Micro-catheter control method for acute cerebral infarction interventional thrombectomy

Abstract

The invention discloses a micro-catheter control method for an acute cerebral infarction interventional thrombectomy, which comprises the following steps: a micro-catheter control system acquires current position state information of a micro-catheter, and drives the micro-catheter to move to a target position according to preset parameters; three-dimensional position coordinates of the microcatheter are obtained in real time through an information acquisition module; the signal processing unit compares the actual position of the microcatheter with a preset target position in real time, judges whether the microcatheter reaches the preset position or not, and receives manually input adjustment parameters when it is monitored that the resistance exceeds a threshold value or the position deviates from a path; and the signal processing unit regenerates a control instruction based on the updated parameters, and drives the microcatheter to continuously move according to the corrected parameter constraint. By acquiring the illness state and blood vessel anatomical structure information of a patient, setting the parameters such as the target position and the moving path of the microcatheter and combining the three-dimensional position coordinate information acquired by the position sensor, the microcatheter can be accurately controlled to reach the target position and move according to the preset path.

Description

Technical Field

[0001] This invention relates to the fields of artificial intelligence and biomedical engineering technology in the treatment of brain diseases, and specifically to a microcatheter control method for interventional thrombectomy in acute cerebral infarction. Background Technology

[0002] In the treatment of acute ischemic stroke, interventional thrombectomy is a crucial and effective procedure. It involves precisely delivering a thrombectomy device to the thrombus site via a microcatheter to remove the thrombus, thereby restoring blood flow to the brain and preserving brain function. However, controlling the microcatheter during actual interventional thrombectomy procedures for acute ischemic stroke presents numerous challenges.

[0003] The vascular structure of the brain is complex and tortuous, with significant differences in vascular anatomy among patients, and their conditions also vary. Traditional microcatheter control methods often lack precise consideration of the individualized vascular anatomy and condition of each patient, making it difficult to accurately guide the microcatheter to the target thrombus location. During the procedure, the microcatheter may frequently touch the vessel wall due to its inability to move accurately along the pre-set path. This not only increases the difficulty of the surgery but also easily damages the surrounding fragile vascular tissue, leading to serious complications such as vasospasm and perforation, thereby affecting the success rate of the surgery and the patient's prognosis.

[0004] On the other hand, during microcatheter movement, if the microcatheter moves too quickly, its position may be difficult to control precisely due to inertia, leading to inaccurate access to the thrombus site or excessive traction on the thrombus during thrombectomy, causing it to break into smaller emboli and triggering new embolic risks. Conversely, if the movement speed is too slow, it will prolong the operation time, increase the patient's exposure to radiation and anesthesia risks, and may also prolong the cerebral ischemia time, exacerbating brain damage. To address these issues, we propose a microcatheter control method for interventional thrombectomy in acute ischemic stroke. Summary of the Invention

[0005] Therefore, this invention provides a microcatheter control method for interventional thrombectomy in acute cerebral infarction, which solves the problem that traditional microcatheter control methods often lack precise consideration of the patient's individual vascular anatomy and condition, making it difficult to accurately guide the microcatheter to the target thrombus location.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A microcatheter control method for interventional thrombectomy in acute ischemic stroke includes the following steps:

[0008] Parameter setting steps: The microcatheter control system obtains the current position status information of the microcatheter, presets the target position, movement path, operation speed range and resistance threshold parameters of the microcatheter according to the patient's condition and vascular structure, and then drives the microcatheter to move to the target position according to the preset parameters;

[0009] The control system includes an information acquisition module, a signal processing unit, and a display module. The information acquisition module includes a position sensor, a speed sensor, and a resistance sensor, which are used to acquire the three-dimensional position coordinates, moving speed, and resistance magnitude of the microcatheter, respectively.

[0010] Information acquisition steps: The information acquisition module acquires the three-dimensional position coordinates, moving speed and resistance data of the microcatheter in real time, and converts the data into electrical signals and transmits them to the signal processing unit;

[0011] Analysis and judgment steps: The signal processing unit compares the actual position of the microcatheter with the preset target position in real time to determine whether the microcatheter has reached the preset position, and at the same time judges whether the movement of the microcatheter is smooth or whether there is abnormal contact based on the resistance data;

[0012] Command generation and display steps: The signal processing unit generates control commands based on the analysis results, including forward and backward directions and their specific direction and distance parameters, and transmits the commands to the display module for real-time display;

[0013] Real-time feedback and parameter resetting steps: When the resistance exceeds the threshold or the position deviates from the path, the system prompts the abnormality through the display module and receives the adjustment parameters input manually; the signal processing unit regenerates the control command based on the updated parameters, and drives the microcatheter to continue moving according to the corrected parameter constraints.

[0014] Preferably, the signal processing unit has a preset resistance threshold. When the resistance experienced by the microcatheter exceeds the threshold, the signal processing unit generates an alarm signal to the display module. The display module receives the alarm signal and issues an alarm by flashing an alarm light.

[0015] Preferably, the resistance sensor is disposed inside the front end of the microcatheter.

[0016] Preferably, in the analysis and judgment step, the preset algorithm used to calculate the direction and distance of movement of the microcatheter is an algorithm based on the vascular anatomy model and the microcatheter kinematic model.

[0017] Preferably, the calculation process includes the following steps:

[0018] Perception and modeling: The system first constructs a vascular anatomy model with physiological pulsation based on preoperative images and initializes the kinematic parameters of the microcatheter;

[0019] Real-time planning and calculation: During surgery, the vascular anatomy model calculates the ideal direction of movement in real time. At the same time, the microcatheter kinematic model calculates the specific pushing distance required to achieve that direction based on the current vascular curvature and catheter physical characteristics.

[0020] The present invention has the following advantages:

[0021] By acquiring information about the patient's condition and vascular anatomy, parameters such as the target position and movement path of the microcatheter can be set. Combined with the three-dimensional position coordinate information obtained by the position sensor and the rotation angle and tilt posture information detected by the attitude sensor, the microcatheter can be precisely controlled to reach the target position and move along the preset path, thereby improving the accuracy of surgical operations and reducing the risk of damage to surrounding vascular tissues.

[0022] By setting the operating speed range and resistance threshold parameters, the movement speed of the microcatheter can be reasonably controlled according to the actual situation, avoiding the impact on the surgical outcome due to excessive speed or slow speed; at the same time, the smoothness of movement can be judged based on the resistance detected by the resistance sensor, and abnormalities can be detected in time to ensure surgical safety.

[0023] The information acquisition module integrates information on position, attitude, and resistance, and converts it into electrical signals that are transmitted to the signal processing unit. This provides comprehensive and accurate data support for subsequent analysis and judgment, enabling operators to understand the status of the microcatheter in real time.

[0024] Based on a physiological motion compensation algorithm, a model is built using sensor signals to counteract the pulsatile motion of blood vessels caused by heartbeat and respiration. This algorithm can filter out physiological noise, ensuring that path planning is based on the true geometric center of the blood vessel. Even when the blood vessel undergoes dynamic changes due to physiological reasons, it can guarantee the accuracy of microcatheter navigation, avoid the microcatheter deviating from the preset path due to vascular pulsation, and further improve the precision of surgical operations.

[0025] The kinematic model of a microcatheter decomposes its motion into axial motion and radial rotation, taking into account its physical properties, and correlates the movement data of the microcatheter with the pose changes of its tip through mathematical relationships. This precise decomposition of motion and establishment of control relationships enables operators to more accurately control the movement of the microcatheter within the blood vessel, achieving precise adjustments to its tip position and orientation, and meeting the delicate requirements of microcatheter manipulation during surgery.

[0026] In the kinematic model of microcatheters, the specific pushing distance and rotation angle required to achieve the ideal direction of movement are calculated, as well as the minimum path curvature and maximum passable diameter required for movement in blood vessels with different degrees of curvature. These calculations help operators to rationally control the pushing and rotation of the microcatheter based on the actual curvature and diameter of the blood vessel, ensuring that the microcatheter can smoothly pass through the curved parts of the blood vessel. This avoids problems such as microcatheter jamming, inability to advance, or excessive compression of the blood vessel caused by unreasonable kinematic parameters, thereby improving the safety and success rate of the surgery. Attached Figure Description

[0027] Figure 1 This is a flowchart of a microcatheter control method for interventional thrombectomy in acute cerebral infarction, provided as an embodiment of the present invention. Detailed Implementation

[0028] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Example 1

[0030] like Figure 1 As shown, a microcatheter control method for interventional thrombectomy in acute ischemic stroke includes the following steps:

[0031] Parameter setting steps: The microcatheter control system obtains the current position status information of the microcatheter, presets the target position, movement path, operation speed range and resistance threshold parameters of the microcatheter according to the patient's condition and vascular structure, and then drives the microcatheter to move to the target position according to the preset parameters;

[0032] The control system includes an information acquisition module, a signal processing unit, and a display module. The information acquisition module includes a position sensor, a speed sensor, and a resistance sensor, which are used to acquire the three-dimensional position coordinates, moving speed, and resistance magnitude of the microcatheter, respectively.

[0033] Information acquisition steps: The information acquisition module acquires the three-dimensional position coordinates, moving speed and resistance data of the microcatheter in real time, and converts the data into electrical signals and transmits them to the signal processing unit;

[0034] Analysis and judgment steps: The signal processing unit compares the actual position of the microcatheter with the preset target position in real time to determine whether the microcatheter has reached the preset position. At the same time, it judges whether the movement of the microcatheter is smooth or whether there is abnormal contact based on the resistance data.

[0035] Command generation and display steps: The signal processing unit generates control commands based on the analysis results, including forward and backward directions and their specific direction and distance parameters, and transmits the commands to the display module for real-time display;

[0036] Real-time feedback and parameter resetting steps: When the resistance exceeds the threshold or the position deviates from the path, the system prompts the abnormality through the display module and receives the adjustment parameters input manually; the signal processing unit regenerates the control command based on the updated parameters, driving the microcatheter to continue moving according to the corrected parameter constraints.

[0037] The signal processing unit has a preset resistance threshold. When the resistance experienced by the microcatheter exceeds the threshold, the signal processing unit generates an alarm signal and sends it to the display module. The display module receives the alarm signal and issues an alarm by flashing an alarm light. The resistance sensor is located inside the front end of the microcatheter.

[0038] By acquiring information about the patient's condition and vascular anatomy, and pre-setting parameters such as the target location and movement path of the microcatheter, combined with the three-dimensional position coordinate information obtained by the position sensor, the microcatheter can be precisely controlled to reach the target location and move along the preset path, thereby improving the accuracy of surgical operations and reducing the risk of damage to surrounding vascular tissues.

[0039] By setting the operating speed range and resistance threshold parameters, the movement speed of the microcatheter can be reasonably controlled according to the actual situation, avoiding the impact on the surgical outcome due to excessive speed or slow speed; at the same time, the smoothness of movement can be judged based on the resistance detected by the resistance sensor, and abnormalities can be detected in time to ensure surgical safety.

[0040] Example 2

[0041] Includes all the contents of Example 1. In addition, in the analysis and judgment step, the preset algorithm used to calculate the direction and distance of movement of the microcatheter is an algorithm based on the vascular anatomy model and the microcatheter kinematic model.

[0042] The calculation process includes the following steps:

[0043] Perception and modeling: The system first constructs a vascular anatomy model with physiological pulsation based on preoperative images and initializes the kinematic parameters of the microcatheter;

[0044] Real-time planning and calculation: During surgery, the vascular anatomy model calculates the ideal direction of movement in real time. At the same time, the microcatheter kinematic model calculates the specific pushing distance required to achieve that direction based on the current vascular curvature and catheter physical characteristics.

[0045] Vascular anatomy models are three-dimensional dynamic models reconstructed from preoperative medical images (such as CTA). These models not only include the geometric structure of the blood vessels (such as path, curvature, and diameter changes) but also simulate the pulsatile movement of the vessels through biomechanical modeling. Specifically, the model integrates the synchronization between electrocardiogram signals and pulse waves, enabling the vascular model to deform accordingly with the cardiac cycle, thus providing a more realistic representation of the vascular environment during navigation. Microcatheter kinematic models define the motion control relationships of microcatheters within blood vessels. These models decompose the movement of microcatheters into axial motion (forward / backward) and radial rotation, taking into account their physical properties (such as the bending elasticity and delivery efficiency of flexible catheters). The model mathematically correlates the movement data of the microcatheter (such as movement distance and rotation angle) with the pose changes of the microcatheter tip, and calculates the minimum path curvature and maximum passable diameter required for movement in vessels with different degrees of curvature.

[0046] In the vascular anatomy model, the vascular cavity is modeled as a repulsive field and the target position is modeled as a gravitational field through path planning using the artificial potential field method, thus planning a safe path for the microcatheter.

[0047] Gravitational potential field:

[0048] Repulsive potential field:

[0049] Direction of resultant force:

[0050] , : Current position and target position coordinates of the microcatheter; , Microcatheter and the first The distance and repulsive force between points on the blood vessel wall affect the threshold. , : Gravity / repulsion gain coefficient, which controls the potential field strength. This model can dynamically avoid the blood vessel wall, and the direction of gravity guidance is the direction of movement.

[0051] In the vascular anatomy model, a model is built based on physiological motion compensation algorithms using sensor signals to counteract the pulsatile motion of blood vessels caused by heartbeat and respiration, thus ensuring the accuracy of navigation.

[0052] Motion decomposition:

[0053] The sensor measures the original motion of the conduit; The respiratory vector (RV) is converted into three-dimensional respiratory motion using the correlation matrix A. The relative motion between the catheter and the heart (smooth spline curve model) is used to filter out physiological noise and ensure that the path planning is based on the true geometric center of the blood vessel.

[0054] In the kinematic model of microcatheter, kinematic relationships and path curvature control are established by decomposing the motion of the microcatheter into axial pushing and radial rotation, establishing its mathematical relationship with the end-effector pose, and calculating path feasibility.

[0055] Axial movement:

[0056] Rotary transfer:

[0057] Minimum path curvature:

[0058] , Actual displacement at the end point and proximal push distance; Pushing efficiency (<1) is lost due to friction caused by bending of the conduit; Torsional stiffness coefficient, reflecting the delay in rotational transmission; The minimum curvature through which the catheter can pass, relative to the catheter length ( ), vessel diameter ( ) and bending radius ( Related to; the model will include macro-level operations (push) Rotation This is converted into precise end travel distance and rotation angle.

[0059] By constructing a vascular anatomy model with physiological pulsation based on preoperative images, this model not only includes the geometric structure information of the blood vessels but also simulates their pulsatile movement, providing a more realistic representation of the vascular environment for microcatheters. Based on this, an artificial potential field method is used for path planning, modeling the vascular cavity as a repulsive field and the target location as a gravitational field. This allows for dynamic avoidance of the vessel wall, planning a safe path that conforms to the actual vascular morphology. This enables the microcatheter to reach the target thrombus location more precisely, significantly improving the accuracy of surgical path planning and reducing the risk of vascular damage due to path deviation.

[0060] Based on a physiological motion compensation algorithm, a model is built using sensor signals to counteract the pulsatile motion of blood vessels caused by heartbeat and respiration. This algorithm can filter out physiological noise, ensuring that path planning is based on the true geometric center of the blood vessel. Even when the blood vessel undergoes dynamic changes due to physiological reasons, it can guarantee the accuracy of microcatheter navigation, avoid the microcatheter deviating from the preset path due to vascular pulsation, and further improve the precision of surgical operations.

[0061] The kinematic model of a microcatheter decomposes its motion into axial motion (forward / backward) and radial rotation, taking into account its physical properties (such as the bending elasticity and delivery efficiency of flexible catheters). Mathematical relationships are then used to correlate the microcatheter's movement data (such as distance traveled and rotation angle) with changes in the microcatheter tip's pose. This precise kinematic decomposition and control relationship allows operators to more accurately control the microcatheter's movement within the blood vessel, enabling precise adjustments to its tip position and orientation, thus meeting the delicate requirements of microcatheter manipulation during surgery.

[0062] In the kinematic model of microcatheters, the specific pushing distance and rotation angle required to achieve the ideal direction of movement are calculated, as well as the minimum path curvature and maximum passable diameter required for movement in blood vessels with different degrees of curvature. These calculations help operators to rationally control the pushing and rotation of the microcatheter based on the actual curvature and diameter of the blood vessel, ensuring that the microcatheter can smoothly pass through the curved parts of the blood vessel. This avoids problems such as microcatheter jamming, inability to advance, or excessive compression of the blood vessel caused by unreasonable kinematic parameters, thereby improving the safety and success rate of the surgery.

[0063] In the instruction generation and display process, the generation of control instructions also incorporates historical surgical data and expert experience databases to improve the rationality and effectiveness of control instructions.

[0064] The display module also has a data recording function, which can record the position, posture, resistance information, and changes in control parameters of the microcatheter during the operation, so as to facilitate postoperative analysis and summary. After the signal processing unit generates an alarm signal, it will also display the abnormality type and location information on the display module so that the operator can understand and deal with it in a timely manner.

Claims

1. A microcatheter control method for interventional thrombectomy in acute cerebral infarction, characterized in that, Includes the following steps: Parameter setting steps: The microcatheter control system obtains the current position status information of the microcatheter, presets the target position, movement path, operation speed range and resistance threshold parameters of the microcatheter according to the patient's condition and vascular structure, and then drives the microcatheter to move to the target position according to the preset parameters; Information acquisition steps: The information acquisition module acquires the three-dimensional position coordinates, moving speed and resistance data of the microcatheter in real time, and converts the data into electrical signals and transmits them to the signal processing unit; Analysis and judgment steps: The signal processing unit compares the actual position of the microcatheter with the preset target position in real time to determine whether the microcatheter has reached the preset position, and at the same time judges whether the movement of the microcatheter is smooth or whether there is abnormal contact based on the resistance data; Command generation and display steps: The signal processing unit generates control commands based on the analysis results, including forward and backward directions and their specific direction and distance parameters, and transmits the commands to the display module for real-time display; Real-time feedback and parameter resetting steps: When the resistance exceeds the threshold or the position deviates from the path, the system prompts the abnormality through the display module and receives the adjustment parameters input manually; the signal processing unit regenerates the control command based on the updated parameters, and drives the microcatheter to continue moving according to the corrected parameter constraints.

2. The microcatheter control method for interventional thrombectomy in acute cerebral infarction according to claim 1, characterized in that, The signal processing unit is preset with a resistance threshold. When the resistance experienced by the microcatheter exceeds the threshold, the signal processing unit generates an alarm signal and sends it to the display module. The display module receives the alarm signal and issues an alarm.

3. A microcatheter control method for interventional thrombectomy in acute cerebral infarction according to claim 2, characterized in that, The display module issues an alarm by flashing an alarm light.

4. The microcatheter control method for acute cerebral infarction intervention thrombectomy according to claim 1, wherein, In the analysis and judgment step, the preset algorithm used to calculate the direction and distance of movement of the microcatheter is an algorithm based on the vascular anatomy model and the microcatheter kinematic model.

5. The microcatheter control method for acute cerebral infarction interventional thrombectomy according to claim 4, characterized in that, The calculation process includes the following steps: Perception and modeling: The system first constructs a vascular anatomy model with physiological pulsation based on preoperative images and initializes the kinematic parameters of the microcatheter; Real-time planning and calculation: During surgery, the vascular anatomy model calculates the ideal direction of movement in real time. At the same time, the microcatheter kinematic model calculates the specific pushing distance required to achieve that direction based on the current vascular curvature and catheter physical characteristics.

6. The microcatheter control method for acute cerebral infarction interventional thrombectomy according to claim 5, wherein, In the vascular anatomy model, the vascular cavity is modeled as a repulsive field and the target position is modeled as a gravitational field through path planning using the artificial potential field method, thus planning a safe path for the microcatheter. Gravitational potential field: ; repulsive potential field: ; Direction of resultant force: ; , : current position of microcatheter, coordinate of target position; , : distance between microcatheter and the first blood vessel wall point, repulsive force influence threshold; , : distance between microcatheter and the second blood vessel wall point, attractive force influence threshold; : attractive / repulsive force gain coefficient, control potential field strength, this model can dynamically avoid blood vessel wall, and the attractive guiding direction is the moving direction.

7. The microcatheter control method for acute cerebral infarction interventional thrombectomy according to claim 6, wherein, In the vascular anatomy model, a model is built based on physiological motion compensation algorithms and sensor signals to counteract the pulsatile motion of blood vessels caused by heartbeat and respiration, thus ensuring the accuracy of navigation. Motion decomposition: ; : raw motion of the catheter measured by the sensors : conversion of the respiratory vector (RV) into a three-dimensional respiratory motion by a correlation matrix A : relative motion of the catheter to the heart (smooth spline model), this algorithm filters out physiological noise and ensures that the path planning is based on the true geometric center of the vessel 8. The microcatheter control method for acute cerebral infarction interventional thrombectomy according to claim 7, characterized in that, In the aforementioned microcatheter kinematic model, kinematic relationships and path curvature control are established by decomposing the motion of the microcatheter into axial pushing and radial rotation, establishing its mathematical relationship with the end-effector pose, and calculating path feasibility. Axial movement: ; Rotation transmission: ; Minimum path curvature: ; , : end actual displacement, proximal push distance; : push efficiency (<1), loss due to catheter bending friction; : torsional stiffness coefficient, reflecting the delay of rotation transmission; : minimum curvature that the catheter can pass through, related to catheter length ( ), vessel diameter ( ), and bending radius ( ); this model converts macroscopic operation quantities (push , rotation ) into end precise movement distance and rotation angle.

9. The microcatheter control method for acute cerebral infarction intervention thrombectomy according to claim 1, wherein, In the instruction generation and display step, the generation of control instructions also incorporates historical surgical data and expert experience databases to improve the rationality and effectiveness of the control instructions.

10. The microcatheter control method for acute cerebral infarction intervention thrombectomy according to claim 1, wherein, The display module also has a data recording function, which can record the position, posture, resistance information and change of control parameters of the microcatheter during the operation, so as to analyze and summarize after the operation; after the signal processing unit generates an alarm signal, the display module will also display the abnormal type and position information, so that the operator can understand and handle it in time.

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