Guide wire advancing route display method and device, storage medium and electronic equipment

Abstract

The invention discloses a guide wire advancing route display method and device, a storage medium and electronic equipment, and the method comprises the steps: moving surgical equipment according to determined displacement data, determining at least two first X-ray images collected at different positions, carrying out the registration of each first X-ray image, and obtaining a guide wire advancing route; projection points in the first X-ray images and target points corresponding to the projection points on the guide wire are determined; and determining the three-dimensional coordinate of the target point at least according to the determined three-dimensional coordinate of the sensor unit and the three-dimensional coordinate of the radiation source when each first X-ray image is acquired. According to the method, through at least two first X-ray images collected at different positions and displacement data, space positioning of a target point on a guide wire is completed, a three-dimensional model of the guide wire is determined, and the three-dimensional model and a three-dimensional model of a blood vessel are overlapped to render a three-dimensional image of a proceeding route of the guide wire. The space structure information of the overlapped blood vessels can be clearly reflected in the three-dimensional image, so that different overlapped blood vessels are distinguished, and the advancing route of the guide wire is accurately judged.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of computer vision, and in particular, to a guide wire travel route display method and device, a storage medium, and an electronic device. BACKGROUND

[0002] Interventional surgery is a minimally invasive surgery. During the surgery, a puncture needle is used to punch an entry from the skin to a blood vessel, a guide wire is made to travel along the entry in the blood vessel, and the guide wire is made to reach a target position, so as to open a channel for a subsequent catheter to enter the human body, and the catheter is made to travel along the guide wire to discharge liquid in the body or inject medicine into a lesion site.

[0003] When the guide wire travels, real-time monitoring of medical images is required to obtain real-time dynamic images of the guide wire and the blood vessel, so as to determine the travel path of the guide wire and ensure that the guide wire accurately and quickly reaches the target position. Currently, the real-time dynamic image of the guide wire is a two-dimensional image, which is a result of superimposing images of various tissue structures on the penetration path of X-rays. In the two-dimensional image of a blood vessel dense area, it is difficult to determine the next travel path of the guide wire in the superimposed blood vessels due to the superimposed display of the blood vessels. In this case, the doctor usually needs to tentatively select a travel direction according to experience, so that the guide wire continues to travel until the superposition of the blood vessels disappears in the two-dimensional image, and then it is determined whether the guide wire travels along the correct path. If the path is incorrect, the guide wire needs to return to the superimposed blood vessel area to continue to tentatively select the travel direction. The poor distinguishability of the superimposed blood vessels in the two-dimensional image not only reduces the accuracy of the surgery, but also increases the surgery time and risk.

[0004] Therefore, the present specification provides a guide wire travel route display method. SUMMARY

[0005] The present specification provides a guide wire travel route display method, device, storage medium, and electronic device to partially solve the above problems existing in the prior art.

[0006] The present specification adopts the following technical solutions:

[0007] The present specification provides a guide wire travel route display method, which includes:

[0008] determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, the surgical device being an imaging device or a surgical bed, and the imaging device being fixed with a ray source and a detector;

[0009] registering each first X-ray image, determining a projection point in each first X-ray image, and a target point on the guide wire corresponding to the projection point;

[0010] For each first X-ray image, determine a three-dimensional coordinate of a corresponding sensor unit on the detector of a projection point of the target point in the first X-ray image;

[0011] At least according to the determined three-dimensional coordinate of the sensor unit and a three-dimensional coordinate of the ray source when the first X-ray images are collected, determine a three-dimensional coordinate of the target point;

[0012] According to the three-dimensional coordinate of the target point, determine a three-dimensional model of the guide wire, and superimpose and render the three-dimensional model of the guide wire and the three-dimensional model of the blood vessel to obtain a three-dimensional image of the travel route of the guide wire.

[0013] Optionally, the displacement data at least includes a rotation angle;

[0014] Determine displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images collected at different positions, specifically including:

[0015] Determine the detector accuracy and the fixed distance between the ray source and the detector;

[0016] For each movement of the surgical equipment, determine the observation distance of the last movement according to the distance between the ray source and the surgical bed calibration point after the last movement;

[0017] According to the difference between the fixed distance and the observation distance of the last movement, determine the relative distance of the movement;

[0018] According to the inverse tangent value of the ratio of the detector accuracy and the relative distance of the movement, determine the angle threshold of the movement, and determine the rotation angle of the movement according to the angle threshold;

[0019] Move the surgical equipment so that the included angle between the collection direction of the imaging equipment after the last movement and the collection direction of the imaging equipment after the movement is equal to the rotation angle;

[0020] Collect the first X-ray image of the movement in the collection direction of the imaging equipment after the movement.

[0021] Optionally, the displacement data at least includes a translation distance;

[0022] Determine displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images collected at different positions, specifically including:

[0023] Determine the detector accuracy;

[0024] For each movement of the surgical equipment, determine each projection point of the guide wire in the first X-ray image obtained by the last movement;

[0025] determining a sensor unit corresponding to each of the projection points, and a line connecting each of the projection points and the ray source;

[0026] determining an angle between each of the lines and a baseline from the ray source to a center point of the detector according to the baseline;

[0027] determining a limiting angle from each of the angles, and determining a translation threshold of the movement according to a ratio of the detector accuracy and a tangent value of the limiting angle of the movement;

[0028] determining a translation distance of the movement according to the translation threshold of the movement, and moving the imaging device vertically according to the translation distance to acquire a first X-ray image of the movement.

[0029] Optionally, the displacement data at least includes a translation distance.

[0030] determining displacement data, moving the surgical device according to the displacement data, and determining at least two first X-ray images acquired at different positions, specifically including:

[0031] determining a detector accuracy and a fixed distance between the ray source and the detector;

[0032] for each movement of the surgical device, determining an observation distance of the last movement according to three-dimensional coordinates of the ray source and a surgical bed calibration point after the last movement;

[0033] determining a relative distance of the movement according to a difference between the fixed distance and the observation distance of the last movement;

[0034] determining a movement coefficient of the movement according to a ratio of the fixed distance and the relative distance of the movement;

[0035] determining a translation threshold of the movement according to a product of the detector accuracy and the movement coefficient of the movement;

[0036] determining a translation distance of the movement according to the translation threshold;

[0037] moving the imaging device horizontally according to the translation distance to acquire an X-ray image of the movement.

[0038] Optionally, the displacement data at least includes a translation distance.

[0039] determining displacement data, moving the surgical device according to the displacement data, and determining at least two first X-ray images acquired at different positions, specifically including:

[0040] determining a detector accuracy and a fixed distance between the ray source and the detector;

[0041] For each movement of the surgical device, according to the three-dimensional coordinates of the ray source and the surgical bed calibration point after the last movement, the observation distance of the last movement is determined;

[0042] According to the ratio of the observation distance of the last movement and the fixed distance, the movement coefficient of the movement is determined;

[0043] According to the product of the detector accuracy and the movement coefficient, the translation threshold of the movement is determined;

[0044] According to the translation threshold, the translation distance of the movement is determined;

[0045] According to the translation distance, the surgical bed is moved horizontally, and the first X-ray image of the movement is collected.

[0046] Optionally, according to the three-dimensional coordinates of the projection points of the target point corresponding to the sensor units and the three-dimensional coordinates of the ray source when collecting the first X-ray images, the three-dimensional coordinates of the target point are determined, specifically including:

[0047] Two first X-ray images are continuously collected;

[0048] For each first X-ray image, the line segment between the projection point of the target point on the detector corresponding to the sensor units and the ray source when collecting the first X-ray image is taken as the projection line of the target point in the first X-ray image;

[0049] According to the three-dimensional coordinates of the projection points of the target point in the first X-ray images on the detector corresponding to the sensor units, and the three-dimensional coordinates of the ray source when collecting the first X-ray images, the three-dimensional coordinates of the intersection of the projection lines of the target point in the first X-ray images are determined as the three-dimensional coordinates of the target point.

[0050] Optionally, according to the three-dimensional coordinates of the projection points of the target point in the first X-ray images on the detector corresponding to the sensor units, and the three-dimensional coordinates of the ray source when collecting the first X-ray images, the three-dimensional coordinates of the intersection of the projection lines of the target point in the first X-ray images are determined, specifically including:

[0051] For each first X-ray image, according to the preset interpolation number, equal-interval linear interpolation is performed on the projection line in the first X-ray image to obtain each interpolation point on the projection line of the first X-ray image;

[0052] For each interpolation point on the projection line in the first X-ray image, according to the three-dimensional coordinates of the projection point of the target point in the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the ray source when the first X-ray image is collected, the interpolation number, the order of the interpolation point on the projection line of the first X-ray image, the three-dimensional coordinates of the interpolation point are determined;

[0053] Two interpolation points respectively located on the projection line of the two first X-ray images are taken as a matching point pair, and according to the three-dimensional coordinates of the two interpolation points contained in each matching point pair, the distance between the two interpolation points contained in each matching point pair is determined;

[0054] Among the distances determined, the matching point pair corresponding to the smallest distance is determined, and the mean value of the three-dimensional coordinates of the two interpolation points contained in the matching point pair corresponding to the smallest distance is taken as the three-dimensional coordinates of the intersection point of the projection line of the target point in each first X-ray image.

[0055] Optionally, the three-dimensional coordinates of the target point are determined according to at least the three-dimensional coordinates of the sensor unit determined and the three-dimensional coordinates of the ray source when the first X-ray image is collected, and specifically include:

[0056] Two first X-ray images are continuously collected;

[0057] The distance between the projection points of the target point in the two first X-ray images corresponding to the sensor unit on the detector is taken as the projection displacement of the target point;

[0058] According to the ratio of the displacement data to the projection displacement, a positioning ratio is determined;

[0059] Any one of the two first X-ray images is taken as a target image, and according to the three-dimensional coordinates of the projection point of the target point in the target image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the ray source and the positioning ratio, the three-dimensional coordinates of the segmentation point are determined, and the ratio of the distance between the ray source and the segmentation point when the target image is collected to the distance between the ray source and the projection point of the target point corresponding to the sensor unit on the detector when the first image is collected is equal to the positioning ratio;

[0060] The three-dimensional coordinates of the segmentation point are taken as the three-dimensional coordinates of the target point.

[0061] Optionally, the method further includes:

[0062] Displacement data is determined, the surgical equipment is moved according to the displacement data, at least two second X-ray images of the surgical object collected by the surgical equipment at different positions are determined, and the second X-ray images are blood vessel subtraction images;

[0063] According to the projection of the blood vessel boundary in each second X-ray image, for each blood vessel cross section, the projection point of the center point of the blood vessel cross section and the projection point of the positioning point of the blood vessel cross section are determined in the second X-ray images;

[0064] The three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section are determined.

[0065] According to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section, the three-dimensional shape of the blood vessel cross section is fitted.

[0066] According to the three-dimensional shape of each blood vessel cross section, a three-dimensional model of the blood vessel is determined.

[0067] Optionally, according to the projection of the blood vessel boundary in each second X-ray image, for each blood vessel cross section, the projection point of the center point of the blood vessel cross section and the projection point of the positioning point of the blood vessel cross section are determined in the second X-ray images, specifically comprising:

[0068] For each second X-ray image, according to the projection of the blood vessel boundary in the second X-ray image, each projection point located at the center of the upper and lower boundaries of the blood vessel is determined as the projection point of the center point of each blood vessel cross section;

[0069] The projection of the blood vessel center line composed of the projection points of each center point in the second X-ray image is determined.

[0070] For each blood vessel cross section, according to the extension direction of the projection of the blood vessel center line at the center point projection point of the blood vessel cross section;

[0071] According to the extension direction, a straight line perpendicular to the extension direction is determined through the projection point of the center point of the blood vessel cross section as the positioning line of the blood vessel cross section;

[0072] The intersection of the positioning line and the upper and lower boundaries of the blood vessel is taken as the projection point of the positioning point of the blood vessel cross section.

[0073] Optionally, the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section are determined, specifically comprising:

[0074] For each second X-ray image, the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the center point of the blood vessel cross section are determined.

[0075] According to the three-dimensional coordinates of the corresponding sensor unit of each projection point of the center point of the blood vessel cross section, the three-dimensional coordinates of the ray source when the second X-ray images are collected, and the displacement data, the three-dimensional coordinates of the center point of the blood vessel cross section are determined.

[0076] determining, for each of the second X-ray images, a projection point of each of the positioning points of the blood vessel cross section corresponding to the positioning point corresponding to the projection point of the positioning point determined according to the second X-ray image;

[0077] determining, for each of the second X-ray images, a three-dimensional coordinate of the projection point of the positioning point corresponding to the projection point of the positioning point determined according to the second X-ray image;

[0078] determining, according to the three-dimensional coordinates of the projection points of the positioning points determined according to the second X-ray images and the three-dimensional coordinates of the ray source when the second X-ray images are collected, a three-dimensional coordinate of the positioning point.

[0079] Optionally, fitting a three-dimensional shape of the blood vessel cross section according to the three-dimensional coordinate of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning points, specifically comprising:

[0080] determining, for each of the second X-ray images, a candidate chord of the blood vessel cross section according to distances between the three-dimensional coordinates of the positioning points corresponding to the projection points of the positioning points of the blood vessel cross section determined according to the second X-ray image;

[0081] determining a major axis length according to lengths of the candidate chords corresponding to the second X-ray images;

[0082] determining, according to the major axis length, an ellipse passing through the positioning points of the blood vessel cross section with the center point of the blood vessel cross section as the center as the three-dimensional shape of the blood vessel cross section.

[0083] Optionally, fitting a three-dimensional shape of the blood vessel cross section according to the three-dimensional coordinate of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning points, specifically comprising:

[0084] determining, for each of the second X-ray images, a candidate chord of the blood vessel cross section according to distances between the three-dimensional coordinates of the positioning points corresponding to the projection points of the positioning points of the blood vessel cross section determined according to the second X-ray image;

[0085] determining a diameter of the blood vessel cross section according to the determined candidate chords;

[0086] determining, according to the diameter, a circle passing through the positioning points of the blood vessel cross section with the center point of the blood vessel cross section as the center as the three-dimensional shape of the blood vessel cross section.

[0087] The present specification provides a guide wire route display device, comprising:

[0088] a collection module, determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, the surgical device being an imaging device or a surgical bed, and a ray source and a detector being fixed on the imaging device;

[0089] a registration module, configured to register each first X-ray image, to determine a projection point in each first X-ray image and a target point on the guidewire corresponding to the projection point;

[0090] a sensor unit positioning module, configured to determine, for each first X-ray image, a three-dimensional coordinate of a sensor unit corresponding to a projection point of the target point in the first X-ray image on a detector;

[0091] a target point positioning module, configured to determine a three-dimensional coordinate of the target point according to at least the determined three-dimensional coordinate of the sensor unit and a three-dimensional coordinate of a radiation source when the first X-ray image is acquired;

[0092] a rendering module, configured to determine a three-dimensional model of the guidewire according to the three-dimensional coordinate of the target point, and to superimpose and render the three-dimensional model of the guidewire and a three-dimensional model of a blood vessel to obtain a three-dimensional image of a travel route of the guidewire.

[0093] The specification provides a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the guidewire travel route display method.

[0094] The specification provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the program, implements the guidewire travel route display method.

[0095] The above technical solutions adopted by the specification can achieve the following beneficial effects:

[0096] As can be seen from the above method, displacement data is determined, a surgical device is moved according to the displacement data, at least two first X-ray images acquired at different positions are determined, the surgical device is an imaging device or a surgical bed, a radiation source and a detector are fixed on the imaging device, each first X-ray image is registered to determine a projection point in each first X-ray image and a target point on the guidewire corresponding to each projection point. For each first X-ray image, a three-dimensional coordinate of a sensor unit corresponding to a projection point of the target point in the first X-ray image on a detector is determined, a three-dimensional coordinate of the target point is determined according to at least the determined three-dimensional coordinate of the sensor unit and a three-dimensional coordinate of a radiation source when the first X-ray image is acquired, a three-dimensional model of the guidewire is determined according to the three-dimensional coordinate of the target point, the three-dimensional model of the guidewire and a three-dimensional model of a blood vessel are superimposed and rendered to obtain a three-dimensional image of a travel route of the guidewire.

[0097] In the method, the spatial positioning of the target point on the guide wire is completed through the displacement data of the at least two first X-ray images collected at different positions, the three-dimensional model of the guide wire is determined, and the three-dimensional image of the travel route of the guide wire is rendered by superimposing the three-dimensional model of the guide wire and the three-dimensional model of the blood vessel. In the three-dimensional image, the spatial structure information of the overlapped blood vessels can be clearly reflected, and the overlapped different blood vessels are distinguished, and the travel route of the guide wire is accurately judged. BRIEF DESCRIPTION OF DRAWINGS

[0098] The accompanying drawings, which are included to provide a further understanding of the present specification and constitute a part of the present specification, illustrate the illustrative embodiments of the present specification and their description serves to explain the present specification, and do not constitute an improper limitation on the present specification. In the drawings:

[0099] Figure 1 A flowchart of a guide wire travel route display method provided in the present specification;

[0100] Figure 2 A spatial positioning principle diagram corresponding to a rotating imaging device provided in the present specification;

[0101] Figure 3 A spatial positioning principle diagram corresponding to a vertically moving imaging device provided in the present specification;

[0102] Figure 4 A spatial positioning principle diagram corresponding to a horizontally moving imaging device provided in the present specification;

[0103] Figure 5 A principle diagram for determining the three-dimensional coordinates of the intersection point corresponding to Figure 2 provided in the present specification;

[0104] Figure 6 A spatial positioning principle diagram corresponding to a horizontally moving operating table provided in the present specification;

[0105] Figure 7 A schematic diagram of a projection point determination method of a positioning point provided in the present specification;

[0106] Figure 8 A positioning point position relationship diagram of different second X-ray images provided in the present specification;

[0107] Figure 9 A schematic diagram of a guide wire travel route display device provided in the present specification;

[0108] Figure 10 A schematic diagram of an electronic device corresponding to Figure 1 provided in the present specification. DETAILED DESCRIPTION

[0109] In order to make the purpose, technical scheme and advantages of the present description clearer, the technical scheme provided by the embodiments of the present description will be described clearly and completely in conjunction with the specific embodiments of the present description and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present description, rather than all the embodiments. Based on the embodiments in the present description, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present description.

[0110] The three-dimensional image can intuitively display the spatial structure information of the blood vessel, and can distinguish different blood vessels even in a dense blood vessel area, so as to accurately identify the blood vessel to be entered and determine the advancing direction of the guide wire. However, in the prior art, in order to obtain the three-dimensional image, a large number of X-ray images in different angles within 180° or 360° around the surgical object need to be collected, so as to obtain the spatial structure information of the target part of the surgical object, reconstruct the three-dimensional model of the target part, and then render the three-dimensional image of the target part.

[0111] The intervention surgery needs full-time monitoring of medical images to obtain real-time dynamic images of the guide wire. In order to obtain real-time dynamic images, specific frame rate conditions need to be met. For example, 24 frames or more of images per second need to be played continuously to allow the human eye to see continuous motion, which requires continuous X-ray irradiation of the surgical object, collection of X-ray images, and ensuring that at most one frame of image can be displayed every second.

[0112] In the intervention surgery, the femoral artery in the inner thigh or the radial artery at the wrist is usually taken as the puncture point, the guide wire enters the human body from the puncture point, and advances along the blood vessel path until reaching the heart or the brain. The advancing process of the guide wire will pass through a relatively long path and take a relatively long time. If the prior art is applied to obtain real-time three-dimensional images during the advancing process of the guide wire, a large number of X-ray images are needed to render one frame of three-dimensional image. In order to ensure the continuity of the image, the surgical object needs to be subjected to a large amount of X-ray irradiation during the advancing process of the guide wire, which will cause great harm to the surgical object. Therefore, the current path display method of three-dimensional images is difficult to be clinically applied, and two-dimensional X-ray images are still used to display the advancing path of the guide wire.

[0113] The technical scheme provided by the embodiments of the present description will be described in detail in conjunction with the drawings.

[0114] Figure 1 The flowchart of the guide wire advancing route display method in the present description specifically includes the following steps:

[0115] S100: moving a surgical device according to preset displacement data to determine at least two first X-ray images collected at different positions, the surgical device being an imaging device or a surgical bed, and a radiation source and a detector being fixed on the imaging device.

[0116] All steps in the guide wire travel route display method provided in the specification can be realized by any electronic device with computing function, such as a terminal, a server, and the like. For ease of description, the guide wire travel route display method provided in the specification is described below by taking a server as the execution subject.

[0117] In the method of the specification, at least two first X-ray images are acquired by moving a surgical device, so as to realize spatial positioning of a target point on a guide wire. The surgical device is an imaging device or a surgical bed, and a radiation source and a detector are fixed on the imaging device. The radiation source is a device for emitting X-rays, which can be marked by a point in space. The detector is a device for detecting the residual energy of X-rays after the X-rays pass through a surgical object, which is a planar structure with an array of sensor units arranged inside. The sensor units are used to convert the X-ray optical signal into an electrical signal and a digital signal, and finally present an X-ray image. Each sensor unit on the detector corresponds to a pixel point in the X-ray image, and the X-ray signal received by the sensor unit is used to determine the color of the corresponding pixel point. In the process of collecting the X-ray image, the position of the sensor unit in space can be marked by the center of the sensor unit.

[0118] In the three-dimensional reconstruction space of the guide wire, the three-dimensional coordinates of the radiation source, the three-dimensional coordinates of the detector marking point, and the three-dimensional coordinates of the surgical bed marking point at each movement of the surgical device can be calculated according to the pose of the surgical device by using existing calibration methods, and the three-dimensional coordinates of any sensor unit on the detector or the three-dimensional coordinates of any position on the surgical bed can be further determined. The detector marking point or the surgical bed marking point can be selected as the center position of the detector or the surgical bed, respectively.

[0119] The at least two first X-ray images in the specification can be collected by moving the surgical device in four different ways. First, the server collects a first first X-ray image at the initial position of the surgical device by using the imaging device. Then, a first X-ray image of the surgical object is determined each time the surgical device is moved. The initial position of the surgical device includes the initial position of the radiation source, the initial position of the detector marking point, and the initial position of the surgical bed marking point.

[0120] After the at least two first X-ray images are determined, the surgical device is moved at least once. The specific number of movements of the imaging device can be determined according to the number of first X-ray images required for rendering the three-dimensional image of the guide wire.

[0121] Before starting to move the surgical equipment, the server can determine the probe precision according to the product specification of the surgical equipment, and determine the fixed distance between the ray source and the probe. The probe precision is the minimum resolution of the physical size of the probe. The distance between the ray source and the probe is relatively static during the surgery. If the imaging equipment is a one-piece structure, that is, the ray source and the probe are connected as a whole, the server can check the product specification of the imaging equipment to determine the fixed distance. If the imaging equipment is a split structure, that is, the positions of the ray source and the probe in the imaging equipment can be adjusted according to the needs of the surgery, the server can calculate the fixed distance between the ray source and the probe according to the initial positions of the ray source and the probe calibration points. This fixed distance will not change during the surgery process with the change of the position of the imaging equipment or the surgical bed in the surgical equipment.

[0122] After the server collects the first first X-ray image at the initial position of the surgical equipment, the server can move the surgical equipment to obtain other first X-ray images by using the following four moving methods.

[0123] The first moving method is to rotate the imaging equipment.

[0124] For each movement of the surgical equipment, the server determines the observation distance of the last movement according to the distance between the ray source and the surgical bed calibration point after the last movement, and determines the relative distance of the current movement according to the difference between the fixed distance between the ray source and the probe and the observation distance of the last movement. According to the inverse tangent value of the ratio of the probe precision and the relative distance of the current movement, the angle threshold of the current movement is determined, and the rotation angle of the current movement is determined according to the angle threshold of the current movement.

[0125] Specifically, the rotation angle can be determined according to the following formula:

[0126]

[0127] Wherein, p represents the probe precision, D g represents the fixed distance between the ray source and the probe, D t represents the observation distance of the current movement, θ * represents the angle threshold, and θ represents the rotation angle. When rotating the imaging equipment, it is necessary to ensure that the rotation angle is greater than the angle threshold. The specific value of the rotation angle can be determined according to the needs.

[0128] The server starts from the collection position of the imaging equipment after the last movement, moves the surgical equipment, and makes the included angle between the collection direction of the imaging equipment after the last movement and the collection direction of the imaging equipment after the current movement equal to the determined rotation angle. The first X-ray image of the current movement is collected in the collection direction of the imaging equipment after the current movement.

[0129] If the imaging device is a one-piece structure, the server can rotate the imaging device by a determined rotation angle in a preset direction around a rotation axis of the imaging device, determine the collection position of the imaging device after the movement, and collect the first X-ray image of the surgical object at the collection position of the imaging device after the movement. If the imaging device is a split structure, the server can determine the rotation center of the imaging device, rotate the imaging device by a determined rotation angle in a preset direction around the rotation center, determine the collection position of the imaging device after the movement, and collect the first X-ray image of the surgical object at the collection position of the imaging device after the movement. The preset direction can be a clockwise direction or a counterclockwise direction, which can be selected according to requirements. The collection position of the imaging device includes the position of the ray source and the position of the detector calibration point.

[0130] The second movement mode is to move the imaging device vertically.

[0131] For each movement of the surgical device, the server determines the projection points of the guide wire in the first X-ray image obtained after the last movement. For each projection point, the three-dimensional coordinates of the corresponding sensor unit on the detector after the last movement of the projection point are determined. The sensor units corresponding to the projection points are determined, and the lines connecting the sensor units and the ray source are determined according to the baseline from the ray source to the center point of the detector, the angles between the lines and the baseline are determined, and the limiting angle is determined from the angles.

[0132] Specifically, the server can take the minimum value of the angles between the lines and the baseline determined after the last movement as the limiting angle of the movement. Alternatively, according to the distribution proportion of the angles between the lines and the baseline, some angles with a small proportion can be filtered out, for example, the angles between the lines and the baseline are arranged in order from small to large, and the minimum value of the remaining 90% of the angles is taken as the limiting angle of the movement.

[0133] Then, the server determines the translation threshold of the movement according to the ratio of the accuracy of the detector to the tangent value of the limiting angle of the movement, and determines the translation distance of the movement according to the translation threshold of the movement.

[0134] Specifically, the translation distance can be determined according to the following formula:

[0135]

[0136] wherein β represents the limiting angle of the movement, d1 * d1 represents the translation distance of the movement. When the imaging device is moved vertically, it is necessary to ensure that the translation distance is greater than the translation threshold.

[0137] The server vertically moves the imaging device by a determined translation distance in a preset direction from the collection position of the imaging device after the last movement, determines the collection position of the imaging device after the movement, and collects the first X-ray image of the surgical object at the collection position of the imaging device after the movement. The preset direction can be lifting or lowering, and can be determined according to requirements.

[0138] The third movement mode is to horizontally move the imaging device.

[0139] For each movement of the surgical device, the server determines the observation distance of the last movement according to the ray source position after the last movement and the surgical bed calibration point position, determines the relative distance of the movement according to the difference between the fixed distance between the ray source and the detector and the observation distance of the last movement, determines the movement coefficient of the movement according to the ratio of the fixed distance and the relative distance of the movement, determines the translation threshold of the movement according to the product of the detector accuracy and the movement coefficient of the movement, and determines the translation distance of the movement according to the translation threshold of the movement.

[0140] Specifically, the translation distance can be determined according to the following formula:

[0141]

[0142] wherein, represents the movement coefficient, d2 * represents the translation threshold, and d2 represents the translation distance. When the imaging device is horizontally moved, it is necessary to ensure that the translation distance is greater than the translation threshold.

[0143] The server horizontally moves the imaging device by a determined translation distance in a preset direction from the collection position of the imaging device after the last movement, determines the collection position of the imaging device after the movement, and collects the first X-ray image of the surgical object at the collection position of the imaging device after the movement. The preset direction can be any horizontal direction, and can be selected according to requirements.

[0144] The fourth movement mode is to horizontally move the surgical bed.

[0145] For each movement of the surgical device, the server takes the distance between the ray source position after the last movement and the surgical bed calibration point position as the observation distance of the last movement.

[0146] The server determines the movement coefficient of the movement according to the ratio of the observation distance of the last movement and the fixed distance, determines the translation threshold of the movement according to the product of the detector accuracy and the movement coefficient of the movement, and determines the translation distance of the movement according to the translation threshold of the movement.

[0147] Specifically, the translation distance can be determined according to the following formula:

[0148]

[0149] wherein, denotes the moving coefficient of the movement, d3 * denotes the translation threshold of the movement, and d3 denotes the translation distance of the movement. When moving the operating table horizontally, it is necessary to ensure that the translation distance is greater than the translation threshold.

[0150] The server starts from the position of the calibration point of the operating table before the last movement, moves the operating table horizontally in a preset direction by the determined translation distance, determines the position of the calibration point of the operating table after the movement, and collects the first X-ray image of the surgical object at the position of the calibration point of the operating table after the movement. The preset direction can be any direction horizontally, which can be selected according to requirements.

[0151] In the above four movement modes, only the lower limit of the determined displacement data is clear. In each movement mode, the displacement data needs to be greater than the lower limit determined by the movement mode, but the movement amplitude cannot be too large. Too large will cause artifacts in the collected first X-ray image, affecting the image quality. The specific displacement data needs to be determined according to experience.

[0152] The server collects at least two first X-ray images according to any one of the above four movement modes, and performs spatial positioning on the projection points corresponding to the same spatial point in each first X-ray image according to the displacement data.

[0153] S102: Registering each first X-ray image to determine the projection points in the first X-ray images and the target points on the guide wire corresponding to the projection points.

[0154] After collecting multiple first X-ray images, the server extracts the contours of the guide wire in each first X-ray image to determine the guide wire projections in each first X-ray image. Since the guide wire is a thin wire, the projection of the guide wire can be considered as a curve. The server performs image registration on each first X-ray image after contour extraction to determine the projection points corresponding to the same spatial point in each first X-ray image.

[0155] The server determines the spatial points corresponding to the mutually corresponding projection points, which are the target points on the guide wire. The projection points of the target points in each first X-ray image are the projections of the target points collected by the imaging device at different positions.

[0156] S104: For each first X-ray image, determining the three-dimensional coordinates of the sensor unit corresponding to the projection point of the target point in the first X-ray image on the detector.

[0157] For each first X-ray image, the server determines the color of the projection point on the detector according to the two-dimensional coordinates of the projection point of the target point in the first X-ray image, the corresponding sensor unit of the projection point on the detector, and the X-ray signal received by the corresponding sensor unit of the projection point.

[0158] Then, the server can determine the three-dimensional coordinates of the corresponding sensor unit of the projection point according to the pose of the detector and the three-dimensional coordinates of the detector calibration point. The three-dimensional coordinates of the corresponding sensor unit of the projection point are used to locate the target point in space.

[0159] S106: At least according to the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the ray source when the first X-ray images are collected, the three-dimensional coordinates of the target point are determined.

[0160] Corresponding to the four movement modes of the surgical device in S100, the positioning method of the target point is described for each movement mode. For each movement mode, two first X-ray images collected in succession are determined, which are first image and second image respectively.

[0161] For each first X-ray image, the line segment between the ray source used to collect the first X-ray image and the corresponding sensor unit of the projection point of the target point on the detector is taken as the projection line of the target point in the first X-ray image.

[0162] If the first movement mode is used, i.e., the imaging device is rotated.

[0163] Figure 2 A space positioning principle diagram corresponding to a rotating imaging device is provided for this specification, in which the white circle point represents the ray source, the rectangle represents the detector, the arrow position is the position of the corresponding sensor unit of each projection point on the detector, the black circle point represents the corresponding target point of each projection point in space, and the ray source and the detector in the imaging device at one position are connected by a dashed line.

[0164] As shown in Figure 2 the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image are the three-dimensional coordinates of the target point.

[0165] If the second movement mode is used, i.e., the imaging device is vertically moved.

[0166] Figure 3 A space positioning principle diagram corresponding to a vertically moving imaging device is provided for this specification. As shown in Figure 3 the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image are the three-dimensional coordinates of the target point.

[0167] If the third movement mode is used, i.e., the imaging device is horizontally moved.

[0168] Figure 4 A spatial positioning principle diagram corresponding to a horizontal moving imaging device is provided in the present specification. As shown in the diagram, the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image are the three-dimensional coordinates of the target point. Figure 4

[0169] In the above rotating imaging device, vertical moving imaging device and horizontal moving imaging device, the position of the target point is the intersection position of the projection lines in each first X-ray image, and the three-dimensional coordinates of the intersection position can be determined in multiple ways, such as linear interpolation method and straight line equation method. The present specification does not limit the specific determination method.

[0170] In one or more embodiments of the present specification, the server determines the three-dimensional coordinates of the intersection position by linear interpolation method, and the specific steps are as follows:

[0171] First, for each first X-ray image, the server performs equal-interval linear interpolation on the projection line in the first X-ray image according to a preset interpolation number, to obtain each interpolation point on the projection line of the first X-ray image.

[0172] Second, for each interpolation point on the projection line in the first X-ray image, the server determines the three-dimensional coordinates of the interpolation point according to the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in the first X-ray image, the three-dimensional coordinates of the ray source when the first X-ray image is collected, the interpolation number, and the order of the interpolation point on the projection line of the first X-ray image.

[0173] Specifically, the server takes two first X-ray images collected continuously as a first image and a second image respectively. The server determines the x-axis interpolation distance, y-axis interpolation distance and z-axis interpolation distance corresponding to the first image according to the difference between the coordinate values of the three coordinate axes of the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in the first image and the three-dimensional coordinates of the ray source when the first image is collected.

[0174] Let the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in the first image be (x d1 ,y d1 ,z d1 ), and the three-dimensional coordinates of the ray source when the first image is collected be (x s1 ,y s1 ,z s1 ). Then the x-axis interpolation distance corresponding to the first image is the y-axis interpolation distance is ​

[0175] Then, the server determines the x-axis interpolation step length, the y-axis interpolation step length and the z-axis interpolation step length corresponding to the first image according to the ratio of the interpolation distance and the interpolation number of the three coordinate axes corresponding to the first image respectively. Denote the interpolation number as N, then the x-axis interpolation step length corresponding to the first image is The y-axis interpolation step length is The z-axis interpolation step length is

[0176] Finally, the interpolation starting point is selected. The interpolation starting point can be the projection point of the target point in the first image corresponding to the sensor unit position on the detector, or the position of the ray source when the first image is collected.

[0177] For each interpolation point on the projection line in the first image, the server determines the three-dimensional coordinates of the interpolation point according to the order of the interpolation point on the projection line of the first image, the interpolation step lengths of the three coordinate axes corresponding to the first image and the three-dimensional coordinates of the interpolation starting point. Denote the order of the interpolation point on the projection line of the first X-ray image as i, if the projection point of the target point in the first image corresponding to the sensor unit position on the detector, i.e. (x d1 ,y d1 ,z d1 ) is taken as the interpolation starting point, then the three-dimensional coordinates of each i interpolation point on the projection line in the first image are

[0178] It should be noted that when the position of the ray source when the first image is collected is taken as the interpolation starting point, the calculation formula of the interpolation distance of the above three coordinate axes should be changed to The y-axis interpolation distance is The z-axis interpolation distance is The three-dimensional coordinates of each i interpolation point on the projection line in the first image are

[0179] That is, when calculating the interpolation distance, for each coordinate axis, the coordinate value of the interpolation ending point on the coordinate axis is subtracted from the coordinate value of the interpolation starting point on the coordinate axis. When calculating the three-dimensional coordinates of the interpolation point, the total interpolation step length of each coordinate axis needs to be determined according to the product of the interpolation step length of each coordinate axis and the order of the interpolation point, and the coordinate value of the interpolation starting point on each coordinate axis is added to the corresponding total interpolation step length, i.e. the coordinate value of each coordinate axis of the interpolation point is obtained.

[0180] The way of determining the three-dimensional coordinates of each interpolation point on the projection line in the second image is the same as the way of determining the three-dimensional coordinates of each interpolation point on the projection line in the first image, which will not be described here. The three-dimensional coordinates of the projection point of the target point in the second image corresponding to the sensor unit on the detector are denoted as (x d2 ,y d2 ,zd2 ), the three-dimensional coordinates of the ray source when acquiring the second image are recorded as (x s2 ,y s2 ,z s2 ).

[0181] Using the same method, the x-axis interpolation distance corresponding to the second image can be determined The y-axis interpolation distance is z-axis interpolation distance x-axis interpolation step size The y-axis interpolation step size is z-axis interpolation step size If (x d2 ,y d2 ,z d2 ) as the interpolation starting point, the three-dimensional coordinates of each i interpolation point on the projection line in the second image are

[0182] Third, the server uses two interpolation points located on the projection lines of the two first X-ray images as matching point pairs. Based on the three-dimensional coordinates of the two interpolation points in each matching point pair, the server determines the distance between the two interpolation points in each matching point pair. Among the determined distances, the matching point pair corresponding to the minimum distance is determined, and the average of the three-dimensional coordinates of the two interpolation points in the matching point pair corresponding to the minimum distance is used as the three-dimensional coordinate of the intersection of the projection lines of the target point in each first X-ray image.

[0183] The server calculates the distance between the two interpolation points included in each interpolation point pair. If the distance is the smallest, it means that the two interpolation points located on the projection line of the first X-ray image are close in space. In this case, the two interpolation points included in the matching point pair corresponding to the smallest distance can be considered to be points that are close to overlapping in space. Based on the average of these two close-overlapping points, the intersection point where each projection line actually overlaps can be determined.

[0184] In the above-mentioned method of determining the 3D coordinates of the intersection point using linear interpolation, a larger number of interpolation steps is preset, and the closer the minimum distance is to zero, resulting in a more accurate 3D coordinate of the intersection point, ultimately determined as the average of the two nearly overlapping points. The specific value of the interpolation step can be set based on the computational accuracy required for the actual rendering scene.

[0185] Taking the movement of a rotating imaging device as an example, the method for determining the intersection of projection lines is described. Figure 5 This manual provides a corresponding Figure 2The intersection three-dimensional coordinate determination principle diagram of the projection line is shown in FIG. 1. The black dot represents the intersection of the projection line, i.e. the target point. The white small dot and the shaded small dot represent the interpolation points. The two shaded small dots are two interpolation points contained in the minimum distance matching point pair. The mean position of the three-dimensional coordinates of the two small dots is the position of the black dot.

[0186] If the fourth moving mode is adopted, i.e. horizontally moving the operating table.

[0187] Figure 6 A corresponding spatial positioning principle diagram of the horizontal moving operating table is provided in the present specification. The black square dot represents the detector calibration point position. The two black dots represent the spatial positions of the front and rear target points of the moving operating table.

[0188] The server takes the distance between the projection points of the target point in the two first X-ray images on the corresponding sensor units on the detector as the projection displacement of the target point. According to the ratio of the displacement data to the projection displacement, the positioning scale is determined. Any one of the two first X-ray images is taken as the target image. According to the three-dimensional coordinates of the projection point of the target point in the target image on the corresponding sensor units on the detector, the three-dimensional coordinates of the segmentation point and the positioning scale, the three-dimensional coordinates of the segmentation point are determined. The three-dimensional coordinates of the segmentation point can be used as the three-dimensional coordinates of the positioned target point. The ratio of the distance between the ray source and the segmentation point when the target image is collected to the distance between the ray source and the projection point of the target point on the corresponding sensor units on the detector when the first image is collected is equal to the positioning scale.

[0189] Specifically, if the first X-ray image behind the moving operating table, i.e. the second image, is taken as the target image, the three-dimensional coordinates of the ray source when the target image is collected are denoted as (x s ,y s ,z s ), the three-dimensional coordinates of the projection point of the target point in the target image on the corresponding sensor units on the detector are denoted as (x d2 ,y d2 ,z d2 ), and the three-dimensional coordinates of the projection point of the target point in the first image on the corresponding sensor units on the detector are denoted as (x d1 ,y d1 ,z d1 ).

[0190] The projection displacement of the target point is S p =‖(x d1 ,y d1 ,z d1 )-(x d2 ,y d2 ,z d2 )‖2. The translation distance of the operating table is d3. The positioning scale is

[0191] The server determines the x-axis interpolation distance corresponding to the target image according to the above-mentioned interpolation distance determination manner, taking the position of the ray source when the target image is collected as the interpolation starting point The y-axis interpolation distance is The z-axis interpolation distance is The three-dimensional coordinates of the segmentation point can be expressed as

[0192]

[0193] The server determines the x-axis interpolation distance corresponding to the target image according to the above-mentioned interpolation distance determination manner, taking the position of the ray source when the target image is collected as the interpolation starting point The y-axis interpolation distance is The z-axis interpolation distance is The three-dimensional coordinates of the segmentation point can be expressed as

[0194] In particular, when the detector is placed horizontally, the distance between the ray source and the detector is the fixed distance between the ray source and the detector. At this time, the server can directly determine the vertical distance according to the product of the positioning ratio and the fixed distance. The two spatial positions of the target point before and after the mobile operating table can determine a straight line, and the vertical distance is the distance from the determined straight line to the position of the ray source. According to the vertical distance, the coordinate value of the z-axis of the segmentation point can be directly determined in the three-dimensional space, and according to the coordinate value of the z-axis of the segmentation point, the target point can be located in the projection line determined by the position of the ray source and the position of the sensor unit on the detector corresponding to the projection point in the target image.

[0195] In Figure 6 , d represents the translation distance, d ′ represents the projection displacement, h ′ represents the fixed distance, and h represents the vertical distance. When the second image is taken as the target image, Figure 5 The black dot on the right is the segmentation point. In the geometric relationship shown in Figure 6 , the ratio of d to d ′ and the ratio of h to h ′ are both the positioning ratio, and according to this geometric relationship, the vertical distance h between the target point and the ray source can be obtained.

[0196] In determining the three-dimensional model of the guide wire, the three-dimensional coordinates of the target point need to be determined in real time during the operation. In order to make the determined three-dimensional model spatial position continuous, the server can use the three-dimensional coordinates of the target point determined before the mobile operating table or the three-dimensional coordinates of the target point determined after the mobile operating table to determine the three-dimensional model of the guide wire. That is, each time the three-dimensional coordinates of the target point are determined, the three-dimensional coordinates of the target point determined before the mobile operating table are taken, or the three-dimensional coordinates of the target point determined after the mobile operating table are taken.

[0197] After the three-dimensional coordinates of the target point are determined, a position of the guide wire in space can be located, and the three-dimensional model of the guide wire can be determined according to the position.

[0198] S108: According to the three-dimensional coordinates of the target point, the three-dimensional model of the guide wire is determined, the three-dimensional model of the guide wire and the three-dimensional model of the blood vessel are superimposed and rendered, and the three-dimensional image of the running route of the guide wire is obtained.

[0199] The server can determine the three-dimensional model of the guide wire only according to one target point on the guide wire, or can select multiple target points on the guide wire or all target points constituting the shape of the guide wire to construct the three-dimensional model of the guide wire. If the three-dimensional model of the guide wire is determined only according to one target point on the guide wire, the guide wire head position can be selected as the target point, that is, after image registration, the first group of registered projection points at the front end of the guide wire are used for the construction of the three-dimensional model of the guide wire. The three-dimensional model obtained in this way can be represented as a point, and after the three-dimensional model of the guide wire is constructed, the running direction of the guide wire can be determined according to the position of the point-shaped three-dimensional model of the guide wire in the blood vessel.

[0200] If multiple target points on the guide wire or all target points constituting the shape of the guide wire are selected to construct the three-dimensional model of the guide wire, the server can obtain a more vivid three-dimensional model of the guide wire according to the three-dimensional coordinates of each target point, and the three-dimensional image in the running path of the guide wire rendered thereafter will also be more intuitive, facilitating the doctor to more accurately determine the running direction of the guide wire and confirm the position of the guide wire.

[0201] In the superimposed rendering, in order to highlight the guide wire in the blood vessel, the server sets the transparency of the three-dimensional model of the guide wire to be lower than the transparency of the three-dimensional model of the blood vessel, and obtains the three-dimensional image of the running route of the guide wire.

[0202] In the positioning of the target point, any moving mode can be selected to collect the first X-ray image, and the positioning mode corresponding to the selected moving mode is used to position the target point. Multiple moving modes can also be combined to collect the first X-ray image, because the three-dimensional model of the guide wire needs to be determined in real time, the server can use the same or different moving modes of the surgical equipment for determining the three-dimensional model of the guide wire in the running route of the guide wire in different frames during one operation. That is, the displacement data can include the displacement data required by one moving mode, or can include the displacement data required by multiple moving modes.

[0203] Since the target point on the guide wire can be positioned according to at least two first X-ray images in the method, the radiation dose received by the patient and the doctor in the few procedures is reduced, even if three-dimensional images of the guide wire are acquired throughout the guide wire entering, the radiation damage to the patient and the doctor can be controlled within a safe range, so that the three-dimensional images can be applied to the display of the guide wire travel route.

[0204] In the method, the spatial positioning of the target point on the guide wire is completed by at least two first X-ray images collected at different positions and by displacement data, the three-dimensional model of the guide wire is determined, and then the three-dimensional image of the guide wire travel route is rendered by superimposing the three-dimensional model of the guide wire and the three-dimensional model of the blood vessel. In the three-dimensional image, the spatial structure information of the overlapped blood vessels can be clearly reflected, thereby distinguishing different blood vessels and accurately judging the guide wire travel route.

[0205] As described above in S108, when determining the three-dimensional image of the guide wire travel route, the three-dimensional model of the blood vessel also needs to be determined. The three-dimensional model of the blood vessel is usually determined before the three-dimensional model of the guide wire is determined. In a specific view of the operation, the position of the blood vessel is static, and the position of the guide wire in travel is dynamic. The three-dimensional model of the blood vessel only needs to be determined once, and the three-dimensional model of the guide wire needs to be determined once every predetermined interval, which needs to meet the real-time image frame rate required by the rendering scene. In each determination of the three-dimensional model of the guide wire, the three-dimensional model of the guide wire is determined according to the predetermined number of movements, the surgical equipment is moved continuously for multiple times, and the method described above in S100-S108 is used to determine the three-dimensional model of the guide wire. That is, the three-dimensional model of the guide wire determined in real time needs to be superimposed and rendered with the three-dimensional model of the blood vessel once every predetermined time interval to ensure that the real-time dynamic three-dimensional image of the guide wire is obtained.

[0206] The three-dimensional model of the guide wire can be determined according to the following steps:

[0207] First, the server determines the displacement data, moves the surgical equipment according to the displacement data, and determines at least two second X-ray images collected at different positions. The second X-ray image is a blood vessel subtraction image, and only the shape of the blood vessel is retained in the second X-ray image.

[0208] The way of collecting the second X-ray image at different positions is the same as the way of collecting the first X-ray image at different positions, and the corresponding content in S100 can be referred to for explanation.

[0209] Secondly, according to the projection points of the blood vessel boundaries in each second X-ray image, for each blood vessel cross section, the projection point of the blood vessel cross section center point and the projection point of the blood vessel cross section positioning point are determined in the second X-ray image.

[0210] Specifically, for each second X-ray image, according to the projection of the blood vessel boundary in the second X-ray image, the projection points located at the center of the upper and lower boundaries of the blood vessel are determined as the projection points of the center points of the blood vessel cross sections. The line formed by the projection points of the center points of the blood vessel cross sections is the projection of the blood vessel center line, which is the projection of the virtual geometric center of the blood vessel in space.

[0211] In the process of determining the projection points located at the center of the upper and lower boundaries of the blood vessel, any center line extraction algorithm can be used, such as the center of mass transform method, the morphological method, the prairie fire transform method, the maximum disk transform method, the partial differential equation method, etc. The present specification does not limit this.

[0212] The server performs image registration on each second X-ray image to determine the projection points corresponding to the same spatial point in each second X-ray image.

[0213] After image registration, the projection points of the center points of the blood vessel cross sections corresponding to each other can be used to locate the position of a blood vessel cross section in space, and the projection points of the blood vessel boundaries corresponding to each other can be used to locate the position of a blood vessel boundary in space.

[0214] For each blood vessel cross section, the projection point of the center point of the blood vessel cross section in each second X-ray image is determined. For each second X-ray image, the projection point of the center point of the blood vessel cross section in the second X-ray image is determined, the projection of the blood vessel center line formed by the projection points of the center points in the second X-ray image is determined, and the extension direction of the projection of the blood vessel center line at the projection point is determined. According to the extension direction, a straight line perpendicular to the extension direction is determined as the positioning line of the blood vessel cross section through the projection point of the center point of the blood vessel cross section. The intersection of the positioning line and the upper and lower boundaries of the blood vessel is taken as the projection point of the positioning point of the blood vessel cross section.

[0215] Figure 7 A schematic diagram of a projection point determination method of a positioning point provided in the present specification is shown in the figure, in which the solid curve represents the blood vessel boundary, the dashed curve represents the projection of the blood vessel center line, the straight line represents the positioning line, the arrow represents the extension direction, the white circle point represents the projection point of the center point, and the black circle point represents the projection point of the positioning point. Figure 7 The left and right sides of the figure are second X-ray images determined by the surgical equipment at different positions. The white circle points in the left second X-ray image and the black circle points in the right second X-ray image are the projection points of two center points corresponding to each other.

[0216] As Figure 7As shown, the positioning line of the cross section of the blood vessel can be obtained by drawing a straight line perpendicular to the extension direction of the center line of the blood vessel at the projection point of the center point, and the positioning line has one intersection point with each of the upper and lower boundaries of the blood vessel, and the two intersection points are the projection points of the positioning points of the cross section of the blood vessel. According to one second X-ray image, two positioning points can be determined, and according to two second X-ray images at different positions, four positioning points can be determined. Because the projection points of the center points of the two second X-ray images correspond to each other, the projection points of the two center points are the projections of one center point at different positions in space, that is, the projection points of the two center points can determine the position of one cross section center in space. However, there is no corresponding relationship between the projection points of the four positioning points determined in the two second X-ray images, that is, the projection points of the four positioning points can be the projections of four space points on the boundary of the blood vessel, or can be the projections of two space points on the boundary of the blood vessel.

[0217] If the moving mode of the rotating imaging device is adopted, each second X-ray image obtained is equivalent to the projection of the blood vessel at different angles, and the positioning lines determined in different second X-ray images through the projection points of the corresponding center points correspond to the positions of different longitudinal cross sections of the blood vessel in space, so the projections of the positioning points determined in different second X-ray images also correspond to different space points on the blood vessel.

[0218] Figure 8 A positioning point position relationship diagram of different second X-ray images is provided in the present specification, in which a column represents a blood vessel, and the column can be a cylinder or an elliptic cylinder. Inside the column, two longitudinal cross sections of a1 and a2 are outlined by long and short dashed lines, respectively, corresponding to the second X-ray images obtained at two different angles. l1 represents the positioning line on a1, l2 represents the positioning line on a2, the hollow circle represents the center point, and the solid circles A1, B1, A2, and B2 represent four positioning points, respectively. Figure 8 As shown, the positioning line l1 in the second X-ray image obtained at the projection angle corresponding to a1 corresponds to the positioning line l2 in the second X-ray image obtained at the projection angle corresponding to a2, which corresponds to different longitudinal cross sections of the blood vessel in space, so the two positioning points A1 and B1 on l1 and the two positioning points A2 and B2 on l2 are also space points on different longitudinal cross sections of the blood vessel, that is, there is no corresponding relationship between the four positioning points A1, B1, A2, and B2.

[0219] If the position of the surgical equipment is changed by translation, including vertical movement of the imaging device, horizontal movement of the imaging device, and horizontal movement of the operating table, to obtain each second X-ray image, each second X-ray image is a projection of the blood vessel at the same angle. Translation only changes the position of the blood vessel projection in each second X-ray image, not the angle of the blood vessel projection. Therefore, the positioning line determined in each second X-ray image corresponds to the position of the same longitudinal cross-section of the blood vessel in space. That is, through the projection points of the corresponding center points, the projection points of the positioning points determined in different second X-ray images that intersect with the upper boundary of the blood vessel all correspond to the same spatial point, and the projection points of the positioning points determined in different second X-ray images that intersect with the lower boundary of the blood vessel all correspond to the same spatial point. Regardless of the number of second X-ray images collected, only two spatial points on the blood vessel boundary can be determined through the projection points of a corresponding centerline point.

[0220] by Figure 8 For example, moving the surgical instrument will not change the projection angle of the blood vessel in the resulting second X-ray image. That is, each second X-ray image will correspond to a single longitudinal section. If a projection angle corresponding to α1 is selected, after image registration, the positioning line determined by the projection points of the corresponding center points is always l1. Therefore, the positioning point on the upper boundary of the blood vessel in each second X-ray image is the projection point of A1, and the positioning point on the lower boundary of the blood vessel in each second X-ray image is the projection point of B1.

[0221] Next, for each blood vessel cross section, after determining the projection point of the blood vessel cross section center point and the projection point of the blood vessel cross section positioning point, the server determines the three-dimensional coordinates of the sensor unit corresponding to the projection point of the blood vessel cross section center point on the detector for each second X-ray image. The three-dimensional coordinates of the blood vessel cross section center point are determined based on the three-dimensional coordinates of the sensor units corresponding to the projection points of the blood vessel cross section center point, the three-dimensional coordinates of the radiation source during the acquisition of each second X-ray image, and the displacement data.

[0222] Furthermore, for each positioning point corresponding to the projection point of the blood vessel cross section determined in each second X-ray image, the server determines the projection point of the positioning point in each second X-ray image. For each second X-ray image, the server determines the three-dimensional coordinates of the sensor unit corresponding to the projection point of the positioning point on the detector. The three-dimensional coordinates of the positioning point are determined based at least on the three-dimensional coordinates of the sensor unit corresponding to each projection point of the positioning point and the three-dimensional coordinates of the radiation source when each second X-ray image was acquired.

[0223] The specific method by which the server determines the three-dimensional coordinates of the center point and the positioning point of each blood vessel cross section is related to the method of acquiring the second X-ray image. For details, please refer to the method for determining the three-dimensional coordinates of the target point in S104 to S106 described above.

[0224] Then, the server fits the three-dimensional shape of the blood vessel cross section according to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of each positioning point.

[0225] Specifically, for each second X-ray image, the server determines a candidate chord of the blood vessel cross section based on the distance between the three-dimensional coordinates of the corresponding positioning points of the projection points of each positioning point of the blood vessel cross section determined by the second X-ray image. In each second X-ray image, the projection points of two positioning points that intersect the upper and lower boundaries of the blood vessel can be determined. The distance between the corresponding positioning points in space of the projection points of these two positioning points is the candidate chord of the blood vessel cross section, that is, each second X-ray image can determine a candidate chord. Figure 8 As shown, line segment A1B1 and line segment A2B2 are both candidate chords.

[0226] As mentioned above, if a rotating imaging device is used, the projections of the positioning points determined in different second X-ray images also correspond to different spatial points on the blood vessels. Since the shape of human blood vessels is not a regular circle, the lengths of the candidate chords determined in each second X-ray image may not be the same. Figure 8 As shown, since A1 and A2 are different, and B1 and B2 are different, the lengths of the two candidate chords of line segment A1B1 and line segment A2B2 are not necessarily the same.

[0227] Therefore, when using a rotating imaging device, an ellipse is used to fit the three-dimensional shape of the blood vessel cross section. The server determines the major axis of the ellipse based on the longest candidate chord among the determined candidate chords. The ellipse, with the center point of the blood vessel cross section as the ellipse center, the longest candidate chord as the ellipse major axis length, and passing through each anchor point of the blood vessel cross section, is used as the three-dimensional shape of the blood vessel cross section.

[0228] If the surgical device's position is changed using translation, including vertical, horizontal, and horizontal movement of the imaging device, to obtain different second X-ray images, the projections of the anchor points intersecting the upper boundary of the blood vessel in different second X-ray images all correspond to the same spatial point, and the projections of the anchor points intersecting the lower boundary of the blood vessel in different second X-ray images all correspond to the same spatial point. Therefore, if the same candidate chord is identified in different second X-ray images, a circle is used to fit the three-dimensional shape of the blood vessel cross section.

[0229] The server takes the center point of the blood vessel cross section as the center of a circle, takes the length of the candidate chord as the diameter of the circle, and takes the circle passing through the positioning points of the blood vessel cross section as the three-dimensional shape of the blood vessel cross section. Since each second X-ray image determined in a translation manner can only determine two positioning points, the distance between the two positioning points is the length of the candidate chord, and the two positioning points are the two spatial points through which the fitted blood vessel cross section passes, the three-dimensional shape of the fitted blood vessel cross section is a circle.

[0230] When fitting an elliptical cross section, at least four positioning points in space are determined from at least two second X-ray images, and when a determined candidate chord length is used as the length of the major axis to fit the shape, an elliptical blood vessel cross section is obtained. In particular, when the lengths of the candidate chords determined from each second X-ray image are the same, the shape of the blood vessel cross section is also a circle.

[0231] Finally, the server determines the three-dimensional model of the blood vessel according to the three-dimensional shapes of the blood vessel cross sections.

[0232] The above method is an embodiment of determining the three-dimensional model of the blood vessel in units of blood vessel cross sections. In another embodiment of the present specification, the server can also not determine the center point and the positioning point of each blood vessel cross section, but directly determine the corresponding projection points from each second X-ray image after image registration, position the corresponding projection points in space according to the method of S100-S106, and directly fit the three-dimensional model of the blood vessel according to the determined positions in space.

[0233] In the above step S106, the determination of the three-dimensional coordinates of the target points corresponding to the four movement modes of the surgical equipment is described by taking the number of the collected first X-ray images as two. When the number of the first X-ray images is more than two, if the image registration is accurate, the projection lines corresponding to the plurality of corresponding projection points in each first X-ray image will intersect at a point, and this point is a spatial point corresponding to the plurality of projection points. However, due to the accuracy of the image registration algorithm, the projection point of a spatial point in each first X-ray image may not be accurately identified, resulting in that the projection lines corresponding to the plurality of corresponding projection lines in each first X-ray image actually do not perfectly intersect at a point.

[0234] When the number of intersection points of the projection lines is greater than one, the plurality of intersection points of the projection lines can determine a polygon, at this time, the server can take the three-dimensional coordinates of the center of the polygon as the position of the spatial point determined by the plurality of corresponding projection points, and determine the three-dimensional model of the guide wire according to the three-dimensional coordinates of the center of the polygon. The center of the polygon can be selected from the barycenter, the perpendicular center, the incenter, the circumcenter, etc., and the present specification does not limit the same.

[0235] When more than two first X-ray images are used to determine the three-dimensional model of the guide wire, the error caused by image registration can be minimized, and more accurate target point positioning can be obtained. However, it should be noted that the number of at least two first X-ray images referred to in the specification refers to a smaller number, such as two, three, etc. In order to avoid causing more radiation damage to the patient and the doctor during the process of collecting the first X-ray image, the number of first X-ray images should not be too much. The specific number of first X-ray images can be set according to the actual operation requirements.

[0236] The above is the guide wire travel route display method provided by one or more embodiments of the present specification. Based on the same idea, the present specification also provides a corresponding guide wire travel route display device, as shown in Figure 8 .

[0237] Figure 9 A guide wire travel route display device provided by the present specification is shown in the figure, which specifically comprises:

[0238] The acquisition module 200 determines the displacement data, moves the surgical equipment according to the displacement data, determines at least two first X-ray images collected at different positions, and the surgical equipment is an imaging equipment or a surgical bed. The imaging equipment is fixed with a ray source and a detector;

[0239] The registration module 202 registers each first X-ray image, determines the projection point in each first X-ray image, and the target point corresponding to the projection point on the guide wire;

[0240] The sensor unit positioning module 204 determines the three-dimensional coordinates of the sensor unit corresponding to the projection point of the target point in the first X-ray image on the detector for each first X-ray image;

[0241] The target point positioning module 206 determines the three-dimensional coordinates of the target point according to at least the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the ray source when collecting each first X-ray image;

[0242] The rendering module 208 determines the three-dimensional model of the guide wire according to the three-dimensional coordinates of the target point, superimposes and renders the three-dimensional model of the guide wire and the three-dimensional model of the blood vessel, and obtains the three-dimensional image of the travel route of the guide wire.

[0243] Optionally, the displacement data at least includes a rotation angle, the acquisition module 200 is specifically configured to determine a detector accuracy, and a fixed distance between the ray source and the detector, for each movement of the surgical equipment, determine an observation distance of the last movement according to a distance between the ray source and a calibration point of the operating table after the last movement, determine a relative distance of the current movement according to a difference between the fixed distance and the observation distance of the last movement, determine an angle threshold of the current movement according to an inverse tangent value of a ratio of the detector accuracy and the relative distance of the current movement, determine a rotation angle of the current movement according to the angle threshold, move the surgical equipment so that an included angle between an acquisition direction of the imaging equipment after the last movement and an acquisition direction of the imaging equipment after the current movement is equal to the rotation angle, and acquire a first X-ray image of the current movement in the acquisition direction of the imaging equipment after the current movement.

[0244] Optionally, the displacement data at least includes a translation distance, the acquisition module 200 is specifically configured to determine a detector accuracy, for each movement of the surgical equipment, determine each projection point of the guide wire in a first X-ray image obtained after the last movement, determine a sensor unit corresponding to each projection point, respectively, and a line connecting the ray source, determine an included angle of each line and a baseline from the ray source to a center point of the detector according to the baseline, determine a limiting angle from each included angle, determine a translation threshold of the current movement according to a ratio of the detector accuracy and a tangent value of the limiting angle of the current movement, determine a translation distance of the current movement according to the translation threshold of the current movement, and move the imaging equipment vertically according to the translation distance to acquire a first X-ray image of the current movement.

[0245] Optionally, the displacement data at least includes a translation distance, the acquisition module 200 is specifically configured to determine a detector accuracy, and a fixed distance between the ray source and the detector, for each movement of the surgical equipment, determine an observation distance of the last movement according to three-dimensional coordinates of the ray source and the calibration point of the operating table after the last movement, determine a relative distance of the current movement according to a difference between the fixed distance and the observation distance of the last movement, determine a movement coefficient of the current movement according to a ratio of the fixed distance and the relative distance of the current movement, determine a translation threshold of the current movement according to a product of the detector accuracy and the movement coefficient of the current movement, determine a translation distance of the current movement according to the translation threshold, move the imaging equipment horizontally according to the translation distance, and acquire an X-ray image of the current movement.

[0246] Optionally, the displacement data at least comprises a translation distance, the acquisition module 200 is specifically configured to determine a detector precision, and a fixed distance between the ray source and the detector, for each movement of the surgical device, determine an observation distance of the last movement according to three-dimensional coordinates of the ray source and the surgical bed calibration point after the last movement, determine a movement coefficient of the movement according to a ratio of the observation distance of the last movement and the fixed distance, determine a translation threshold of the movement according to a product of the detector precision and the movement coefficient, determine a translation distance of the movement according to the translation threshold, and move the surgical bed horizontally according to the translation distance to acquire a first X-ray image of the movement.

[0247] Optionally, the target point positioning module 206 is specifically configured to determine two first X-ray images acquired continuously, for each first X-ray image, take a line segment between a projection point of the ray source and the target point on the detector as a projection line of the target point in the first X-ray image when the first X-ray image is acquired, determine three-dimensional coordinates of an intersection point of the projection lines of the target point in the first X-ray images as three-dimensional coordinates of the target point according to three-dimensional coordinates of the projection point of the target point on the corresponding sensor unit of the detector, three-dimensional coordinates of the ray source when the first X-ray images are acquired, and the displacement data.

[0248] Optionally, the target point positioning module 206 is specifically configured to, for each first X-ray image, perform equal-interval linear interpolation on the projection line in the first X-ray image according to a preset interpolation number to obtain each interpolation point on the projection line of the first X-ray image, for each interpolation point on the projection line of the first X-ray image, determine three-dimensional coordinates of the interpolation point according to three-dimensional coordinates of the projection point of the target point on the corresponding sensor unit of the detector, three-dimensional coordinates of the ray source when the first X-ray image is acquired, the interpolation number, and an order of the interpolation point on the projection line of the first X-ray image, take two interpolation points respectively located on the projection lines of the two first X-ray images as a matching point pair, determine a distance between the two interpolation points included in each matching point pair according to three-dimensional coordinates of the two interpolation points included in the matching point pair, determine a matching point pair corresponding to a smallest distance in the determined distances, and take an average of three-dimensional coordinates of the two interpolation points included in the matching point pair corresponding to the smallest distance as three-dimensional coordinates of the intersection point of the projection lines of the target point in the first X-ray images.

[0249] Optionally, the target point positioning module 206 is specifically configured to determine two first X-ray images successively collected as a first image and a second image respectively, take the distance between the projection points of the target point in the two first X-ray images on the corresponding sensor units on the detector as the projection displacement of the target point, determine a positioning ratio according to the ratio of the displacement data to the projection displacement, take any one of the two first X-ray images as a target image, and determine the three-dimensional coordinates of a segmentation point according to the three-dimensional coordinates of the projection point of the target point in the target image on the corresponding sensor units on the detector, the three-dimensional coordinates of the ray source, and the positioning ratio. The ratio of the distance between the ray source and the segmentation point when the target image is collected to the distance between the ray source and the projection point of the target point on the corresponding sensor units on the detector when the first image is collected is equal to the positioning ratio, and the three-dimensional coordinates of the segmentation point are taken as the three-dimensional coordinates of the target point.

[0250] Optionally, the device further comprises a blood vessel three-dimensional model determination module 210.

[0251] The blood vessel three-dimensional model determination module 210 is configured to determine displacement data, move a surgical device according to the displacement data, determine at least two second X-ray images of a surgical object collected by the surgical device at different positions, the second X-ray images being blood vessel subtraction images, determine the projection point of the center point of each blood vessel cross section and the projection point of the positioning point of the blood vessel cross section in each second X-ray image according to the projection of the blood vessel boundary in each second X-ray image, determine the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section, fit the three-dimensional shape of the blood vessel cross section according to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section, and determine the three-dimensional model of the blood vessel according to the three-dimensional shapes of each blood vessel cross section.

[0252] Optionally, the blood vessel three-dimensional model determination module 210 is specifically configured to, for each second X-ray image, determine the projection points located at the centers of the upper and lower boundaries of the blood vessel as the projection points of the center points of each blood vessel cross section according to the projection of the blood vessel boundary in the second X-ray image, determine the projection of the blood vessel center line composed of the projection points of the center points in the second X-ray image, for each blood vessel cross section, determine a straight line perpendicular to the extension direction of the projection of the blood vessel center line at the center point projection point of the blood vessel cross section as the positioning line of the blood vessel cross section according to the extension direction, and take the intersection of the positioning line and the upper and lower boundaries of the blood vessel as the projection point of the positioning point of the blood vessel cross section.

[0253] Optionally, the blood vessel three-dimensional model determining module 210 is specifically configured to, for each second X-ray image, determine the three-dimensional coordinates of the projection point of the center point of the blood vessel cross section on the corresponding sensor unit of the detector, determine the three-dimensional coordinates of the center point of the blood vessel cross section according to the three-dimensional coordinates of the projection point of the center point of the blood vessel cross section on the corresponding sensor unit of the detector, the three-dimensional coordinates of the ray source when the second X-ray images are collected, and the displacement data, determine the projection point of each positioning point of the blood vessel cross section in the second X-ray images, determine the three-dimensional coordinates of the projection point of the positioning point on the corresponding sensor unit of the detector for each second X-ray image, and determine the three-dimensional coordinates of the positioning point according to at least the three-dimensional coordinates of the projection point of the positioning point on the corresponding sensor unit of the detector and the three-dimensional coordinates of the ray source when the second X-ray images are collected.

[0254] Optionally, the blood vessel three-dimensional model determining module 210 is specifically configured to, for each second X-ray image, determine the candidate chord of the blood vessel cross section according to the distance between the three-dimensional coordinates of the projection point of each positioning point of the blood vessel cross section and the corresponding positioning point determined according to the second X-ray image, determine the long axis length according to the lengths of the candidate chords of the second X-ray images, and determine the ellipse passing through the positioning points of the blood vessel cross section with the center point of the blood vessel cross section as the center as the three-dimensional shape of the blood vessel cross section according to the long axis length.

[0255] Optionally, the blood vessel three-dimensional model determining module 210 is specifically configured to, for each second X-ray image, determine the candidate chord of the blood vessel cross section according to the distance between the three-dimensional coordinates of the projection point of each positioning point of the blood vessel cross section and the corresponding positioning point determined according to the second X-ray image, determine the diameter of the blood vessel cross section according to the determined candidate chords, and determine the circle passing through the positioning points of the blood vessel cross section with the center point of the blood vessel cross section as the center as the three-dimensional shape of the blood vessel cross section according to the diameter.

[0256] The specification also provides a computer readable storage medium storing a computer program, which can be used to execute the above Figure 1 The provided guide wire travel route display method.

[0257] The specification also provides Figure 10 The schematic structural diagram of the electronic device is shown. As Figure 10 According to the above Figure 1The guide wire route display method. Of course, in addition to the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or a logic device.

[0258] In the 1990s, it was quite obvious to distinguish whether an improvement in a technology was in hardware (e.g., improvement in circuit structures of diodes, transistors, switches, etc.) or in software (improvement in method flow). However, as technology has evolved, many improvements in method flow today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flow into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented by hardware entity modules. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming it, rather than by asking a chip manufacturer to design and fabricate a custom integrated circuit chip. Moreover, instead of manually fabricating integrated circuit chips, this programming is now mostly implemented by "logic compiler" software, which is similar to software compilers used in program development, and the original code to be compiled is written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed in the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit implementing the logical method flow can be easily obtained.

[0259] The controller can be implemented in any suitable way, for example, the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, such as software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that, in addition to being implemented in pure computer readable program code, the controller can equally well be implemented to perform the same functions using logic gates, switches, an application specific integrated circuit, a programmable logic controller and an embedded microcontroller, etc. by means of a logical programming of the method steps. The controller can thus be considered as a hardware component, and the means comprised therein for performing the various functions can be considered as structures within the hardware component. Alternatively, the means for performing the various functions can even be considered as both a software module implementing the method and a structure within the hardware component.

[0260] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0261] For the sake of description, the above apparatuses are described in various units by functions respectively. Of course, the functions of each unit can be implemented in one or more software and / or hardware in the implementation of the present specification.

[0262] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0263] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0264] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0265] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks in the flowcharts and / or combination thereof. ​ one or more flowcharts and / or blocks in the flowcharts and / or combination thereof.

[0266] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0267] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory. The memory is an example of computer-readable media.

[0268] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0269] It should also be noted that the terms "comprising", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0270] Those skilled in the art will appreciate that embodiments of the present specification can be provided as methods, systems or computer program products. Therefore, the present specification can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0271] The present specification can be described in the general context of computer-executable instructions, such as program modules, executed by computers. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media, including storage devices.

[0272] The various embodiments described in this specification are described using a numbering of embodiments approach: these are each individually integrated contributions pertaining to different aspects of the description. For each embodiment, the description focuses on the differences from the other embodiments. Each embodiment is to be read in isolation, with the understanding that the same or similar features from other embodiments can be combined with the features of the respective embodiment. In particular, the description of the system embodiments is kept relatively short, as the system embodiments are largely analogous to the method embodiments.

[0273] The above only describes the embodiments of the present specification and is not intended to limit the present specification. The present specification can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present specification shall be included in the scope of claims of the present specification.

Claims

1. A guide wire route-of-travel display method characterized by, The method comprises the following steps: determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, the surgical device being an imaging device or a surgical bed, and a radiation source and a detector being fixed on the imaging device; registering each first X-ray image, determining a projection point in each first X-ray image and a target point on a guide wire corresponding to the projection point; for each first X-ray image, determining a three-dimensional coordinate of the target point in the first X-ray image corresponding to a sensor unit on the detector; determining a three-dimensional coordinate of the target point according to at least the determined three-dimensional coordinate of the sensor unit and a three-dimensional coordinate of the radiation source when the first X-ray images are collected; determining a three-dimensional model of the guide wire according to the three-dimensional coordinate of the target point, superimposing and rendering the three-dimensional model of the guide wire and a three-dimensional model of a blood vessel to obtain a three-dimensional image of a travel route of the guide wire.

2. The method of claim 1, wherein, The displacement data at least comprises a rotation angle; determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, and specifically comprising the following steps: determining a detector accuracy and a fixed distance between the radiation source and the detector; for each movement of the surgical device, determining an observation distance of the last movement according to a distance between the radiation source and a calibration point of the surgical bed after the last movement; determining a relative distance of the movement according to a difference between the fixed distance and the observation distance of the last movement; determining an angle threshold of the movement according to an inverse tangent value of a ratio of the detector accuracy and the relative distance of the movement, and determining a rotation angle of the movement according to the angle threshold; moving the surgical device so that an included angle between a collection direction of the imaging device after the last movement and a collection direction of the imaging device after the movement is equal to the rotation angle; collecting a first X-ray image of the movement in the collection direction of the imaging device after the movement.

3. The method of claim 1, wherein, The displacement data at least comprises a translation distance; determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, and specifically comprising the following steps: determining a detector accuracy; for each movement of the surgical device, determining each projection point of the guide wire in a first X-ray image obtained after the last movement; determining a line connecting each projection point and a corresponding sensor unit of the detector; determining an included angle of each line and a baseline from the radiation source to a center point of the detector; determining a limiting angle from each included angle, determining a translation threshold of the movement according to a ratio of the detector accuracy and a tangent value of the limiting angle of the movement; determining a translation distance of the movement according to the translation threshold of the movement, and vertically moving the imaging device according to the translation distance to collect a first X-ray image of the movement.

4. The method of claim 1, wherein, The displacement data at least comprises a translation distance; determining displacement data, moving a surgical device according to the displacement data, determining at least two first X-ray images collected at different positions, and specifically comprising the following steps: determining a detector accuracy and a fixed distance between the radiation source and the detector; For each movement of the surgical device, an observation distance of the last movement is determined according to the three-dimensional coordinates of the ray source and the surgical bed calibration point after the last movement; a relative distance of the current movement is determined according to the difference between the fixed distance and the observation distance of the last movement; a movement coefficient of the current movement is determined according to the ratio of the fixed distance and the relative distance of the current movement; a translation threshold of the current movement is determined according to the product of the detector accuracy and the movement coefficient of the current movement; a translation distance of the current movement is determined according to the translation threshold; the imaging device is moved horizontally according to the translation distance, and an X-ray image of the current movement is collected.

5. The method of claim 1, wherein, The displacement data at least includes a translation distance. The displacement data is determined, the surgical device is moved according to the displacement data, and at least two first X-ray images collected at different positions are determined, which specifically includes: The detector accuracy and the fixed distance between the ray source and the detector are determined. For each movement of the surgical device, an observation distance of the last movement is determined according to the three-dimensional coordinates of the ray source and the surgical bed calibration point after the last movement; a movement coefficient of the current movement is determined according to the ratio of the fixed distance and the observation distance of the last movement; a translation threshold of the current movement is determined according to the product of the detector accuracy and the movement coefficient of the current movement; a translation distance of the current movement is determined according to the translation threshold; the surgical bed is moved horizontally according to the translation distance, and a first X-ray image of the current movement is collected.

6. The method of claim 2 or 3 or 4, wherein, The three-dimensional coordinates of the target point are determined according to at least the three-dimensional coordinates of the projection points of the target point corresponding to the sensor units on the detector, and the three-dimensional coordinates of the ray source when the first X-ray images are collected, which specifically includes: Two first X-ray images collected continuously are determined. For each first X-ray image, a line segment between the projection point of the target point on the detector and the ray source when the first X-ray image is collected is taken as a projection line of the target point in the first X-ray image. The three-dimensional coordinates of the intersection point of the projection lines of the target point in the first X-ray images are determined as the three-dimensional coordinates of the target point according to at least the three-dimensional coordinates of the projection points of the target point in the first X-ray images corresponding to the sensor units on the detector, and the three-dimensional coordinates of the ray source when the first X-ray images are collected.

7. The method of claim 6, wherein, The three-dimensional coordinates of the intersection point of the projection lines of the target point in the first X-ray images are determined according to at least the three-dimensional coordinates of the projection points of the target point in the first X-ray images corresponding to the sensor units on the detector, and the three-dimensional coordinates of the ray source when the first X-ray images are collected, which specifically includes: For each first X-ray image, equal-interval linear interpolation is performed on the projection line in the first X-ray image according to a preset interpolation number, and each interpolation point on the projection line of the first X-ray image is obtained. For each interpolation point on the projection line in the first X-ray image, according to the three-dimensional coordinates of the projection point of the target point in the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the ray source when the first X-ray image is collected, the interpolation number, the order of the interpolation point on the projection line of the first X-ray image, the three-dimensional coordinates of the interpolation point are determined; Two interpolation points respectively located on the projection lines of the two first X-ray images are taken as a matching point pair, and according to the three-dimensional coordinates of the two interpolation points contained in each matching point pair, the distance between the two interpolation points contained in each matching point pair is determined; Among the distances determined, the matching point pair corresponding to the smallest distance is determined, and the mean value of the three-dimensional coordinates of the two interpolation points contained in the matching point pair corresponding to the smallest distance is taken as the three-dimensional coordinates of the intersection point of the projection line of the target point in each first X-ray image.

8. The method of claim 5, wherein, At least according to the three-dimensional coordinates of the determined sensor unit and the three-dimensional coordinates of the ray source when the first X-ray image is collected, the three-dimensional coordinates of the target point are determined, specifically including: Two first X-ray images collected continuously are determined; The distance between the projection points of the target point in the two first X-ray images corresponding to the sensor units on the detector is taken as the projection displacement of the target point; According to the ratio of the displacement data to the projection displacement, a positioning ratio is determined; Any first X-ray image of the two first X-ray images is taken as a target image, and according to the three-dimensional coordinates of the projection point of the target point in the target image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the three-dimensional coordinates of the ray source and the positioning ratio, the distance between the ray source and the segmentation point when the target image is collected is equal to the ratio of the distance between the ray source and the projection point of the target point corresponding to the sensor unit on the detector when the first image is collected, which is equal to the positioning ratio; The three-dimensional coordinates of the segmentation point are taken as the three-dimensional coordinates of the target point.

9. The method of claim 1, wherein, The method further comprises: Displacement data is determined, and according to the displacement data, a surgical device is moved, at least two second X-ray images of a surgical object collected by the surgical device at different positions are determined, and the second X-ray images are blood vessel subtraction images; According to the projection of the blood vessel boundary in each second X-ray image, for each blood vessel cross section, the projection point of the blood vessel cross section center point and the projection point of the blood vessel cross section positioning point in each second X-ray image are determined; The three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section are determined; According to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section, the three-dimensional shape of the blood vessel cross section is fitted; According to the three-dimensional shape of each blood vessel cross section, the three-dimensional model of the blood vessel is determined.

10. The method of claim 9, wherein, According to the projection of the blood vessel boundary in each second X-ray image, for each blood vessel cross section, the projection point of the blood vessel cross section center point and the projection point of the blood vessel cross section positioning point in each second X-ray image are determined, specifically including: For each second X-ray image, according to the projection of the blood vessel boundary in the second X-ray image, each projection point located at the center of the upper and lower boundaries of the blood vessel is determined as the projection point of the center point of each blood vessel cross section; The projection of the blood vessel center line composed of the projection points of each center point in the second X-ray image is determined; For each blood vessel cross section, according to the extension direction of the projection of the blood vessel center line at the center point projection point of the blood vessel cross section; According to the extension direction, through the projection point of the center point of the blood vessel cross section, a straight line perpendicular to the extension direction is determined as the positioning line of the blood vessel cross section; The intersection point of the positioning line and the upper and lower boundaries of the blood vessel is taken as the projection point of the positioning point of the blood vessel cross section.

11. The method of claim 9, wherein, The three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of the positioning point of the blood vessel cross section are determined, specifically including: For each second X-ray image, the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the center point of the blood vessel cross section are determined; At least according to the three-dimensional coordinates of the corresponding sensor unit of each projection point of the center point of the blood vessel cross section determined, and the three-dimensional coordinates of the ray source when the second X-ray images are collected, the three-dimensional coordinates of the center point of the blood vessel cross section are determined; For each positioning point of the blood vessel cross section determined for each second X-ray image, the projection point of each positioning point of the blood vessel cross section is determined as the positioning point corresponding to the projection point in the second X-ray image; For each second X-ray image, the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the positioning point are determined; According to the three-dimensional coordinates of the corresponding sensor unit of each projection point of the positioning point determined, the three-dimensional coordinates of the ray source when the second X-ray images are collected, and the displacement data, the three-dimensional coordinates of the positioning point are determined.

12. The method of claim 9, wherein, According to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of each positioning point, the three-dimensional shape of the blood vessel cross section is fitted, specifically including: For each second X-ray image, according to the distance between the three-dimensional coordinates of the corresponding positioning point of each positioning point of the blood vessel cross section determined from the second X-ray image, the candidate chord of the blood vessel cross section is determined; According to the length of the candidate chord corresponding to each second X-ray image, the length of the major axis is determined; According to the length of the major axis, the ellipse passing through each positioning point of the blood vessel cross section with the center point of the blood vessel cross section as the center is determined as the three-dimensional shape of the blood vessel cross section.

13. The method of claim 9, wherein, According to the three-dimensional coordinates of the center point of the blood vessel cross section and the three-dimensional coordinates of each positioning point, the three-dimensional shape of the blood vessel cross section is fitted, specifically including: For each second X-ray image, according to the distance between the three-dimensional coordinates of the corresponding positioning point of each positioning point of the blood vessel cross section determined from the second X-ray image, the candidate chord of the blood vessel cross section is determined; According to the determined each candidate chord, the diameter of the blood vessel cross section is determined; According to the diameter, the circular shape passing through each positioning point of the blood vessel cross section with the center point of the blood vessel cross section as the center is determined as the three-dimensional shape of the blood vessel cross section.

14. A guide wire route display device characterized by comprising: It includes: The acquisition module determines displacement data, moves a surgical device according to the displacement data, and determines at least two first X-ray images collected at different positions, the surgical device being an imaging device or a surgical bed, and the imaging device being fixed with a ray source and a detector; The registration module registers each first X-ray image, determines a projection point in each first X-ray image, and a target point on the guide wire corresponding to the projection point; The sensor unit positioning module determines, for each first X-ray image, a three-dimensional coordinate of a sensor unit on the detector corresponding to the projection point of the target point in the first X-ray image; The target point positioning module determines a three-dimensional coordinate of the target point according to at least the determined three-dimensional coordinate of the sensor unit and a three-dimensional coordinate of the ray source when the first X-ray images are collected; The rendering module determines a three-dimensional model of the guide wire according to the three-dimensional coordinate of the target point, superimposes and renders the three-dimensional model of the guide wire and a three-dimensional model of a blood vessel to obtain a three-dimensional image of a travel route of the guide wire.

15. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-13.

16. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method in any one of claims 1-13.

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