodiments of the present application. Examples of such computer program products include software installation packages and plug-ins compatible with related software systems.

[0128] The above exemplarily describes the flowcharts and / or block diagrams of the methods and systems of the embodiments of the present application, and describes the relevant various aspects. It should be understood that each box in the flowchart and / or block diagram or its combination can be implemented by computer program instructions, or by dedicated hardware that performs a specified function or action, or by a combination of dedicated hardware and computer instructions. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc.; when implemented in software, it is a program or code segment used to perform the required task. The program or code segment can be stored in a memory, or transmitted on a transmission medium or communication link via a data signal carried in a carrier. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0129] Although multiple embodiments of the present application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art can conceive of many changes, modifications, and alternatives without departing from the thought and spirit of the present application. It should be understood that in the process of practicing the present application, various alternatives to the embodiments of the present application described herein can be adopted. The accompanying claims are intended to define the scope of protection of the present application and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A microcatheter shaping method for assisting the treatment of aneurysms, comprising: Acquiring images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located; Based on the image, the aneurysm and the blood vessel where the aneurysm is located are integrally modeled to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model; Acquire, based on the global model, first key parameters corresponding to the aneurysm model and second key parameters corresponding to the blood vessel model, wherein the first key parameters include at least a center point, a vertex, and a center point of the aneurysm neck of the aneurysm model, and the second key parameters include at least a centerline of the blood vessel model; The microcatheter is shaped based on the first key parameter and the second key parameter.

2. The microcatheter shaping method according to claim 1, characterized in that: Obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel includes: Get the vertex M of the aneurysm model and the vector of the center point N of the first blood vessel wall where the aneurysm model is located The midpoint A of the aneurysm model is used as the vertex M, the midpoint A is used as the center point of the aneurysm model, and the center point N is used as the center point of the aneurysm neck of the aneurysm model; Get Vector and the intersection point B of the extended line of the aneurysm model and the second blood vessel wall where the aneurysm model is located, wherein the second blood vessel wall is located on the opposite side of the first blood vessel wall.

3. The microcatheter shaping method according to claim 2, characterized in that: Obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel includes: Acquiring the centerline of the blood vessel model, and using the posture of the centerline as the initial posture of the microcatheter; The microcatheter is modeled according to the initial posture of the microcatheter to obtain a microcatheter model.

4. The microcatheter shaping method according to claim 3, characterized in that: Obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel also includes: Get the vector where the center point N and the intersection point B are located The midpoint O and the point on the center line closest to the midpoint O are used as reference points C; In the distal end direction, obtaining a point on the center line whose distance from the reference point C is a preset first threshold value, to obtain a reference point D; In the proximal end direction, points on the center line whose distances from the reference point C are a preset second threshold and a preset third threshold are obtained respectively, to obtain point E and point F.

5. The microcatheter shaping method according to claim 4, characterized in that: After obtaining point E and point F, the method further includes: Point F is used as the tail end of the microcatheter model, and point E is used as the head end of the microcatheter model; At point F, applying a thrust to the microcatheter model so that the microcatheter model moves within the blood vessel model; During the movement of the microcatheter model, the current position of point E is acquired in real time.

6. The microcatheter shaping method according to claim 5, characterized in that: Shaping the microcatheter based on the first key parameter and the second key parameter includes: When the current position of point E is between the center N and the midpoint A, the thrust applied to the microcatheter model is stopped; Taking the intersection point B as a reference point, randomly acquiring a preset number of points on the wall of the second blood vessel within a preset area to obtain a first point set; Calculating the geodesic distance between each point in the first point set and the intersection point B respectively, obtaining points whose geodesic distance is less than a preset fourth threshold, and obtaining a second point set; respectively calculating the Euler distance between each point in the second point set and each corresponding nearest point on the microcatheter model to obtain a first distance set; Obtaining a point on the microcatheter corresponding to the distance with the smallest value in the first distance set as the support point G; Connecting the support point G, the center point N, and the midpoint A, and using the posture of the generated curve GNA as the posture of the microcatheter tip; The microcatheter is shaped according to the posture of the microcatheter tip.

7. The microcatheter shaping method according to claim 5, characterized in that: Shaping the microcatheter based on the first key parameter and the second key parameter further includes: When the current position of point E is between reference point C and reference point D, the application of thrust to the microcatheter model is stopped; Obtaining a cross product vector of the vector where NC is located and the tangent vector of point C, obtaining an intersection point H of the plane determined by the cross product vector and NC and the microcatheter model, tracing back a preset distance from the intersection point H, and randomly selecting multiple points on the microcatheter model within the distance range to obtain a third point set; respectively calculating the Euler distance between each point in the third point set and each corresponding nearest point on the first blood vessel wall to obtain a second distance set; Obtaining a distance with a minimum value in the second distance set, and using a point on the microcatheter model corresponding to the distance as a support point K of the microcatheter model; Connect the support point K, the intersection point B, the center point N, and the midpoint A, and use the posture of the generated curve GBNA as the posture of the microcatheter tip; The microcatheter is shaped according to the posture of the microcatheter tip.

8. A microcatheter shaping system for assisting the treatment of aneurysms, comprising: A first acquisition module is configured to acquire images corresponding to the aneurysm to be treated and the blood vessel where the aneurysm is located; a modeling module configured to perform overall modeling of the aneurysm and the blood vessel based on the image to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model; a second acquisition module configured to acquire, based on the global model, first key parameters corresponding to the aneurysm model and second key parameters corresponding to the blood vessel model, wherein the first key parameters include at least a center point, a vertex, and a center point of the aneurysm neck of the aneurysm model, and the second key parameters include at least a centerline of the blood vessel model; The shaping model is configured to shape the microcatheter based on the first key parameter and the second key parameter.

9. A computer-readable storage medium, characterized in that The method comprises program instructions, which, when executed by a processor, implement the method according to any one of claims 1 to 8.

10. An electronic device, characterized in that: include: processor; as well as A memory storing computer instructions, wherein when the computer instructions are executed by the processor, the electronic device executes the method according to any one of claims 1 to 8.

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