A method, apparatus, storage medium, and electronic device for displaying guide wire travel path

Abstract

This specification discloses a method, device, storage medium, and electronic device for displaying guidewire travel paths. Based on determined displacement data, the surgical equipment is moved to determine at least two first X-ray images acquired at different positions. These first X-ray images are registered to determine the projection points in each image and the corresponding target points on the guidewire. The three-dimensional coordinates of the target point are determined based on at least the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source during the acquisition of each first X-ray image. In this method, by using at least two first X-ray images acquired at different positions and displacement data, the spatial positioning of the target point on the guidewire is completed, a three-dimensional model of the guidewire is determined, and a three-dimensional image of the guidewire's travel path is rendered by overlaying it with a three-dimensional model of the blood vessel. This three-dimensional image clearly reflects the spatial structure information of overlapping blood vessels, thereby distinguishing different overlapping blood vessels and accurately determining the guidewire's travel path.

Description

Technical Field

[0001] This specification relates to the field of computer vision, and in particular to a method, apparatus, storage medium, and electronic device for displaying the path of a guide wire. Background Technology

[0002] Interventional surgery is a minimally invasive procedure. During the procedure, a puncture needle is used to open the entrance from the skin to the blood vessel. A guide wire is then guided along this entrance into the blood vessel until it reaches the target location. This opens a channel for the subsequent catheter to enter the body, allowing the catheter to travel along the guide wire. This is used to drain fluids from the body or inject drugs into the lesion site.

[0003] During guidewire movement, real-time medical imaging is required to acquire dynamic images of the guidewire and blood vessels to determine the guidewire's path and ensure it reaches the target location accurately and quickly. Currently, real-time dynamic images of the guidewire are two-dimensional (2D) images, resulting from the overlapping of images of various tissue structures along the X-ray penetration path. In 2D images of densely vascularized areas, the overlapping of blood vessels makes it difficult to determine the guidewire's next path. In such cases, the surgeon typically needs to tentatively choose a direction based on experience, allowing the guidewire to continue until the overlapping blood vessels disappear in the 2D image. Then, the surgeon determines whether the guidewire is on the correct path; if the path is incorrect, the surgeon needs to return to the overlapping area and try different directions. The poor differentiation of overlapping blood vessels in 2D images not only reduces surgical precision but also increases surgical time and risk.

[0004] Therefore, this specification provides a method for displaying the guidewire travel path. Summary of the Invention

[0005] This specification provides a method, apparatus, storage medium, and electronic device for displaying guidewire travel path, in order to partially solve the aforementioned problems existing in the prior art.

[0006] The following technical solution is adopted in this specification:

[0007] This manual provides a method for displaying the guidewire travel path, including:

[0008] Determine displacement data, move the surgical device according to the displacement data, and determine at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector.

[0009] Register each first X-ray image to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to the projection point;

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

[0011] The three-dimensional coordinates of the target point are determined based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images;

[0012] Based on the three-dimensional coordinates of the target point, a three-dimensional model of the guidewire is determined. The three-dimensional model of the guidewire and the three-dimensional model of the blood vessel are superimposed and rendered to obtain a three-dimensional image of the guidewire's travel path.

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

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

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

[0016] For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the distance between the X-ray source and the calibration point of the operating table after the previous movement.

[0017] The relative distance of this movement is determined based on the difference between the fixed distance and the observed distance of the previous movement;

[0018] Based on the arctangent of the ratio of the detector accuracy to the relative distance of the movement, the angle threshold of the movement is determined, and the rotation angle of the movement is determined based on the angle threshold.

[0019] Move the surgical equipment such that the angle between the acquisition direction of the imaging equipment after the previous movement and the acquisition direction of the imaging equipment after this movement is equal to the rotation angle.

[0020] Following this movement, the imaging device's acquisition direction is adjusted to acquire the first X-ray image of that movement.

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

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

[0023] Determine the detector accuracy;

[0024] For each movement of the surgical equipment, the projection points of the guidewire are determined in the first X-ray image obtained from the previous movement;

[0025] Determine the sensor unit corresponding to each projection point and its connection to the radiation source;

[0026] Determine the angle between each connecting line and the baseline based on the baseline from the X-ray source to the center point of the detector;

[0027] Determine the limiting angle from each included angle, and determine the translation threshold for this movement based on the ratio of the detector accuracy to the tangent of the limiting angle for this movement.

[0028] Based on the translation threshold of this movement, the translation distance of this movement is determined, and the imaging device is moved vertically according to the translation distance to acquire the first X-ray image of this movement.

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

[0030] Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including:

[0031] Determine the detector accuracy and the fixed distance between the radiation source and the detector;

[0032] For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement.

[0033] The relative distance of this movement is determined based on the difference between the fixed distance and the observed distance of the previous movement;

[0034] The movement coefficient for this movement is determined based on the ratio of the fixed distance to the relative distance of this movement.

[0035] The translation threshold for this movement is determined by multiplying the detector accuracy by the movement coefficient for this movement.

[0036] The translation distance for this movement is determined based on the translation threshold.

[0037] The imaging device is moved horizontally according to the translation distance to acquire X-ray images of the movement.

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

[0039] Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including:

[0040] Determine the detector accuracy and the fixed distance between the radiation source and the detector;

[0041] For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement.

[0042] The movement coefficient for this movement is determined based on the ratio of the observed distance of the previous movement to the fixed distance.

[0043] The translation threshold for this movement is determined by multiplying the detector accuracy by the movement coefficient.

[0044] The translation distance for this movement is determined based on the translation threshold.

[0045] The operating table is moved horizontally according to the translation distance, and a first X-ray image of the movement is acquired.

[0046] Optionally, the three-dimensional coordinates of the target point are determined at least based on the three-dimensional coordinates of the sensor units corresponding to each projection point of the target point, and the three-dimensional coordinates of the X-ray source when acquiring each first X-ray image, specifically including:

[0047] Identify the two consecutively acquired first X-ray images;

[0048] For each first X-ray image, the line segment on the detector corresponding to the sensor unit of the projection point of the X-ray source and the target point when the first X-ray image was acquired is taken as the projection line of the target point in the first X-ray image.

[0049] The three-dimensional coordinates of the intersection of the projection lines of the target point in each of the first X-ray images are determined based at least on the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in each of the first X-ray images, and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images, and are used as the three-dimensional coordinates of the target point.

[0050] Optionally, the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image are determined at least based on the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in each first X-ray image, and the three-dimensional coordinates of the X-ray source when acquiring each first X-ray image. Specifically, this includes:

[0051] For each first X-ray image, linear interpolation is performed at equal intervals on the projection line of the first X-ray image according to a preset number of interpolations 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, the three-dimensional coordinates of the interpolation point are determined based on the three-dimensional coordinates of the target point's projection point on the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source when the first X-ray image was acquired, the number of interpolations, and the order of the interpolation points on the projection line of the first X-ray image.

[0053] Two interpolation points located on the projection lines of the two first X-ray images are taken as matching point pairs. The distance between the two interpolation points in each matching point pair is determined based on the three-dimensional coordinates of the two interpolation points in each matching point pair.

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

[0055] Optionally, the three-dimensional coordinates of the target point are determined at least based on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the radiation source when acquiring each of the first X-ray images, specifically including:

[0056] Identify the two consecutively acquired first X-ray images;

[0057] The distance between the corresponding sensor units on the detector is used as the projection displacement of the target point, where the target point is projected in the two first X-ray images.

[0058] The positioning ratio is determined based on the ratio of the displacement data to the projected displacement;

[0059] Take either of the two first X-ray images as the target image. Determine the three-dimensional coordinates of the segmentation point based on the three-dimensional coordinates of the target point's projection point on the target image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source, and the positioning ratio. The ratio of the distance between the X-ray source and the segmentation point when acquiring the target image to the distance between the X-ray source and the target point's projection point on the detector corresponding to the sensor unit on the detector when acquiring the first image is equal to the positioning ratio.

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

[0061] Optionally, the method further includes:

[0062] Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two second X-ray images of the surgical subject acquired by the surgical equipment at different positions, wherein the second X-ray image is a vascular subtraction image;

[0063] Based on 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 each second X-ray image.

[0064] Determine the three-dimensional coordinates of the center point of the blood vessel cross-section and the three-dimensional coordinates of the location points of the blood vessel cross-section;

[0065] Based on the three-dimensional coordinates of the center point of the blood vessel cross-section and the three-dimensional coordinates of the location points of the blood vessel cross-section, fit the three-dimensional shape of the blood vessel cross-section;

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

[0067] Optionally, based on 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 each second X-ray image, specifically including:

[0068] For each second X-ray image, based on the projection of the blood vessel boundary in the second X-ray image, determine the projection points located at the center of the upper and lower boundaries of the blood vessel, and use them as the projection points of the center point of each blood vessel cross-section.

[0069] Determine the projection of the blood vessel centerline formed by the projection points of each center point in the second X-ray image;

[0070] For each blood vessel cross-section, the extension direction of the projection of the blood vessel centerline at the center point of the blood vessel cross-section is determined.

[0071] Based on the extension direction, a straight line perpendicular to the extension direction is determined by the projection point of the center point of the blood vessel cross-section, and used 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, determining the three-dimensional coordinates of the center point of the blood vessel cross-section and the three-dimensional coordinates of the location points of the blood vessel cross-section specifically includes:

[0074] 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 onto the corresponding sensor unit on the detector;

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

[0076] For each location point corresponding to the projection point of the cross-section of the blood vessel determined by each second X-ray image, determine the projection point of the location point in each second X-ray image.

[0077] For each second X-ray image, determine the three-dimensional coordinates of the projection point of the positioning point on the detector corresponding to the sensor unit;

[0078] The three-dimensional coordinates of the positioning point are determined based at least on the three-dimensional coordinates of the sensor units corresponding to each projection point of the determined positioning point, and the three-dimensional coordinates of the X-ray source when acquiring each second X-ray image.

[0079] Optionally, based on the three-dimensional coordinates of the center point and the three-dimensional coordinates of each positioning point of the blood vessel cross-section, the three-dimensional shape of the blood vessel cross-section is fitted, specifically including:

[0080] For each second X-ray image, the candidate chord of the blood vessel cross section is determined 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.

[0081] The major axis length is determined based on the length of the candidate chord corresponding to each of the second X-ray images;

[0082] Based on the length of the major axis, an ellipse is determined with the center point of the blood vessel cross-section as the center and passing through each positioning point of the blood vessel cross-section, which is used as the three-dimensional shape of the blood vessel cross-section.

[0083] Optionally, based on the three-dimensional coordinates of the center point and the three-dimensional coordinates of each positioning point of the blood vessel cross-section, the three-dimensional shape of the blood vessel cross-section is fitted, specifically including:

[0084] For each second X-ray image, the candidate chord of the blood vessel cross section is determined 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.

[0085] Based on the identified candidate chords, determine the diameter of the blood vessel cross-section;

[0086] Based on the diameter, a circle is determined with the center point of the blood vessel cross-section as the center and passing through each positioning point of the blood vessel cross-section, which is taken as the three-dimensional shape of the blood vessel cross-section.

[0087] This specification provides a guidewire travel path display device, including:

[0088] The acquisition module determines displacement data, moves the surgical device according to the displacement data, and determines at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector.

[0089] The registration module registers each first X-ray image to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to the projection point.

[0090] The sensor unit positioning module determines the three-dimensional coordinates of the projection point of the target point in the first X-ray image onto the sensor unit on the detector for each first X-ray image.

[0091] The target point localization module determines the three-dimensional coordinates of the target point based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images;

[0092] The rendering module determines the three-dimensional model of the guidewire based on the three-dimensional coordinates of the target point, and overlays and renders the three-dimensional model of the guidewire and the three-dimensional model of the blood vessel to obtain a three-dimensional image of the guidewire's travel path.

[0093] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described guidewire travel path display method.

[0094] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described guidewire travel path display method.

[0095] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0096] As can be seen from the above method, displacement data is determined, and the surgical equipment is moved according to the displacement data. At least two first X-ray images are acquired at different positions. The surgical equipment is an imaging device or an operating table. The imaging device is equipped with a radiation source and a detector. Each first X-ray image is registered to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to each projection point. For each first X-ray image, the three-dimensional coordinates of the projection point of the target point in the first X-ray image and the corresponding sensor unit on the detector are determined. At least based on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the radiation source when acquiring each first X-ray image, the three-dimensional coordinates of the target point are determined. Based on the three-dimensional coordinates of the target point, the three-dimensional model of the guidewire is determined. The three-dimensional model of the guidewire and the three-dimensional model of the blood vessel are superimposed and rendered to obtain a three-dimensional image of the guidewire's travel path.

[0097] In this method, at least two first X-ray images acquired from different locations are used to spatially locate the target point on the guidewire using displacement data, thus determining the three-dimensional model of the guidewire. This model is then overlaid with the three-dimensional model of the blood vessel to render a three-dimensional image of the guidewire's path. This three-dimensional image clearly reflects the spatial structure information of overlapping blood vessels, allowing for the differentiation of different overlapping vessels and accurate determination of the guidewire's path. Attached Figure Description

[0098] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0099] Figure 1 This is a flowchart illustrating a method for displaying the guidewire travel path in this specification.

[0100] Figure 2 This is a spatial positioning principle diagram corresponding to a rotating imaging device provided in this specification;

[0101] Figure 3 This is a spatial positioning principle diagram corresponding to a vertically moving imaging device provided in this specification;

[0102] Figure 4 This is a spatial positioning principle diagram corresponding to a horizontal moving imaging device provided in this specification;

[0103] Figure 5 This specification provides a corresponding Figure 2 Schematic diagram of the principle for determining the three-dimensional coordinates of the intersection point;

[0104] Figure 6 This is a spatial positioning principle diagram corresponding to a horizontally moving operating table provided in this specification;

[0105] Figure 7 This is a schematic diagram illustrating a method for determining the projection point of a positioning point, as provided in this specification.

[0106] Figure 8 This specification provides a diagram showing the positional relationship of different second X-ray images.

[0107] Figure 9 This is a schematic diagram of a guide wire travel path display device provided in this specification;

[0108] Figure 10 The corresponding information provided in this specification Figure 1 A schematic diagram of an electronic device. Detailed Implementation

[0109] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0110] Three-dimensional imaging can intuitively display the spatial structure information of blood vessels, and even in densely populated areas, it can distinguish different blood vessels, thereby accurately identifying the blood vessel to be entered and determining the direction of guidewire travel. However, in existing technologies, acquiring three-dimensional images requires collecting a large number of X-ray images from different angles within a 180° or 360° range around the surgical subject to obtain the spatial structure information of the target area, reconstruct a three-dimensional model of the target area, and then render a three-dimensional image of the target area.

[0111] Interventional surgery requires continuous monitoring with medical imaging to acquire real-time dynamic images of the guidewire. To obtain real-time dynamic images, specific frame rate conditions must be met. For example, at least 24 frames per second are needed for the human eye to perceive continuous motion. This necessitates continuously exposing the surgical subject to X-rays, acquiring X-ray images, and ensuring that at most every [time range missing]. One frame of video can be displayed per second.

[0112] In interventional surgery, the femoral artery on the inner thigh or the radial artery at the wrist is usually used as the puncture point. The guidewire enters the body through the puncture point and advances along the vascular pathway until it reaches the vicinity of the heart or brain. The guidewire travels a relatively long distance and takes a considerable amount of time. If current technology were used to obtain real-time 3D images of the guidewire during its journey, rendering a single frame would require a large number of X-ray images. To ensure image continuity, the surgical patient would be exposed to a significant amount of X-ray radiation during the guidewire's journey, posing a considerable risk. Therefore, current methods for displaying the guidewire's path using 3D imaging are difficult to apply clinically. Currently, 2D X-ray images are used directly to display the guidewire's path.

[0113] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0114] Figure 1 This is a flowchart illustrating a method for displaying the guidewire travel path as described in this specification, which specifically includes the following steps:

[0115] S100: Move the surgical device according to preset displacement data to determine at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector.

[0116] All steps in the guidewire path display method provided in this manual can be implemented by any electronic device with computing capabilities, such as a terminal or server. For ease of description, the following explanation will focus on a server as the executing entity for the guidewire path display method provided in this manual.

[0117] In the method described in this specification, at least two first X-ray images are acquired by moving the surgical equipment to achieve spatial positioning of the target point on the guidewire. The surgical equipment is an imaging device or an operating table, and a radiation source and a detector are fixed on the imaging device. The radiation source is a device that emits X-rays and can be calibrated in space by a point. The detector is a device that detects the remaining energy of X-rays after they have passed through the surgical object; it has a planar structure and contains an array of sensor units. The sensor units convert the optical signals of the X-rays into electrical and digital signals, ultimately presenting an X-ray image. Each sensor unit is a physical structural unit on the detector, and each sensor unit corresponds to a pixel in the X-ray image. The X-ray signal received by the sensor unit is used to determine the color of its corresponding pixel. During the acquisition of the X-ray image, the position of the sensor unit in space can be calibrated by the center of the sensor unit.

[0118] In the three-dimensional reconstruction space of the guidewire, the three-dimensional coordinates of the X-ray source, the detector calibration point, and the operating table calibration point during each movement of the surgical equipment can be calculated based on the pose of the surgical equipment using existing calibration methods. Furthermore, the three-dimensional coordinates of any sensor unit on the detector or any position on the operating table can be determined. The detector calibration point or the operating table calibration point can be selected as its respective center position.

[0119] At least two first X-ray images in this specification can be acquired by moving the surgical equipment in four different ways and at different positions on the surgical equipment. First, the server acquires the first first X-ray image using the imaging device at the initial position of the surgical equipment. Then, each time the surgical equipment is moved, a first X-ray image of the surgical subject is determined. The initial position of the surgical equipment includes the initial position of the radiation source, the initial position of the detector calibration point, and the initial position of the operating table calibration point.

[0120] If at least two first X-ray images are obtained, the surgical equipment must be moved at least once. The specific number of times the imaging equipment is moved can be determined based on the number of first X-ray images required to render the three-dimensional image of the guidewire.

[0121] Before moving the surgical equipment, the server can determine the detector accuracy and the fixed distance between the X-ray source and the detector based on the equipment's specifications. Detector accuracy refers to the minimum resolvable physical size of the detector. During the surgery, the distance between the X-ray source and the detector remains relatively stationary. If the imaging equipment is an integrated structure, meaning the X-ray source and detector are connected as a single unit, the server can check the equipment's specifications to determine the fixed distance. If the imaging equipment is a modular structure, meaning the positions of the X-ray source and detector can be adjusted according to surgical needs, the server can calculate the fixed distance between the X-ray source and detector based on their initial calibration points. This fixed distance will not change during the surgery regardless of changes in the position of the imaging equipment or the operating table.

[0122] After the server acquires the first X-ray image at the initial position of the surgical equipment, it can use the following four movement methods to move the surgical equipment and acquire other first X-ray images.

[0123] The first method of movement is rotating the imaging device.

[0124] For each movement of the surgical equipment, the server determines the observation distance of the previous movement based on the distance between the X-ray source and the calibration point on the operating table after the previous movement. It then determines the relative distance for the current movement based on the difference between the fixed distance between the X-ray source and the detector and the observation distance of the previous movement. Finally, it determines the angle threshold for the current movement based on the arctangent of the ratio of the detector's accuracy to the relative distance, and then determines the rotation angle for that movement based on this angle threshold.

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

[0126]

[0127] Where p represents the detector accuracy, D g D represents the fixed distance between the radiation source and the detector. t θ represents the observation distance during this movement. * θ represents the angle threshold, and θ represents the rotation angle. When using a rotating imaging device, the rotation angle must be greater than the angle threshold. The specific value of the rotation angle can be determined according to requirements.

[0128] Starting from the acquisition position of the imaging device after the last movement, the server moves the surgical equipment so that the angle between the acquisition direction of the imaging device after the last movement and the acquisition direction of the imaging device after this movement is equal to a predetermined rotation angle. The server then acquires the first X-ray image of this movement in the acquisition direction of the imaging device after this movement.

[0129] If the imaging device is an integrated structure, the server can rotate the imaging device around its rotation axis at a predetermined angle in a preset direction to determine the acquisition position of the imaging device after this movement, and then acquire the first X-ray image of the surgical subject at this new position. If the imaging device is a split structure, the server can determine the rotation center of the imaging device, rotate it around that center at a predetermined angle in a preset direction to determine the acquisition position of the imaging device after this movement, and then acquire the first X-ray image of the surgical subject at this new position. The preset direction can be clockwise or counterclockwise, depending on the requirements. The acquisition position of the imaging device includes the position of the X-ray source and the position of the detector calibration point.

[0130] The second method of movement involves vertically moving the imaging device.

[0131] For each movement of the surgical equipment, the server determines the projection points of the guidewire in the first X-ray image obtained from the previous movement. For each projection point, the server determines the three-dimensional coordinates of the corresponding sensor unit on the detector after the previous movement. The server then determines the line connecting each projection point's corresponding sensor unit to the X-ray source, and based on the baseline from the X-ray source to the detector's center point, determines the angle between each line and the baseline, and then determines the limiting angle from these angles.

[0132] Specifically, the server can use the minimum angle between each connecting line determined in the previous movement and the baseline as the limiting angle for the current movement. Alternatively, it can filter out angles with a smaller proportion based on the distribution ratio of the angles between each connecting line and the baseline. For example, it can arrange the angles between each connecting line and the baseline in order, discard 10% of the angles from smallest to largest, and use the minimum value of the remaining 90% of the angles as the limiting angle for the current movement.

[0133] Then, the server determines the translation threshold for the current movement based on the ratio of the detector accuracy to the tangent of the limiting angle of the current movement, and determines the translation distance of the current movement based on the translation threshold.

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

[0135]

[0136] Where β represents the limiting angle of this movement, and d1 * d1 represents the translation threshold for this movement, and d1 represents the translation distance for this movement. When moving the imaging device vertically, the translation distance must be greater than the translation threshold.

[0137] Starting from the imaging device's acquisition position after the last movement, the server moves the imaging device vertically in a preset direction by a determined translational distance, determines the imaging device's acquisition position after this movement, and acquires the first X-ray image of the surgical subject at this new acquisition position. The preset direction can be upward or downward, which can be determined according to requirements.

[0138] The third method of movement is horizontal movement of the imaging device.

[0139] For each movement of the surgical equipment, the server determines the observation distance of the previous movement based on the position of the X-ray source and the calibration point of the operating table after the previous movement. It then determines the relative distance of the current movement based on the difference between the fixed distance between the X-ray source and the detector and the observation distance of the previous movement. The server determines the movement coefficient for this movement based on the ratio of the fixed distance to the relative distance of this movement. Finally, it determines the translation threshold for this movement based on the product of the detector accuracy and the movement coefficient. Based on the translation threshold, the server determines the translation distance for this movement.

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

[0141]

[0142] in, d2 represents the shift coefficient. * d1 represents the translation threshold, and d2 represents the translation distance. When moving the imaging device horizontally, the translation distance must be greater than the translation threshold.

[0143] Starting from the imaging device's acquisition position after the last movement, the server moves the imaging device horizontally in a preset direction by a determined translational distance to determine the imaging device's acquisition position after this movement. At this new acquisition position, the server acquires the first X-ray image of the surgical subject. The preset direction can be any horizontal direction, which can be selected according to requirements.

[0144] The fourth method of movement is horizontal movement of the operating table.

[0145] For each movement of the surgical equipment, the server uses the distance between the X-ray source position and the operating table calibration point position after the last movement as the observation distance for the last movement.

[0146] The server determines the movement coefficient for this move based on the ratio of the observed distance to the fixed distance of the previous move. It then determines the translation threshold for this move by multiplying the detector accuracy by the movement coefficient. Finally, it determines the translation distance for this move based on the translation threshold.

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

[0148]

[0149] in, d3 represents the movement coefficient for this move. * d1 represents the translation threshold for this movement, and d2 represents the translation distance for this movement. When moving the operating table horizontally, the translation distance must be greater than the translation threshold.

[0150] Starting from the previous operating table calibration point, the server moves horizontally in a preset direction along a predetermined translation distance, determines the new operating table calibration point, and then acquires the first X-ray image of the surgical subject at that new calibration point. The preset direction can be any horizontal direction, which can be selected according to requirements.

[0151] Of the four movement methods mentioned above, only a specific lower limit for displacement data is defined. In each movement method, the displacement data must be greater than the lower limit defined for that movement method. However, the movement range cannot be too large, as this will cause artifacts in the first acquired X-ray image and affect the image quality. The specific displacement data needs to be determined based on experience.

[0152] The server acquires at least two first X-ray images according to any of the four movement methods mentioned above, and spatially locates the projection points corresponding to the same spatial point in each first X-ray image based on the displacement data.

[0153] S102: Register each first X-ray image to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to the projection point.

[0154] After acquiring multiple first X-ray images, the server extracts the contour of the guidewire in each first X-ray image to determine the guidewire projection in each first X-ray image. Since the guidewire is a thin filament, its projection can be considered as a curved shape. The server then performs image registration on each first X-ray image after contour extraction to determine the projection point corresponding to the same spatial point in each first X-ray image.

[0155] The server determines the spatial point corresponding to each corresponding projection point, which is the target point on the guide wire. The projection point of this target point in each first X-ray image is the projection of the target point acquired by the imaging device at different positions.

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

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

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

[0159] S106: Determine the three-dimensional coordinates of the target point based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images.

[0160] Corresponding to the four movement modes of the surgical equipment in S100 above, the positioning method for determining the target point for each movement mode is explained. For each movement mode, two consecutively acquired first X-ray images are determined, namely the first image and the second image.

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

[0162] If the first method of movement is used, namely rotating the imaging device.

[0163] Figure 2 This is a spatial positioning principle diagram of a rotating imaging device provided in this specification. In the diagram, white dots represent X-ray sources, rectangles represent detectors, arrows indicate the positions of sensor units on the detector corresponding to each projection point, and black dots represent the target points in space corresponding to each projection point. The X-ray source and detector in an imaging device at one location are connected by a dashed line.

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

[0165] If the second method of movement is adopted, namely vertical movement of the imaging device.

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

[0167] If a third method of movement is used, namely horizontal movement of the imaging device.

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

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

[0170] In one or more embodiments of this specification, the server determines the three-dimensional coordinates of the intersection point using linear interpolation, with the specific steps as follows:

[0171] First, for each first X-ray image, the server performs equally spaced linear interpolation on the projection line of the first X-ray image according to a preset number of interpolations, 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 based on the three-dimensional coordinates of the target point's projection point on the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source when the first X-ray image was acquired, the number of interpolations, and the order of the interpolation point on the projection line of the first X-ray image.

[0173] Specifically, the server will continuously acquire two first X-ray images, which will be used as the first image and the second image, respectively. The server will determine the x-axis interpolation distance, y-axis interpolation distance, and z-axis interpolation distance of the first image based on the three-dimensional coordinates of the target point's projection point in the first image corresponding to the sensor unit on the detector, and the difference between the coordinate values ​​of the three axes of the three-dimensional coordinates of the X-ray source when the first image was acquired.

[0174] The three-dimensional coordinates of the target point's projection point in the first image onto the detector, corresponding to the sensor unit, are denoted as (x...). d1 ,y d1 ,z d1 The three-dimensional coordinates of the X-ray source during the acquisition of the first image are denoted as (x...). s1 ,y s1 ,z s1 The x-axis interpolation distance corresponding to the first image is... y-axis interpolation distance is z-axis interpolation distance

[0175] Then, the server determines the x-axis interpolation step size, y-axis interpolation step size, and z-axis interpolation step size for the first image based on the ratio of the interpolation distance to the number of interpolations for each of the three coordinate axes corresponding to the first image. Let N represent the number of interpolations, then the x-axis interpolation step size for the first image is... y-axis interpolation step size is z-axis interpolation step size

[0176] Finally, an interpolation starting point is selected. This interpolation starting point can be the position of the sensor unit on the detector corresponding to the projection point of the target point in the first image, or it can be the position of the X-ray source when the first image was acquired.

[0177] For each interpolation point on the projection line of the first image, the server determines the three-dimensional coordinates of the interpolation point based on its order on the projection line of the first image, the interpolation step size of the three coordinate axes of the first image, and the three-dimensional coordinates of the interpolation starting point. Let i represent the order of the interpolation point on the projection line of the first X-ray image. If the position of the target point's projection point on the detector corresponding to the sensor unit is taken as (x... d1 ,y d1 ,z d1 If ) is used as the interpolation starting point, then the three-dimensional coordinates of each i-th interpolation point on the projection line in the first image are:

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

[0179] In other words, when calculating the interpolation distance, for each coordinate axis, the coordinate value of the interpolation endpoint on that axis is subtracted from the coordinate value of the interpolation start point on that axis. When calculating the 3D coordinates of the interpolation point, the total interpolation step size for each coordinate axis needs to be determined by multiplying the interpolation step size of each coordinate axis by the order of the interpolation point. The coordinate values ​​of each coordinate axis of the interpolation start point are then added to their respective total interpolation step sizes to obtain the coordinate values ​​of each coordinate axis for that interpolation point.

[0180] The method for determining the three-dimensional coordinates of each interpolation point on the projection line in the second image is the same as the method for determining the three-dimensional coordinates of each interpolation point on the projection line in the first image, and will not be repeated here. The three-dimensional coordinates of the target point's projection 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 X-ray source during the acquisition of this second image are denoted 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. y-axis interpolation distance is z-axis interpolation distance x-axis interpolation step size y-axis interpolation step size is z-axis interpolation step size If (x) d2 ,y d2 ,z d2 If ) is used as the interpolation starting point, then the three-dimensional coordinates of each i-th interpolation point on the projection line in the second image are:

[0182] Third, the server takes 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, it determines the distance between the two interpolation points in each matching point pair. Among the determined distances, the matching point pair corresponding to the smallest distance is identified. The average of the three-dimensional coordinates of the two interpolation points in the matching point pair corresponding to the smallest distance is used as the three-dimensional coordinates 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 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. The two interpolation points in the matching point pair corresponding to the smallest distance are considered to be nearly coincident in space. Based on the average of these two nearly coincident points, the intersection point where each projection line truly coincides can be determined.

[0184] In the method described above for determining the 3D coordinates of the intersection point using linear interpolation, the larger the preset number of interpolations, the closer the determined minimum distance is to zero, and the more accurate the 3D coordinates of the intersection point determined by the average of two nearly overlapping points. The specific value of the number of interpolations can be set according to the calculation 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 will be explained. Figure 5 This specification provides a corresponding Figure 2The diagram illustrates the principle of determining the 3D coordinates of the intersection point. Black dots represent the intersection points of the projection lines, i.e., the target points. White and shaded dots represent interpolation points, with the two shaded dots being the two interpolation points contained in the pair of matching points with the smallest distance. The average position of the 3D coordinates of the two shaded dots is the position of the black dot.

[0186] If the fourth method of movement is adopted, namely horizontal movement of the operating table.

[0187] Figure 6 This is a spatial positioning principle diagram for a horizontally moving operating table provided in this specification. The black squares represent the positions of the detector calibration points, and the two black circles represent the spatial positions of the target points before and after the moving operating table, respectively.

[0188] The server uses the distance between the corresponding sensor units on the detector and the projection point of the target point in the two first X-ray images as the projection displacement of the target point. Based on the ratio of the displacement data to the projection displacement, a positioning ratio is determined, and either of the two first X-ray images is used as the target image. The three-dimensional coordinates of the segmentation point are determined based on the three-dimensional coordinates of the target point's projection point in the target image, the three-dimensional coordinates of the X-ray source, and the positioning ratio. These three-dimensional coordinates of the segmentation point can be used to locate the target point. The ratio of the distance between the X-ray source and the segmentation point when acquiring the target image to the distance between the X-ray source and the corresponding sensor units on the detector and the projection point of the target point when acquiring the first image is equal to the positioning ratio.

[0189] Specifically, if the first X-ray image after moving the operating table, i.e., the second image, is taken as the target image, the three-dimensional coordinates of the X-ray source when acquiring this target image 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 onto the detector corresponding to the sensor unit are denoted as (x...). d2 ,y d2 ,z d2 The projection of the target point in the first image onto the detector corresponds to the three-dimensional coordinates of the sensor unit, denoted as (x...). d1 ,y d1 ,z d1 ).

[0190] The projected displacement of the target point is S. p =∥(x d1 ,y d1 ,z d1 )-(x d2 ,y d2 ,z d2 If the translation distance of the operating table is d3, then the positioning ratio is d2.

[0191] Based on the above method for determining the interpolation distance, if the position of the X-ray source when acquiring the target image is taken as the interpolation starting point, the server determines the x-axis interpolation distance corresponding to the target image. y-axis interpolation distance is z-axis interpolation distance The three-dimensional coordinates of the dividing point can then be expressed as:

[0192]

[0193] If the position of the projection point in the target image corresponding to the sensor unit on the detector is taken as the interpolation starting point, the x-axis interpolation distance corresponding to the target image is determined. y-axis interpolation distance is z-axis interpolation distance The three-dimensional coordinates of the dividing point can then be expressed as:

[0194] Specifically, when the detector is placed horizontally, the distance between the X-ray source and the detector is the fixed distance between them. In this case, the server can directly determine the vertical distance based on the product of the positioning ratio and the fixed distance. A straight line can be drawn between the target point's two spatial positions before and after moving the operating table; this vertical distance is the distance from the X-ray source position to this determined straight line. Based on this vertical distance, the z-axis coordinates of the segmentation point can be directly determined in three-dimensional space. Using the z-axis coordinates of the segmentation point, the target point can be located along the projection line determined by the X-ray source position and the projection point in the target image, corresponding to the sensor unit position on the detector.

[0195] exist Figure 6 In this context, d represents the translation distance. ′ h represents the projected displacement. ′ represents a fixed distance, and h represents the vertical distance. When the second image is used as the target image... Figure 5 The black dot on the right is the dividing point. Figure 6 In the geometric relationship shown, d and d ′ The ratio of h to h ′ The ratios are all positioning ratios. Based on this geometric relationship, the vertical distance h between the target point and the ray source can be calculated.

[0196] When determining the 3D model of the guidewire, the 3D coordinates of the target point need to be determined in real time during the operation. To ensure the continuity of the spatial position of the determined 3D model, the server can use the 3D coordinates of the target point determined before or after the moving operating table to determine the 3D model of the guidewire. That is, each time the 3D coordinates of the target point are determined, the 3D coordinates of the target point determined before the moving operating table are used, or the 3D coordinates of the target point determined after the moving operating table are used.

[0197] Once the three-dimensional coordinates of the target point are determined, the guidewire can be located at a position in space, and the three-dimensional model of the guidewire can be determined based on that position.

[0198] S108: Based on the three-dimensional coordinates of the target point, determine the three-dimensional model of the guidewire, and superimpose and render the three-dimensional model of the guidewire and the three-dimensional model of the blood vessel to obtain a three-dimensional image of the guidewire's travel path.

[0199] The server can determine the 3D model of the guidewire based on a single target point, or it can select multiple target points or all target points that make up the shape of the guidewire to construct the 3D model. If the 3D model is determined based on only one target point, the guidewire tip position can be selected as the target point. That is, after image registration, the first set of registered projection points at the guidewire tip is used to construct the 3D model of the guidewire. The resulting 3D model can be represented as points. After the 3D model of the guidewire is constructed, the direction of travel of the guidewire can be determined based on the position of the point-like 3D model of the guidewire in the blood vessel.

[0200] If multiple target points on the guidewire or all target points that make up the shape of the guidewire are selected to construct a three-dimensional model of the guidewire, the server can obtain a more vivid three-dimensional model of the guidewire based on the three-dimensional coordinates of each target point. The three-dimensional image of the guidewire's travel path rendered afterward will also be more intuitive, making it easier for doctors to more accurately determine the direction of the guidewire's travel and confirm its position.

[0201] During overlay rendering, in order to highlight the guidewire in the blood vessel, the server sets the transparency of the guidewire's 3D model to be lower than that of the blood vessel's 3D model, thus obtaining a 3D image of the guidewire's travel path.

[0202] When locating the target point, any movement mode can be used to acquire the first X-ray image, and the target point can be located using the positioning method corresponding to the selected movement mode. Alternatively, a combination of movement modes can be used to acquire the first X-ray image. Because the 3D model of the guidewire needs to be determined in real time, the server can use the same or different movement modes of the surgical equipment to determine the 3D model of the guidewire in different frames of the guidewire's travel path during a single surgery. That is, the displacement data can include displacement data required by one movement mode, or it can include displacement data required by multiple movement modes.

[0203] Because this method can locate the target point on the guidewire based on at least two first X-ray images, it reduces the radiation dose received by the patient and doctor during a few processes. Even if three-dimensional images of the guidewire are acquired throughout its insertion, the radiation damage to the patient and doctor can be controlled within a safe range, allowing the three-dimensional images to be used to display the guidewire's path.

[0204] In this method, at least two first X-ray images acquired from different locations are used to spatially locate the target point on the guidewire using displacement data, thus determining the three-dimensional model of the guidewire. This model is then overlaid with the three-dimensional model of the blood vessel to render a three-dimensional image of the guidewire's path. This three-dimensional image clearly reflects the spatial structure information of overlapping blood vessels, allowing for the differentiation of different overlapping vessels and accurate determination of the guidewire's path.

[0205] As described in S108 above, when determining the 3D image of the guidewire's path, a 3D model of the blood vessel also needs to be determined. The determination of the 3D model of the blood vessel is usually completed before determining the 3D model of the guidewire. From a specific surgical perspective, the position of the blood vessel is static, while the position of the moving guidewire is dynamic. The 3D model of the blood vessel only needs to be determined once, while the 3D model of the guidewire needs to be determined at preset intervals. These preset intervals must meet the real-time image frame rate requirements for rendering the scene. Each time the 3D model of the guidewire is determined, the surgical equipment needs to be moved multiple times according to a predetermined number of movements, and the 3D model of the guidewire is determined according to the methods described in S100 to S108 above. That is, at preset intervals, the real-time determined 3D model of the guidewire and the 3D model of the blood vessel need to be superimposed and rendered once to ensure a real-time dynamic 3D image of the guidewire.

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

[0207] First, the server determines the displacement data, moves the surgical equipment based on the displacement data, and determines at least two second X-ray images to be acquired at different locations. The second X-ray images are vascular subtraction images, in which only the morphology of blood vessels is preserved.

[0208] The method of acquiring the second X-ray image at different locations is the same as the method of acquiring the first X-ray image at different locations, and can be referred to the corresponding description in S100.

[0209] Secondly, based on the projection points of the blood vessel boundary in each second X-ray image, the server determines 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 in each second X-ray image for each blood vessel cross-section.

[0210] Specifically, for each second X-ray image, based on the projection of the blood vessel boundary in the second X-ray image, the projection points located at the centers of the upper and lower boundaries of the blood vessel are determined as the projection points of the center point of the blood vessel cross-section. The line connecting the projection points of the center points of each blood vessel cross-section is the projection of the blood vessel centerline, which is the projection of the virtual geometric center of the blood vessel in space.

[0211] When determining the projection points located at the center of the upper and lower boundaries of the blood vessel, any centerline extraction algorithm can be used, such as the central axis transformation method, morphological method, grassland fire transformation method, maximum disk transformation method, partial differential equation method, etc. This manual does not impose any restrictions on this.

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

[0213] After image registration, the projection points of the center points of corresponding blood vessel cross sections can be used to locate the center position of a blood vessel cross section in space, and the projection points of corresponding blood vessel boundaries can be used to locate the boundary position of a blood vessel 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 is determined, the projection of the blood vessel centerline formed by the projection points of all the center points in the second X-ray image is determined, and the extension direction of the projection of the blood vessel centerline at the projection point is determined. Based on 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, and this straight line is used as the positioning line of the blood vessel cross-section. The intersection of this positioning line with the upper and lower boundaries of the blood vessel is used as the projection point of the positioning point of the blood vessel cross-section.

[0215] Figure 7 This is a schematic diagram illustrating a method for determining the projection point of a positioning point provided in this specification. In this diagram, the solid curve represents the blood vessel boundary, the dashed curve represents the projection of the blood vessel centerline, the straight line represents the positioning line, the arrow indicates the direction of extension, the white dot represents the projection point of the center point, and the black dot represents the projection point of the positioning point. Figure 7 The left and right sides are the second X-ray images determined by the surgical equipment at different positions. The white dot in the left second X-ray image and the black dot in the right second X-ray image are the projection points of two corresponding center points.

[0216] like Figure 7As shown, by drawing a straight line perpendicular to the extension direction of the vessel's centerline at the projection point of the center point, passing through the projection point of the center point, the positioning line of the vessel's cross-section can be obtained. This positioning line intersects the upper and lower boundaries of the vessel at one point each; these two intersection points are the projection points of the positioning points of the vessel's cross-section. Based on a single second X-ray image, two positioning points can be determined. In two second X-ray images at different locations, four positioning points can be determined. Because the projection points of the midline points of the two second X-ray images correspond to each other, the projection points of these two center points are projections of the same center point in space at different locations. That is, the projection points of these two center points can determine the center position of a cross-section in space. However, there may not be a 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 these four positioning points may be projections of four spatial points on the vessel boundary, or they may be projections of two spatial points on the vessel boundary.

[0217] If the movement method of the rotating imaging device is adopted, the obtained second X-ray images are equivalent to the projection of blood vessels at different angles. The positioning lines determined by the projection points of the corresponding center points in the different second X-ray images correspond to the positions of different longitudinal sections of blood vessels in space. Therefore, the projection of the positioning points determined in different second X-ray images also correspond to different spatial points on blood vessels.

[0218] Figure 8 This specification provides a diagram showing the positional relationship of different second X-ray images. Blood vessels are represented by cylinders, which can be round or elliptical. Inside the cylinders, two longitudinal sections, α1 and α2, are outlined by dashed lines of varying lengths, corresponding to the second X-ray images obtained at two different angles. l1 represents the positioning line on α1, l2 represents the positioning line on α2, a hollow circle represents the center point, and solid circles A1, B1, A2, and B2 represent four positioning points. Figure 8 As shown, the positioning line l1 in the second X-ray image obtained at the projection angle corresponding to α1 and the positioning line l2 in the second X-ray image obtained at the projection angle corresponding to α2 correspond to different longitudinal sections of the blood vessel in space. Therefore, the two positioning points A1 and B1 on l1 and the two positioning points A2 and B2 on l2 are also spatial points on different longitudinal sections of the blood vessel. That is, there is no correspondence between the four positioning points A1, B1, A2, and B2.

[0219] If the surgical equipment is moved using three methods—vertical movement of the imaging device, horizontal movement of the imaging device, and horizontal movement of the operating table—to change the position of the surgical equipment and obtain various second X-ray images, then 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's projection in each second X-ray image, not the projection angle. Therefore, the positioning lines determined in each second X-ray image correspond to the position of the same longitudinal section of the blood vessel in space. That is, through the projection points of corresponding center points, the projection points of positioning points intersecting the upper boundary of the blood vessel in different second X-ray images all correspond to the same spatial point, and the projection points of positioning points intersecting the lower boundary of the blood vessel in different second X-ray images all correspond to the same spatial point. Regardless of the number of second X-ray images acquired, only the projection points of two spatial points on the blood vessel boundary can be determined through the projection points of a single corresponding center point.

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

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

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

[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 aforementioned method of determining the three-dimensional coordinates of the target point in S104 to S106.

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

[0225] Specifically, for each second X-ray image, the server determines a candidate chord for the blood vessel cross-section based on the distance between the three-dimensional coordinates of the corresponding positioning points corresponding to the projection points of each positioning point determined in the second X-ray image. Each second X-ray image can identify the projection points of two positioning points intersecting the upper and lower boundaries of the blood vessel. The distance between the corresponding positioning points in space is the candidate chord for the blood vessel cross-section; that is, each second X-ray image can determine one candidate chord. For example... Figure 8 As shown, line segments A1B1 and A2B2 are both candidate chords.

[0226] As mentioned earlier, if a rotating imaging device is used, the projection of the positioning point determined in different second X-ray images will correspond to different spatial points on the blood vessel. Because the shape of human blood vessels is not a regular circle, the length of the candidate chord 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, line segment A1B1 and line segment A2B2, are not necessarily the same.

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

[0228] If the surgical equipment is moved using three methods—vertical movement of the imaging device, horizontal movement of the imaging device, and horizontal movement of the operating table—to change its position, various second X-ray images are obtained. The projection points of the locations intersecting the upper boundary of the blood vessel in different second X-ray images all correspond to the same spatial point, and the projection points of the locations intersecting the lower boundary of the blood vessel in different second X-ray images all correspond to the same spatial point. Therefore, since 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 will use the center point of the blood vessel cross-section as the center of a circle, the length of the candidate chord as the diameter of the circle, and a circle passing through the positioning points of each blood vessel cross-section as the three-dimensional shape of the cross-section. Since each second X-ray image determined by translation can only determine two positioning points, the distance between these two positioning points is the length of the candidate chord. These two positioning points are the two spatial points that the fitted blood vessel cross-section must pass through, so the three-dimensional shape of the fitted blood vessel cross-section is a circle.

[0230] When fitting an elliptical cross-section, since at least two second X-ray images will determine at least four spatial locations, an elliptical blood vessel cross-section will be obtained when a defined candidate chord length is used as the major axis length to fit the shape. In particular, when the candidate chord lengths determined by each second X-ray image are the same, the shape of the blood vessel cross-section is also circular.

[0231] Finally, the server determines the three-dimensional model of the blood vessel based on the three-dimensional shape of each blood vessel cross-section.

[0232] The above method is an embodiment of determining the three-dimensional model of a blood vessel based on its cross-section. In another embodiment of this specification, the server may not determine the center point and positioning point of each cross-section of the blood vessel. Instead, it may directly determine the corresponding projection points determined after image registration of each second X-ray image. According to the methods described in S100 to S106, the corresponding projection points are positioned in space, and the three-dimensional model of the blood vessel is directly fitted based on the determined spatial positions.

[0233] In step S106 above, taking the case where two first X-ray images are acquired as an example, the method for determining the three-dimensional coordinates of the target points corresponding to the four surgical equipment movement methods is explained. When there are more than two first X-ray images, if the image registration is accurate, the projection lines corresponding to multiple projection points in each first X-ray image will intersect at a single point, which is a spatial point commonly corresponding to these multiple projection points. However, due to the limitations of the image registration algorithm's accuracy, the projection points of a spatial point in each first X-ray image may not be accurately identified, resulting in the final projection lines corresponding to each first X-ray image not actually intersecting perfectly at a single point.

[0234] When the number of intersections of the projection lines is greater than one, the multiple intersections of the projection lines can define a polygon. In this case, the server can use the three-dimensional coordinates of the center of the polygon as the position of a spatial point determined by these multiple corresponding projection points, and determine the three-dimensional model of the guide wire based on the three-dimensional coordinates of the center of the polygon. The center of the polygon can be selected from the centroid, orthocenter, incenter, circumcenter, etc., and this specification does not impose any restrictions on this.

[0235] When more than two first X-ray images are used to determine the three-dimensional model of the guidewire, the errors caused by image registration can be offset to the greatest extent, resulting in more accurate target point localization. However, it should be noted that the number of at least two first X-ray images referred to in this instruction manual refers to a small number, such as two or three images. To avoid excessive radiation exposure to patients and doctors during the acquisition of first X-ray images, the number of first X-ray images should not be too large. The specific number of first X-ray images can be set according to the actual surgical needs.

[0236] The above describes one or more embodiments of the guidewire path display method provided in this specification. Based on the same concept, this specification also provides corresponding guidewire path display devices, such as... Figure 8 As shown.

[0237] Figure 9 This specification provides a schematic diagram of a guidewire travel path display device, which specifically includes:

[0238] The acquisition module 200 determines displacement data, moves the surgical device according to the displacement data, and determines at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector.

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

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

[0241] The target point localization module 206 determines the three-dimensional coordinates of the target point based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images;

[0242] The rendering module 208 determines the three-dimensional model of the guidewire based on the three-dimensional coordinates of the target point, and superimposes and renders the three-dimensional model of the guidewire and the three-dimensional model of the blood vessel to obtain a three-dimensional image of the guidewire's travel path.

[0243] Optionally, the displacement data includes at least a rotation angle. The acquisition module 200 is specifically used to determine the detector accuracy and the fixed distance between the X-ray source and the detector. For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the distance between the X-ray source and the calibration point of the operating table after the previous movement. The relative distance of the current movement is determined based on the difference between the fixed distance and the observation distance of the previous movement. The angle threshold of the current movement is determined based on the arctangent of the ratio of the detector accuracy to the relative distance of the current movement. The rotation angle of the current movement is determined based on the angle threshold. The surgical equipment is moved so that the angle between the acquisition direction of the imaging device after the previous movement and the acquisition direction of the imaging device after the current movement is equal to the rotation angle. The first X-ray image of the current movement is acquired in the acquisition direction of the imaging device after the current movement.

[0244] Optionally, the displacement data includes at least the translation distance. The acquisition module 200 is specifically used to determine the detector accuracy. For each movement of the surgical device, in the first X-ray image obtained from the previous movement, it determines each projection point of the guidewire, determines the sensor unit corresponding to each projection point, and the connection between each projection point and the X-ray source. Based on the baseline from the X-ray source to the center point of the detector, it determines the angle between each connection line and the baseline, determines the limiting angle from each angle, determines the translation threshold for this movement based on the ratio of the detector accuracy to the tangent of the limiting angle for this movement, determines the translation distance for this movement based on the translation threshold, and moves the imaging device vertically according to the translation distance to acquire the first X-ray image for this movement.

[0245] Optionally, the displacement data includes at least the translation distance. The acquisition module 200 is specifically used to determine the detector accuracy and the fixed distance between the X-ray source and the detector. For each movement of the surgical equipment, based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement, the observation distance of the previous movement is determined. Based on the difference between the fixed distance and the observation distance of the previous movement, the relative distance of the current movement is determined. Based on the ratio of the fixed distance to the relative distance of the current movement, the movement coefficient of the current movement is determined. Based on the product of the detector accuracy and the movement coefficient of the current movement, the translation threshold of the current movement is determined. Based on the translation threshold, the translation distance of the current movement is determined. The imaging equipment is moved horizontally according to the translation distance to acquire the X-ray image of the current movement.

[0246] Optionally, the displacement data includes at least the translation distance. The acquisition module 200 is specifically used to determine the detector accuracy and the fixed distance between the X-ray source and the detector. For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement. The movement coefficient of the current movement is determined based on the ratio of the observation distance of the previous movement to the fixed distance. The translation threshold of the current movement is determined based on the product of the detector accuracy and the translation coefficient. The translation distance of the current movement is determined based on the translation threshold. The operating table is moved horizontally according to the translation distance, and the first X-ray image of the current movement is acquired.

[0247] Optionally, the target point positioning module 206 is specifically used to determine two consecutively acquired first X-ray images. For each first X-ray image, the line segment passing through the projection point of the X-ray source and the target point on the corresponding sensor unit on the detector during the acquisition of the first X-ray image is used as the projection line of the target point in the first X-ray image. Based on the three-dimensional coordinates of the projection point of the target point on the corresponding sensor unit on the detector in each first X-ray image, the three-dimensional coordinates of the X-ray source during the acquisition of each first X-ray image, and the displacement data, the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image are determined as the three-dimensional coordinates of the target point.

[0248] Optionally, the target point positioning module 206 is specifically used to perform equally spaced linear interpolation on the projection line of each first X-ray image according to a preset number of interpolations, 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, the three-dimensional coordinates of the interpolation point are determined according to the three-dimensional coordinates of the target point's projection point on the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source when acquiring the first X-ray image, the number of interpolations, and the order of the interpolation point on the projection line of the first X-ray image. Two interpolation points located on the projection lines of the two first X-ray images are taken as matching point pairs. The distance between the two interpolation points in each matching point pair is determined according to the three-dimensional coordinates of the two interpolation points in each matching point pair. Among the determined distances, the matching point pair corresponding to the smallest distance is determined. The average of the three-dimensional coordinates of the two interpolation points in the matching point pair corresponding to the smallest distance is taken as the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image.

[0249] Optionally, the target point positioning module 206 is specifically used to determine two consecutively acquired first X-ray images, respectively as the first image and the second image; to take the distance between the corresponding sensor units on the detector of the projection point of the target point in the two first X-ray images as the projection displacement of the target point; to determine the positioning ratio based on the ratio of the displacement data to the projection displacement; to take any one of the two first X-ray images as the target image; to determine the three-dimensional coordinates of the segmentation point based on the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in the target image, the three-dimensional coordinates of the X-ray source, and the positioning ratio; to take the distance between the X-ray source and the segmentation point when acquiring the target image as the ratio of the distance between the X-ray source and the corresponding sensor unit on the detector of the projection point of the target point when acquiring the first image as equal to the positioning ratio; and to take the three-dimensional coordinates of the segmentation point as the three-dimensional coordinates for locating the target point.

[0250] Optionally, the device further includes a vascular 3D model determination module 210;

[0251] The vascular 3D model determination module 210 is used to determine displacement data, move the surgical equipment according to the displacement data, and determine at least two second X-ray images of the surgical object acquired by the surgical equipment at different positions. The second X-ray images are vascular subtraction images. Based on the projection of the vascular boundary in each second X-ray image, for each vascular cross-section, in each second X-ray image, the projection point of the center point of the vascular cross-section and the projection point of the vascular cross-section are determined. The three-dimensional coordinates of the center point of the vascular cross-section and the three-dimensional coordinates of the positioning point of the vascular cross-section are determined. Based on the three-dimensional coordinates of the center point of the vascular cross-section and the three-dimensional coordinates of the positioning point of the vascular cross-section, the three-dimensional shape of the vascular cross-section is fitted. Based on the three-dimensional shape of each vascular cross-section, the 3D model of the vascular is determined.

[0252] Optionally, the vascular 3D model determination module 210 is specifically used for each second X-ray image to determine, based on the projection of the vascular boundary in the second X-ray image, each projection point located at the center of the upper and lower boundaries of the vascular body as the projection point of the center point of each vascular cross-section, and to determine the projection of the vascular centerline formed by the projection points of each center point in the second X-ray image. For each vascular cross-section, based on the extension direction of the projection of the vascular centerline at the projection point of the center point of the vascular cross-section, based on the extension direction, a straight line perpendicular to the extension direction is determined through the projection point of the center point of the vascular cross-section as the positioning line of the vascular cross-section, and the intersection of the positioning line with the upper and lower boundaries of the vascular body is taken as the projection point of the positioning point of the vascular cross-section.

[0253] Optionally, the vascular 3D model determination module 210 is specifically used to determine, for each second X-ray image, the 3D coordinates of the projection point of the center point of the vascular cross-section corresponding to the sensor unit on the detector; determine the 3D coordinates of the center point of the vascular cross-section based on the determined 3D coordinates of the sensor units corresponding to each projection point of the center point of the vascular cross-section, the 3D coordinates of the X-ray source during the acquisition of each second X-ray image, and the displacement data; determine the projection point of the positioning point in each second X-ray image for the positioning point corresponding to the projection point of each positioning point of the vascular cross-section determined in each second X-ray image; determine the 3D coordinates of the positioning point corresponding to the sensor unit on the detector for each second X-ray image; and determine the 3D coordinates of the positioning point based at least on the determined 3D coordinates of the sensor units corresponding to each projection point of the positioning point and the 3D coordinates of the X-ray source during the acquisition of each second X-ray image.

[0254] Optionally, the vascular 3D model determination module 210 is specifically used to determine, for each second X-ray image, a candidate chord of the vascular 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 vascular cross-section determined by the second X-ray image, determine the length of the major axis based on the length of the candidate chord corresponding to each second X-ray image, and determine, based on the length of the major axis, an ellipse centered at the center point of the vascular cross-section and passing through each positioning point of the vascular cross-section as the three-dimensional shape of the vascular cross-section.

[0255] Optionally, the vascular 3D model determination module 210 is specifically used to determine, for each second X-ray image, the candidate chords of the vascular 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 vascular cross-section determined by the second X-ray image, determine the diameter of the vascular cross-section based on the determined candidate chords, and determine, based on the diameter, a circle with the center point of the vascular cross-section as the center and passing through each positioning point of the vascular cross-section as the three-dimensional shape of the vascular cross-section.

[0256] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The provided method for displaying the guidewire travel path.

[0257] This instruction manual also provides Figure 10 The diagram shows a schematic structural representation of the electronic device. Figure 10 At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for the business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 1The described method for displaying the guide wire travel path. Of course, besides software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution entity of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0258] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, 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, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0259] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0260] The systems, devices, modules, or units described in 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, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0261] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

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

[0263] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0264] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0265] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

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

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

[0268] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0269] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

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

[0272] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0273] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for displaying the path of a guidewire, characterized in that, include: Determine displacement data, move the surgical device according to the displacement data, and determine at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector. Register each first X-ray image to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to the projection point; For each first X-ray image, determine the three-dimensional coordinates of the projection point of the target point in the first X-ray image onto the corresponding sensor unit on the detector; The three-dimensional coordinates of the target point are determined based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images; Based on the three-dimensional coordinates of the target point, determine the three-dimensional model of the guidewire; Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two second X-ray images of the surgical subject acquired by the surgical equipment at different positions, wherein the second X-ray image is a vascular subtraction image; Based on 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 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 location points of the blood vessel cross-section; Based on the three-dimensional coordinates of the center point of the blood vessel cross-section and the three-dimensional coordinates of the location points of the blood vessel cross-section, fit the three-dimensional shape of the blood vessel cross-section; Based on the three-dimensional shape of each blood vessel cross-section, a three-dimensional model of the blood vessel is determined; The three-dimensional model of the guidewire and the three-dimensional model of the blood vessel are superimposed and rendered to obtain a three-dimensional image of the guidewire's travel path.

2. The method as described in claim 1, characterized in that, The displacement data includes at least the rotation angle; Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including: Determine the detector accuracy and the fixed distance between the radiation source and the detector; For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the distance between the X-ray source and the calibration point of the operating table after the previous movement. The relative distance of this movement is determined based on the difference between the fixed distance and the observed distance of the previous movement; Based on the arctangent of the ratio of the detector accuracy to the relative distance of the movement, the angle threshold of the movement is determined, and the rotation angle of the movement is determined based on the angle threshold. Move the surgical equipment such that the angle between the acquisition direction of the imaging equipment after the previous movement and the acquisition direction of the imaging equipment after this movement is equal to the rotation angle. Following this movement, the imaging device's acquisition direction is adjusted to acquire the first X-ray image of that movement.

3. The method as described in claim 1, characterized in that, The displacement data includes at least the translation distance; Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including: Determine the detector accuracy; For each movement of the surgical equipment, the projection points of the guidewire are determined in the first X-ray image obtained from the previous movement; Determine the sensor unit corresponding to each projection point and its connection to the radiation source; Determine the angle between each connecting line and the baseline based on the baseline from the X-ray source to the center point of the detector; Determine the limiting angle from each included angle, and determine the translation threshold for this movement based on the ratio of the detector accuracy to the tangent of the limiting angle for this movement. Based on the translation threshold of this movement, the translation distance of this movement is determined, and the imaging device is moved vertically according to the translation distance to acquire the first X-ray image of this movement.

4. The method as described in claim 1, characterized in that, The displacement data includes at least the translation distance; Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including: Determine the detector accuracy and the fixed distance between the radiation source and the detector; For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement. The relative distance of this movement is determined based on the difference between the fixed distance and the observed distance of the previous movement; The movement coefficient for this movement is determined based on the ratio of the fixed distance to the relative distance of this movement. The translation threshold for this movement is determined by multiplying the detector accuracy by the movement coefficient for this movement. The translation distance for this movement is determined based on the translation threshold. The imaging device is moved horizontally according to the translation distance to acquire X-ray images of the movement.

5. The method as described in claim 1, characterized in that, The displacement data includes at least the translation distance; Determine the displacement data, move the surgical equipment according to the displacement data, and determine at least two first X-ray images acquired at different positions, specifically including: Determine the detector accuracy and the fixed distance between the radiation source and the detector; For each movement of the surgical equipment, the observation distance of the previous movement is determined based on the three-dimensional coordinates of the X-ray source and the calibration point of the operating table after the previous movement. The movement coefficient for this movement is determined based on the ratio of the observed distance of the previous movement to the fixed distance. The translation threshold for this movement is determined by multiplying the detector accuracy by the movement coefficient. The translation distance for this movement is determined based on the translation threshold. The operating table is moved horizontally according to the translation distance, and a first X-ray image of the movement is acquired.

6. The method as described in claim 2, 3, or 4, characterized in that, The three-dimensional coordinates of the target point are determined based at least on the three-dimensional coordinates of the sensor units corresponding to each projection point of the target point, and the three-dimensional coordinates of the X-ray source during the acquisition of each first X-ray image. Specifically, this includes: Identify the two consecutively acquired first X-ray images; For each first X-ray image, the line segment on the detector corresponding to the sensor unit of the projection point of the X-ray source and the target point when the first X-ray image was acquired is taken as the projection line of the target point in the first X-ray image. The three-dimensional coordinates of the intersection of the projection lines of the target point in each of the first X-ray images are determined based at least on the three-dimensional coordinates of the sensor unit corresponding to the projection point of the target point in each of the first X-ray images, and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images, and are used as the three-dimensional coordinates of the target point.

7. The method as described in claim 6, characterized in that, The three-dimensional coordinates of the intersection of the projection lines of the target point in each of the first X-ray images are determined based at least on the three-dimensional coordinates of the corresponding sensor unit on the detector of the projection point of the target point in each of the first X-ray images, and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images. Specifically, this includes: For each first X-ray image, linear interpolation is performed at equal intervals on the projection line of the first X-ray image according to a preset number of interpolations to obtain each interpolation point on the projection line of the first X-ray image. For each interpolation point on the projection line in the first X-ray image, the three-dimensional coordinates of the interpolation point are determined based on the three-dimensional coordinates of the target point's projection point on the first X-ray image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source when the first X-ray image was acquired, the number of interpolations, and the order of the interpolation points on the projection line of the first X-ray image. Two interpolation points located on the projection lines of the two first X-ray images are taken as matching point pairs. The distance between the two interpolation points in each matching point pair is determined based on the three-dimensional coordinates of the two interpolation points in each matching point pair. Among the determined distances, the matching point pair corresponding to the smallest distance is determined, and the mean of the three-dimensional coordinates of the two interpolation points contained in the matching point pair corresponding to the smallest distance is used as the three-dimensional coordinates of the intersection of the projection lines of the target point in each first X-ray image.

8. The method as described in claim 5, characterized in that, The three-dimensional coordinates of the target point are determined based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the radiation source when acquiring each of the first X-ray images, specifically including: Identify the two consecutively acquired first X-ray images; The distance between the corresponding sensor units on the detector is used as the projection displacement of the target point, where the target point is projected in the two first X-ray images. The positioning ratio is determined based on the ratio of the displacement data to the projected displacement; Take either of the two first X-ray images as the target image. Determine the three-dimensional coordinates of the segmentation point based on the three-dimensional coordinates of the target point's projection point on the target image corresponding to the sensor unit on the detector, the three-dimensional coordinates of the X-ray source, and the positioning ratio. The ratio of the distance between the X-ray source and the segmentation point when acquiring the target image to the distance between the X-ray source and the target point's projection point on the detector corresponding to the sensor unit on the detector when acquiring the first X-ray image is equal to the positioning ratio. The three-dimensional coordinates of the segmentation point are used as the three-dimensional coordinates for locating the target point.

9. The method as described in claim 1, characterized in that, Based on 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 location point of the blood vessel cross-section are determined in each second X-ray image, specifically including: For each second X-ray image, based on the projection of the blood vessel boundary in the second X-ray image, determine the projection points located at the center of the upper and lower boundaries of the blood vessel, and use them as the projection points of the center point of each blood vessel cross-section. Determine the projection of the blood vessel centerline formed by the projection points of each center point in the second X-ray image; For each blood vessel cross-section, the extension direction of the projection of the blood vessel centerline at the center point of the blood vessel cross-section is determined. Based on the extension direction, a straight line perpendicular to the extension direction is determined by the projection point of the center point of the blood vessel cross-section, and used as the positioning line 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.

10. The method as described in claim 1, characterized in that, Determine the three-dimensional coordinates of the center point of the blood vessel cross-section and the three-dimensional coordinates of the location points of the blood vessel cross-section, specifically including: 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 onto the corresponding sensor unit on the detector; The three-dimensional coordinates of the center point of the blood vessel cross section are determined based at least on the three-dimensional coordinates of the sensor unit corresponding to each projection point of the center point of the determined blood vessel cross section, and the three-dimensional coordinates of the X-ray source when acquiring each second X-ray image. For each location point corresponding to the projection point of the cross-section of the blood vessel determined by each second X-ray image, determine the projection point of the location point in each second X-ray image. For each second X-ray image, determine the three-dimensional coordinates of the projection point of the positioning point on the detector corresponding to the sensor unit; The three-dimensional coordinates of the positioning point are determined based on the three-dimensional coordinates of the sensor units corresponding to each projection point of the determined positioning point, the three-dimensional coordinates of the X-ray source when acquiring each second X-ray image, and the displacement data.

11. The method as described in claim 1, characterized in that, Based on the three-dimensional coordinates of the center point and each positioning point of the blood vessel cross-section, the three-dimensional shape of the blood vessel cross-section is fitted, specifically including: For each second X-ray image, the candidate chord of the blood vessel cross section is determined 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. The major axis length is determined based on the length of the candidate chord corresponding to each of the second X-ray images; Based on the length of the major axis, an ellipse is determined with the center point of the blood vessel cross-section as the center and passing through each positioning point of the blood vessel cross-section, which is used as the three-dimensional shape of the blood vessel cross-section.

12. The method as described in claim 1, characterized in that, Based on the three-dimensional coordinates of the center point and each positioning point of the blood vessel cross-section, the three-dimensional shape of the blood vessel cross-section is fitted, specifically including: For each second X-ray image, the candidate chord of the blood vessel cross section is determined 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. Based on the identified candidate chords, determine the diameter of the blood vessel cross-section; Based on the diameter, a circle is determined with the center point of the blood vessel cross-section as the center and passing through each positioning point of the blood vessel cross-section, which is taken as the three-dimensional shape of the blood vessel cross-section.

13. A guide wire travel path display device, characterized in that, include: The acquisition module determines displacement data, moves the surgical device according to the displacement data, and determines at least two first X-ray images acquired at different positions. The surgical device is an imaging device or an operating table, and the imaging device is equipped with a radiation source and a detector. The registration module registers each first X-ray image to determine the projection point in each first X-ray image and the target point on the guidewire corresponding to the projection point. The sensor unit positioning module determines the three-dimensional coordinates of the projection point of the target point in the first X-ray image onto the sensor unit on the detector for each first X-ray image. The target point localization module determines the three-dimensional coordinates of the target point based at least on the determined three-dimensional coordinates of the sensor unit and the three-dimensional coordinates of the X-ray source when acquiring each of the first X-ray images; A 3D blood vessel model determination module is used to determine displacement data. Based on the displacement data, the surgical equipment is moved to determine at least two second X-ray images of the surgical object acquired by the surgical equipment at different positions. The second X-ray images are vascular subtraction images. Based on 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 blood vessel cross-section are determined in each second X-ray image. The 3D coordinates of the center point of the blood vessel cross-section and the 3D coordinates of the location point of the blood vessel cross-section are determined. Based on the 3D coordinates of the center point of the blood vessel cross-section and the 3D coordinates of the location point of the blood vessel cross-section, the 3D shape of the blood vessel cross-section is fitted. Based on the 3D shape of each blood vessel cross-section, the 3D model of the blood vessel is determined. The rendering module determines the three-dimensional model of the guidewire based on the three-dimensional coordinates of the target point, and superimposes and renders the three-dimensional model of the guidewire and the three-dimensional model of the blood vessel to obtain a three-dimensional image of the guidewire's travel path.

14. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 12.

15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 1 to 12.

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