Method, device, equipment and storage medium for intra-arterial image reconstruction

Abstract

The present application discloses a method for reconstructing images within the arterial cavity, which includes the following steps: after the imaging probe of the catheter is placed at a specified position within the arterial cavity, the imaging probe is driven to move axially at a set speed to obtain the original image within the arterial cavity; a motion image of the imaging probe during its movement within the arterial cavity is obtained; the motion image is analyzed to determine the relative speed data between the artery and the imaging probe; and based on the relative speed data, the distance between each frame of the original image is adjusted to obtain a reconstructed image within the arterial cavity. By applying the technical solution provided by the present application, the accuracy of the reconstructed image within the arterial cavity is higher, and the length of the arterial lesion measured by the reconstructed image is more accurate, thereby providing reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans. The present application also discloses an apparatus, device, and storage medium for reconstructing images within the arterial cavity, which have corresponding technical effects.

Description

Technical Field

[0001] The present application relates to the field of computer application technology, and in particular to a method, apparatus, device and storage medium for reconstructing intra-arterial images. Background Art

[0002] With advances in medical technology, treatment options for cardiovascular diseases such as coronary artery disease (CAD) are becoming increasingly sophisticated, and a growing number of treatment options are available. For example, coronary angiography can be used to assess coronary artery structure and guide percutaneous coronary intervention (PCI). However, the two-dimensional luminal images obtained by coronary angiography do not reflect the condition of the vessel wall and cannot assess vessel size, plaque characteristics, or stent implantation efficacy. Intravascular imaging techniques such as IVUS (intravenous ultrasound) and OCT (optical coherence tomography) can provide intracoronary images, providing crucial information for optimizing stent implantation and reducing stent-related complications in clinical practice. Preoperative assessment of lumen size and lesion characteristics facilitates selection of the appropriate stent model and guides stent implantation strategies. Postoperative intravascular imaging facilitates assessment of stent implant efficacy at the stent level, guiding the implementation of optimization measures.

[0003] Currently, intracoronary imaging is mostly performed by rotating the catheter at a constant speed during its retraction. Automatic catheter retraction often involves slow or rapid retraction, with a fixed ratio between the retraction distance and the number of rotational imaging frames per unit time. When reconstructing intracoronary images, the distance between two consecutive frames is the product of the catheter displacement velocity and the time interval between the two frames, i.e., frame spacing S = catheter retraction velocity V × inter-frame imaging time interval T.

[0004] The distance between each frame of the coronary artery intracavity image reconstructed in this way is equal. However, in reality, due to the pulsation of the heart, the relative motion speed between the coronary artery and the catheter imaging probe is uneven. This equal distance will lead to inaccurate coronary lesion length measurements from the reconstructed images, which in turn affects clinicians' diagnosis and determination of relevant treatment plans. For example, it may lead to inaccurate selection of stent length and inaccurate guidance for coronary intervention. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, equipment and storage medium for intra-arterial image reconstruction to improve the accuracy of intra-arterial image reconstruction and provide reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans.

[0006] To solve the above technical problems, this application provides the following technical solutions:

[0007] An intra-arterial image reconstruction method, comprising:

[0008] After the imaging probe of the catheter is placed at a designated position in the arterial cavity, the imaging probe is driven to move axially at a set speed to obtain an original image of the arterial cavity;

[0009] Acquiring a motion image of the imaging probe during movement within the arterial cavity;

[0010] analyzing the motion image to determine relative velocity data between the artery and the imaging probe;

[0011] The distance between each frame of the original image is adjusted according to the relative velocity data to obtain a reconstructed image of the arterial cavity.

[0012] In a specific embodiment of the present application, analyzing the motion image to determine the relative velocity data between the artery and the imaging probe includes:

[0013] Analyzing the image at each imaging time point of the motion image to obtain a distance change value between the reference point of the artery and the imaging probe between every two adjacent imaging time points;

[0014] For each of the distance change values, a ratio of the distance change value to the time interval between two corresponding adjacent imaging time points is determined as a relative speed value within the time period between the two adjacent imaging time points corresponding to the distance change value;

[0015] Relative velocity data between the artery and the imaging probe is determined based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value.

[0016] In a specific embodiment of the present application, determining the relative velocity data between the artery and the imaging probe based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value includes:

[0017] If the frame rate of the motion image is less than a preset frequency threshold, interpolation processing is performed on the relative speed value in the time period between each two adjacent imaging time points;

[0018] Each relative velocity value and the interpolated value are determined as relative velocity data between the artery and the imaging probe.

[0019] In a specific embodiment of the present application, adjusting the distance between each frame of the original image according to the relative velocity data to obtain the reconstructed image within the arterial cavity includes:

[0020] confirming the starting relative speed value in the relative speed data and the starting frame in the original image corresponding to the same starting time, and setting the initial relative displacement coordinates accordingly;

[0021] According to the relationship between speed and displacement, the relative displacement coordinates corresponding to each frame image are calculated sequentially;

[0022] The distance between each frame image is adjusted according to the relative displacement coordinates at a preset ratio to obtain the reconstructed image.

[0023] In a specific embodiment of the present application, determining the relative velocity data between the artery and the imaging probe based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value includes:

[0024] If the frame rate of the motion image is less than a preset frequency threshold, the set speed of the imaging probe is removed from each relative speed value within at least one cardiac cycle, the movement speed value of the artery is restored, and fitting processing is performed to obtain the speed-time relationship of the arterial movement.

[0025] In a specific embodiment of the present application, adjusting the distance between each frame of the original image according to the relative velocity data to obtain the reconstructed image within the arterial cavity includes:

[0026] confirming the motion speed value in the speed-time relationship corresponding to the same starting time and the starting frame in the original image, and setting the initial relative displacement coordinates accordingly;

[0027] According to the relationship between speed and displacement and the set speed of the imaging probe, the relative displacement coordinates corresponding to each frame of image are sequentially calculated;

[0028] The distance between each frame image is adjusted according to the relative displacement coordinates at a preset ratio to obtain the reconstructed image.

[0029] In a specific embodiment of the present application, the time-synchronized electrocardiogram or blood pressure monitoring information is used to obtain the range of the time period of at least one cardiac cycle.

[0030] In a specific embodiment of the present application, obtaining a motion image of the imaging probe moving within the arterial cavity includes:

[0031] The motion image of the imaging probe moving in the arterial cavity is obtained by digital subtraction angiography technology.

[0032] In a specific embodiment of the present application, the reconstructed image in the arterial cavity includes: a longitudinal section image, a three-dimensional image and / or a video, and the display frame rate of the reconstructed image is determined according to the display requirements of the category;

[0033] Correspondingly, adjusting the distance between each frame of the original image includes:

[0034] A partial frame of the original image is extracted according to the display frame rate to perform distance adjustment.

[0035] An intra-arterial image reconstruction device, comprising:

[0036] The original image acquisition module is used to drive the imaging probe of the catheter to move axially at a set speed after the imaging probe is placed at a specified position in the arterial cavity, so as to obtain the original image in the arterial cavity;

[0037] A motion image acquisition module, configured to acquire a motion image of the imaging probe during movement within the arterial cavity;

[0038] a velocity data determination module, configured to analyze the motion image and determine relative velocity data between the artery and the imaging probe;

[0039] An image reconstruction module is used to adjust the distance between each frame of the original image according to the relative velocity data to obtain a reconstructed image inside the arterial cavity.

[0040] An intra-arterial image reconstruction device, comprising:

[0041] Memory for storing computer programs;

[0042] A processor is configured to implement any of the steps of the above-mentioned method for reconstructing intraluminal arterial images when executing the computer program.

[0043] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any one of the above-mentioned methods for reconstructing intra-arterial images.

[0044] Using the technical solutions provided in the embodiments of the present application, a catheter imaging probe is first placed at a designated position within the arterial lumen. The imaging probe is then driven axially at a set speed to obtain a raw image of the arterial lumen. Simultaneously, a motion image of the imaging probe's movement within the arterial lumen is captured. Analysis of the motion image allows for determination of relative velocity data between the artery and the imaging probe. Based on this relative velocity data, the distance between each frame of the raw image is adjusted to obtain a reconstructed image of the arterial lumen. By taking into account the relative motion between the artery and the catheter imaging probe, the distance between each frame of the raw image is adjusted according to the relative velocity data between the artery and the imaging probe. The reconstructed image of the arterial lumen, based on the adjusted distance, is more realistic, resulting in a more accurate reconstructed image of the arterial lumen. The reconstructed image also provides more accurate arterial lesion length measurements using the reconstructed image. This provides reliable numerical evidence for clinicians to diagnose and determine treatment options, facilitating medical decisions such as determining stent length, and improving treatment outcomes. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 This is a flowchart of an implementation method of an intra-arterial image reconstruction method in an embodiment of the present application;

[0047] Figure 2 A schematic diagram of a position of an imaging probe in an arterial cavity in an embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of another position of the imaging probe in the arterial cavity in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of a motion image of the imaging probe moving within the arterial cavity in an embodiment of the present application;

[0050] Figure 5 Schematic diagram of the relative velocity of the marked artery relative to the imaging probe when the imaging probe is slowly withdrawn in an embodiment of the present application;

[0051] Figure 6 Schematic diagram of the relative velocity of the marked artery relative to the imaging probe when the imaging probe is rapidly withdrawn in an embodiment of the present application;

[0052] Figure 7 Schematic diagram of marking relative velocity values ​​of arteries in an embodiment of the present application;

[0053] Figure 8 This is a schematic diagram of the speed-time relationship of arterial motion in an embodiment of the present application;

[0054] Figure 9 This is a schematic diagram of image reconstruction when the imaging probe is slowly retracted in an embodiment of the present application;

[0055] Figure 10 This is a schematic diagram of image reconstruction when the imaging probe is quickly retracted in an embodiment of the present application.

[0056] Figure 11 This is a schematic structural diagram of an intra-arterial image reconstruction device according to an embodiment of the present application;

[0057] Figure 12 This is a schematic structural diagram of an intra-arterial image reconstruction device in an embodiment of the present application. DETAILED DESCRIPTION

[0058] The core of this application is to provide a method for reconstructing intra-arterial images. The method first places a catheter imaging probe at a specified position within the arterial lumen, then drives the imaging probe to move axially at a set speed to obtain an original image of the arterial lumen. A motion image of the imaging probe's movement within the arterial lumen is simultaneously obtained. The motion image is analyzed to determine the relative velocity data between the artery and the imaging probe. Based on the relative velocity data, the distance between each frame of the original image is adjusted to obtain a reconstructed image of the arterial lumen. This method takes into account the relative motion of the artery and the catheter imaging probe, adjusts the distance between each frame of the original image based on the relative velocity data between the artery and the imaging probe, and then obtains a reconstructed image of the arterial lumen based on the adjusted distance. This method is more realistic, resulting in higher accuracy in the reconstructed intra-arterial image and more accurate measurement of the arterial lesion length using the reconstructed image. This method can provide reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans, facilitate medical decisions such as determining the length of stent implants, and improve diagnostic and treatment outcomes.

[0059] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the embodiments described are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of the present application.

[0060] See also Figure 1 FIG. 1 is a flowchart of an implementation method of an intra-arterial image reconstruction method provided by an embodiment of the present application. The method may include the following steps:

[0061] S110: After the imaging probe of the catheter is placed at a designated position in the arterial cavity, the imaging probe is driven to move axially at a set speed to obtain an original image in the arterial cavity.

[0062] In practical applications, a catheter can be inserted into the arterial lumen of the subject being examined until the catheter's imaging probe is positioned at a designated location within the arterial lumen. The designated location can be the furthest position the catheter's imaging probe can reach within the arterial lumen, or another location set as needed. Conventional imaging or positioning techniques can be used to observe whether the imaging probe has reached the designated location, such as a specific location in a coronary artery.

[0063] After the imaging probe of the catheter is placed at a designated position in the arterial cavity, the imaging probe can be driven to move axially at a set speed, such as retracting at a set retraction speed.

[0064] As previously described, currently, automated retraction of intracoronary imaging catheters is typically performed using either slow or rapid retraction. Slow retraction is performed at a speed of 0.5 to 1.0 mm / s, which can be imaged by intravascular ultrasound, while rapid retraction is performed at a speed greater than 30 mm / s, which can be imaged by intravascular optical coherence tomography.

[0065] In the process of driving the imaging probe to move axially at a set speed, the catheter rotates at a uniform speed, and the original image inside the arterial cavity can be obtained by collecting images through the imaging probe.

[0066] S120: Acquire a motion image of the imaging probe during its movement in the arterial cavity.

[0067] When the imaging probe moves axially at a set speed, a motion image of the imaging probe moving in the arterial cavity can be obtained. Specifically, the motion image of the imaging probe moving in the arterial cavity can be obtained by coronary angiography or other imaging technologies.

[0068] In a specific embodiment of the present application, a motion image of the imaging probe moving in the arterial cavity may be acquired by using digital subtraction angiography (DSA) technology.

[0069] The basic principle of DSA is to digitize two frames of X-ray images taken before and after the injection of contrast agent and input them into the image computer, and obtain clear pure vascular images through the subtraction, enhancement and re-imaging process, while displaying the vascular images in real time.

[0070] During the cardiac cycle, the arteries move back and forth periodically along their long axis. Figure 2 and Figure 3As shown in the figure, the black arrow points to the imaging probe of the catheter. Figure 2 Move to the position shown in Figure 3 The position shown in . When the imaging probe is stationary, the artery will also produce axial movement relative to the imaging probe as the heart contracts and relaxes. This is especially true for the coronary arteries, where the degree and periodicity of movement are more pronounced. When the imaging probe moves along the axial direction of the artery (for example, the retraction of the intravascular ultrasound probe), relative movement occurs between the imaging probe and the artery. If the axial movement speed of the imaging probe is slower than the axial movement speed of the artery in the same direction, the imaging probe will be "overtaken" by the artery and then "returned to meet" it, resulting in repeated imaging of certain parts of the arterial lumen. This makes it impossible for the user to accurately understand the actual morphology of the arterial lumen when observing the images obtained by the imaging probe or static images converted from the images (for example, long-axis images of the artery), which is not conducive to the diagnosis or measurement of lesions.

[0071] S130: Analyze the motion image to determine relative velocity data between the artery and the imaging probe.

[0072] Arteries, particularly coronary arteries, experience a certain amount of displacement as the heart contracts and relaxes. By acquiring motion images of the imaging probe moving within the artery and analyzing them, the relative velocity between the artery and the imaging probe can be determined.

[0073] S140: Adjust the distance between each frame of the original image according to the relative velocity data to obtain a reconstructed image of the arterial cavity.

[0074] By analyzing the motion image of the imaging probe during its movement within the arterial cavity and determining the relative velocity data between the artery and the imaging probe, the distance between each two adjacent frames of the original image can be obtained based on the relative velocity data. The distance between each frame of the original image can then be adjusted to reconstruct the image within the arterial cavity.

[0075] The reconstructed images obtained within the arterial cavity restore the long-axis anatomical structure of the artery to a certain extent, enhancing the doctor's confidence in clinical diagnosis.

[0076] In a specific embodiment of the present application, the reconstructed image within the arterial cavity may include a longitudinal section image, a three-dimensional image and / or a video, and the display frame rate of the reconstructed image is determined according to the display requirements of the category. Correspondingly, the distance between each frame of the original image can be adjusted by extracting part of the frames of the original image according to the display frame rate for distance adjustment.

[0077] The reconstructed image inside the arterial cavity may include a longitudinal section, a three-dimensional image, and / or a video. Different categories may correspond to different display requirements, and the display frame rate of the reconstructed image may be determined based on the display requirements of the category. That is, when the frame rate meets the display effect threshold, some frames may be discarded, and image reconstruction is not performed on all frames of the original image. Instead, some frames of the original image are extracted according to the display frame rate, and the distance of the extracted frames is adjusted. Then, the reconstructed image inside the arterial cavity is obtained based on the distance-adjusted frames. Of course, when the frame rate meets the display effect threshold, the extraction process may be omitted, and all frames of the original image may be directly arranged to obtain the reconstructed image. When the frame rate does not meet the display effect threshold, interpolation or other processing may be performed to ensure that the frame rate of the reconstructed image meets the display effect threshold.

[0078] The frame spacing of the reconstructed intracavitary arterial image can accurately reflect the length of the arterial lesion, thereby enabling accurate selection and guidance of the length of the implanted stent and arterial interventional treatment.

[0079] Using the method provided in the embodiments of the present application, a catheter imaging probe is first placed at a designated position within the arterial lumen. The imaging probe is then driven to move axially at a set speed to obtain a raw image of the arterial lumen. Simultaneously, a motion image of the imaging probe's movement within the arterial lumen is obtained. The motion image is analyzed to determine the relative velocity data between the artery and the imaging probe. Based on this relative velocity data, the distance between each frame of the raw image is adjusted to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion between the artery and the catheter imaging probe, the distance between each frame of the raw image is adjusted based on the relative velocity data between the artery and the imaging probe. The reconstructed image of the arterial lumen, based on the adjusted distance, is more realistic, resulting in a more accurate reconstructed image of the arterial lumen. The reconstructed image also provides more accurate arterial lesion length measurements using the reconstructed image. This provides reliable numerical evidence for clinicians to diagnose and determine treatment options, facilitates medical decisions such as determining stent length, and improves diagnostic and treatment outcomes.

[0080] In one embodiment of the present application, step S130 may include the following steps:

[0081] Step 1: Analyze the images at each imaging time point of the motion image to obtain the distance change value between the reference point of the artery and the imaging probe between each two adjacent imaging time points;

[0082] Step 2: for each distance change value, determine the ratio of the distance change value to the time interval between the two corresponding adjacent imaging time points as the relative speed value within the time period between the two adjacent imaging time points corresponding to the distance change value;

[0083] Step 3: Determine the relative velocity data between the artery and the imaging probe based on the relative velocity value within the time period between two adjacent imaging time points corresponding to each distance change value.

[0084] For ease of description, the above three steps are combined for explanation.

[0085] After the catheter's imaging probe is placed at a designated position within the arterial lumen, the imaging probe is driven to move axially at a set speed to obtain an original image of the arterial lumen. After acquiring a motion image of the imaging probe's movement within the arterial lumen, the images at each imaging time point in the motion image can be analyzed. The arterial reference point and the imaging probe are identified at each imaging time point in the motion image. The distance between the arterial reference point and the imaging probe at each imaging time point is then determined through position measurement and other methods, thereby obtaining the change in distance between the arterial reference point and the imaging probe between two adjacent imaging time points. The arterial reference point can be a vascular intersection or a characteristic point of a lesion.

[0086] Figure 4 The images of the motion image of the imaging probe in the arterial cavity at each imaging time point 1, 2, 3, 4, 5, and 6 are shown. In each frame of the image, the distance between the reference point of the artery and the imaging probe at each imaging time point can be determined, and the change in the distance between the reference point of the artery and the imaging probe between two adjacent imaging time points can be obtained.

[0087] The time interval between two adjacent imaging time points is known. After obtaining the distance change value between the reference point of the artery and the imaging probe between each two adjacent imaging time points, for each distance change value, the distance change value can be compared with the time interval between the corresponding two adjacent imaging time points to obtain a corresponding ratio. This ratio is the relative velocity value within the time period between the two adjacent imaging time points corresponding to the distance change value.

[0088] For example, at imaging time point 1, the distance between the reference point of the artery and the imaging probe is D1. At imaging time point 2, the distance between the reference point of the artery and the imaging probe is D2. Imaging time point 1 and imaging time point 2 are two adjacent imaging time points. During the time period from imaging time point 1 to imaging time point 2, the change in the distance between the reference point of the artery and the imaging probe is D2-D1, and the relative velocity is (D2-D1) / (time interval from imaging time point 1 to imaging time point 2).

[0089] In practical applications, a velocity-time coordinate system can be established, with the X-axis set as the time axis and the Y-axis set as the velocity axis. The velocity of the artery moving in the opposite direction to the imaging probe's movement is negative, and the velocity of the artery moving in the same direction as the imaging probe's movement is positive. The formula V = △S / △t can be used to calculate the relative velocity value in the time period between each two adjacent imaging time points. Among them, V represents the relative velocity value, △S represents the distance change between the reference point of the artery and the imaging probe between two adjacent imaging time points, and △t represents the time period between two adjacent imaging time points. The relative velocity value of the artery relative to the imaging probe can be marked in the velocity-time coordinate system. For example Figure 5 、 Figure 6 As shown, Figure 5 This is a schematic diagram of the relative velocity of the marked artery relative to the imaging probe when the imaging probe is slowly withdrawn. Figure 6 This is a schematic diagram of the relative velocity values ​​of the marked artery relative to the imaging probe when the imaging probe is quickly withdrawn. Figure 5 、 Figure 6 In the figure, the area of ​​the columnar shadow is the relative displacement of the time period, and the endpoint of the columnar shadow is the movement speed of the artery (scatter value). Figure 5 or Figure 6 As shown in FIG. 1 , the relative velocity values ​​of the artery relative to the imaging probe can be obtained as follows: Figure 7 Markers for relative velocity values ​​for arteries are shown.

[0090] After obtaining the relative velocity values ​​for the time period between each two adjacent imaging time points, the relative velocity data between the artery and the imaging probe can be determined based on these values. If the frame rate of the motion image is greater than or equal to a preset frequency threshold, the relative velocity values ​​for the time period between each two adjacent imaging time points corresponding to each distance change value can be directly determined as the relative velocity data between the artery and the imaging probe. This frequency threshold can be set based on minimum display requirements and adjusted according to actual conditions.

[0091] In a specific embodiment of the present application, if the frame rate of the motion image is less than a preset frequency threshold, the relative velocity values ​​in the time period between each two adjacent imaging time points can be interpolated, and then each relative velocity value and the interpolated value are determined as the relative velocity data between the artery and the imaging probe.

[0092] When the frame rate of the motion image of the artery is less than a preset frequency threshold, it can be considered that the relative velocity value in the time period between each two adjacent imaging time points cannot meet the minimum display requirements, and it is necessary to supplement the points in the time interval between the adjacent imaging time points. The relative velocity values ​​in the time period between each two adjacent imaging time points can be interpolated, for example, by inserting new points through function calculation, and then each relative velocity value and interpolation are determined as the relative velocity data between the artery and the imaging probe.

[0093] After the relative velocity data between the artery and the imaging probe is determined, the distance between each frame of the original image can be adjusted according to the relative velocity data to obtain a reconstructed image inside the arterial cavity.

[0094] Specifically, we can first confirm the starting relative speed value in the relative speed data corresponding to the same starting time and the starting frame in the original image, set the initial relative displacement coordinates accordingly, and sequentially calculate the relative displacement coordinates corresponding to each frame image based on the relationship between speed and displacement. According to the relative displacement coordinates, adjust the distance of each frame image according to a preset ratio to obtain a reconstructed image.

[0095] The motion image is analyzed to determine the relative velocity data between the artery and the imaging probe. The relative velocity data can be used to obtain the corresponding relationship between the relative velocity value and time. The starting relative velocity value in the relative velocity data corresponding to the same starting time and the starting frame in the original image can be confirmed, and the initial relative displacement coordinates can be set accordingly. The initial relative displacement coordinates can be set to 0.

[0096] After determining the above correspondence, the relative displacement coordinates corresponding to each frame of the original image can be sequentially calculated based on the relationship between speed and displacement. Specifically, the relative displacement coordinates corresponding to the first frame of the original image, i.e., the starting frame, are the initial relative displacement coordinates. The relative displacement coordinates corresponding to the second frame of the original image are the product of the relative speed value corresponding to the time interval between the acquisition of the second frame and the first frame, and the acquisition time interval. The relative displacement coordinates corresponding to each frame can be sequentially calculated.

[0097] After obtaining the relative displacement coordinates corresponding to each frame of the original image, the distance between the frames can be further adjusted according to a preset ratio based on the relative displacement coordinates. This ratio can be set and adjusted based on actual conditions, such as 50%, 100%, or 200%. Each frame of the original image has a corresponding relative displacement coordinate. The distance between the frames can be adjusted according to this ratio. The adjusted frames are then arranged to obtain a reconstructed image of the arterial cavity.

[0098] In another specific embodiment of the present application, if the frame rate of the motion image is less than a frequency threshold, the relative velocity values ​​within at least one cardiac cycle are deducted from the set velocity of the imaging probe to restore the arterial velocity values, which are then fitted to obtain the velocity-time relationship of the arterial motion. The velocity-time relationship of the arterial motion can be expressed using a function or curve. After deducting the set velocity of the imaging probe, the arterial velocity values ​​exhibit a periodic pattern, allowing for more accurate fitting.

[0099] As described above, when the frame rate of the arterial motion image is less than the preset frequency threshold, it can be considered that the relative velocity value in the time period between each two adjacent imaging time points currently obtained cannot meet the minimum display requirements, and it is necessary to supplement the points in the time interval between adjacent imaging time points. The relative velocity values ​​in the time period of at least one cardiac cycle can be subtracted from the set speed of the imaging probe to restore the arterial motion velocity value, and then the arterial motion velocity value is fitted, as shown in the following example. Figure 8 As shown, the velocity-time relationship of arterial motion is obtained. Fitting can be performed by a fitting function, which can be a common periodic function and can be automatically selected by a conventional algorithm.

[0100] Specifically, the range of the time period of at least one cardiac cycle may be acquired by using time-synchronized electrocardiogram (ECG) or blood pressure monitoring information.

[0101] It can be understood that the speed-time relationship of arterial movement in different cardiac cycles is the same and regular. After obtaining the speed-time relationship of arterial movement in at least one cardiac cycle, the speed-time relationship of arterial movement in all cardiac cycles can be obtained based on the regularity.

[0102] After obtaining the velocity-time relationship of the arterial motion, the distance between each frame of the original image can be adjusted according to the velocity-time relationship of the arterial motion to obtain a reconstructed image inside the arterial cavity.

[0103] Specifically, we can first confirm the starting motion speed value in the speed-time relationship corresponding to the same starting time and the starting frame in the original image, set the initial relative displacement coordinates accordingly, and sequentially calculate the relative displacement coordinates corresponding to each frame image based on the relationship between speed and displacement and the set speed of the imaging probe. According to the relative displacement coordinates, the distance between each frame image is adjusted according to a preset ratio to obtain a reconstructed image.

[0104] After analyzing the motion image and obtaining the speed-time relationship of the arterial motion, the corresponding relationship between the arterial motion speed value and time can be obtained through the speed-time relationship. The starting motion speed value in the speed-time relationship corresponding to the same starting time and the starting frame in the original image can be identified, and the initial relative displacement coordinates can be set accordingly. The initial relative displacement coordinates can be set to 0.

[0105] After determining the above correspondence, the relative displacement coordinates corresponding to each frame of the original image can be sequentially calculated based on the relationship between velocity and displacement and the set speed of the imaging probe. Specifically, the relative displacement coordinates corresponding to the first frame of the original image, i.e., the starting frame, are the set initial relative displacement coordinates. The relative displacement coordinates corresponding to the second frame of the original image are the product of the motion velocity value corresponding to the acquisition time interval between the second frame and the first frame, and the acquisition time interval. The relative displacement coordinates corresponding to each frame can be sequentially calculated.

[0106] After obtaining the relative displacement coordinates corresponding to each frame of the original image, the distance between the frames can be further adjusted according to a preset ratio based on the relative displacement coordinates. This ratio can be set and adjusted based on actual conditions, such as 50%, 100%, or 200%. Each frame of the original image has a corresponding relative displacement coordinate. The distance between the frames can be adjusted according to this ratio. The adjusted frames are then arranged to obtain a reconstructed image of the arterial cavity.

[0107] For ease of understanding, the velocity-time relationship of arterial motion and the set velocity of the imaging probe motion can be expressed in the form of curves, and then the two curves are placed in the same coordinate system, such as Figure 9 、 Figure 10 As shown, the relative displacement coordinates corresponding to each frame of the original image can be obtained by measurement. For example, by measuring the area of ​​the shadow parts 1, 2, 3, 4, and 5, the relative displacement coordinates of each of the six adjacent frames of the original image can be obtained. Therefore, the distance between each frame can be adjusted based on the relative displacement coordinates, and the frames of the original image can be arranged to obtain a reconstructed image. Figure 9 This is a schematic diagram of image reconstruction when the imaging probe is slowly retracted. Figure 10 Schematic diagram of image reconstruction when the imaging probe is quickly retracted.

[0108] Corresponding to the above method embodiment, the embodiment of the present application further provides an intra-arterial image reconstruction device. The intra-arterial image reconstruction device described below and the intra-arterial image reconstruction device method described above can be referenced to each other.

[0109] See also Figure 11 As shown, the device may include the following modules:

[0110] The original image acquisition module 1110 is used to drive the imaging probe of the catheter to move axially at a set speed after the imaging probe is placed at a specified position in the arterial cavity to obtain the original image of the arterial cavity;

[0111] A motion image acquisition module 1120 is used to acquire motion images of the imaging probe during movement in the arterial cavity;

[0112] a velocity data determination module 1130 for analyzing the motion image to determine relative velocity data between the artery and the imaging probe;

[0113] The image reconstruction module 1140 is used to adjust the distance between each frame of the original image according to the relative velocity data to obtain a reconstructed image inside the arterial cavity.

[0114] Using the apparatus provided in the embodiments of the present application, a catheter imaging probe is first placed at a designated position within the arterial lumen. The imaging probe is then driven axially at a set speed to obtain a raw image of the arterial lumen. Simultaneously, a motion image of the imaging probe's movement within the arterial lumen is captured. Analysis of the motion image allows for determination of relative velocity data between the artery and the imaging probe. Based on this relative velocity data, the distance between each frame of the raw image is adjusted to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion between the artery and the catheter imaging probe, the distance between each frame of the raw image is adjusted based on the relative velocity data. The reconstructed image of the arterial lumen, based on the adjusted distance, is more realistic, resulting in a more accurate reconstructed image of the arterial lumen. The reconstructed image also provides more accurate arterial lesion length measurements using the reconstructed image. This provides reliable numerical evidence for clinicians to diagnose and determine treatment options, facilitating medical decisions such as determining stent length, and improving treatment outcomes.

[0115] In a specific embodiment of the present application, the speed data determination module 1130 is configured to:

[0116] Analyze the images at each imaging time point of the motion image to obtain the distance change value between the reference point of the artery and the imaging probe between each two adjacent imaging time points;

[0117] For each distance change value, the ratio of the distance change value to the time interval between two corresponding adjacent imaging time points is determined as the relative speed value within the time period between the two adjacent imaging time points corresponding to the distance change value;

[0118] The relative velocity data between the artery and the imaging probe is determined based on the relative velocity value in the time period between two adjacent imaging time points corresponding to each distance change value.

[0119] In a specific embodiment of the present application, the speed data determination module 1130 is configured to:

[0120] When the frame rate of the motion image is less than a preset frequency threshold, interpolation processing is performed on the relative speed value in the time period between each two adjacent imaging time points;

[0121] Each relative velocity value and the interpolated value are determined as relative velocity data between the artery and the imaging probe.

[0122] In a specific embodiment of the present application, the image reconstruction module 1140 is configured to:

[0123] Confirm the starting relative speed value in the relative speed data corresponding to the same starting time and the starting frame in the original image, and set the initial relative displacement coordinates accordingly;

[0124] According to the relationship between speed and displacement, the relative displacement coordinates corresponding to each frame image are calculated sequentially;

[0125] The distance between each frame of image is adjusted according to the preset ratio based on the relative displacement coordinates to obtain a reconstructed image.

[0126] In a specific embodiment of the present application, the speed data determination module 1130 is configured to:

[0127] When the frame rate of the motion image is less than a preset frequency threshold, the set speed of the imaging probe is removed from each relative velocity value within at least one cardiac cycle, the arterial motion velocity value is restored, and a fitting process is performed to obtain the velocity-time relationship of the arterial motion.

[0128] In a specific embodiment of the present application, the image reconstruction module 1140 is configured to:

[0129] Confirm the motion speed value in the speed-time relationship corresponding to the same starting time and the starting frame in the original image, and set the initial relative displacement coordinates accordingly;

[0130] According to the relationship between speed and displacement and the set speed of the imaging probe, the relative displacement coordinates corresponding to each frame of image are calculated sequentially;

[0131] The distance between each frame of image is adjusted according to the preset ratio based on the relative displacement coordinates to obtain a reconstructed image.

[0132] In a specific embodiment of the present application, the time-synchronized electrocardiogram or blood pressure monitoring information is used to obtain the range of the time period of at least one cardiac cycle.

[0133] In a specific embodiment of the present application, the motion image acquisition module 1120 is used to:

[0134] Digital subtraction angiography is used to obtain motion images of the imaging probe during its movement within the arterial cavity.

[0135] In a specific embodiment of the present application, the reconstructed image within the arterial lumen includes: a longitudinal section image, a three-dimensional image and / or a video, and the display frame rate of the reconstructed image is determined according to the display requirements of the category;

[0136] Correspondingly, the image reconstruction module 1140 is used to:

[0137] Extract some frames of the original image according to the display frame rate to perform distance adjustment.

[0138] Corresponding to the above method embodiment, the present application embodiment further provides an intra-arterial image reconstruction device, comprising:

[0139] Memory for storing computer programs;

[0140] The processor is used to implement the steps of the above-mentioned arterial intraluminal image reconstruction method when executing the computer program.

[0141] like Figure 12 FIG. 1 is a schematic diagram of the structure of an intra-arterial image reconstruction device, which may include a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, the memory 11, and the communication interface 12 communicate with each other via the communication bus 13.

[0142] In the embodiment of the present application, the processor 10 may be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic devices.

[0143] The processor 10 may call a program stored in the memory 11 . Specifically, the processor 10 may execute operations in an embodiment of the method for reconstructing intra-arterial images.

[0144] The memory 11 is used to store one or more programs. The program may include program code, and the program code includes computer operating instructions. In the embodiment of the present application, the memory 11 stores at least a program for implementing the following functions:

[0145] After the imaging probe of the catheter is placed at a designated position in the arterial cavity, the imaging probe is driven to move axially at a set speed to obtain the original image of the arterial cavity;

[0146] Acquire motion images of the imaging probe during its movement in the arterial cavity;

[0147] Analyze motion images to determine the relative velocity data between the artery and the imaging probe;

[0148] According to the relative velocity data, the distance between each frame of the original image is adjusted to obtain the reconstructed image inside the arterial cavity.

[0149] In one possible implementation, the memory 11 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function (such as image display function, image recognition function), etc.; the data storage area may store data created during use, such as image data, speed data, etc.

[0150] In addition, the memory 11 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device or other volatile solid-state storage device.

[0151] The communication interface 12 may be an interface of a communication module, and is used to connect to other devices or systems.

[0152] Of course, it needs to be explained that Figure 12 The structure shown does not constitute a limitation on the intra-arterial image reconstruction device in the embodiment of the present application. In actual application, the intra-arterial image reconstruction device may include Figure 12 More or fewer components than shown, or combinations of certain components.

[0153] Corresponding to the above method embodiment, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned intra-arterial image reconstruction method are implemented.

[0154] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0155] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0156] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0157] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the technical solution and core ideas of this application. It should be noted that for those skilled in the art, without departing from the principles of this application, various improvements and modifications can be made to this application, and such improvements and modifications also fall within the scope of protection of the claims of this application.

Claims

1. A method for reconstructing intra-arterial images, characterized in that: include: Acquire motion images of the imaging probe of the catheter during its movement within the arterial cavity; analyzing the motion image to determine relative velocity data between the artery and the imaging probe; adjusting the distance between frames of the original image according to the relative velocity data to obtain a reconstructed image of the arterial cavity; In which, the original image is obtained by the imaging probe moving axially at a set speed in the arterial cavity; the relative displacement coordinates corresponding to the first frame image of the original image are the initial relative displacement coordinates, and the relative displacement coordinates corresponding to the second frame image of the original image are the product of the relative speed value corresponding to the time interval between the second frame image and the first frame image and the time interval of the acquisition, and the relative displacement coordinates corresponding to each frame image are calculated sequentially in sequence; according to the relative displacement coordinates corresponding to each frame image, the distance between each frame image is adjusted according to a preset ratio to obtain the reconstructed image.

2. The method according to claim 1, characterized in that Analyzing the motion image to determine the relative velocity data between the artery and the imaging probe includes: Analyzing the image at each imaging time point of the motion image to obtain a distance change value between the reference point of the artery and the imaging probe between every two adjacent imaging time points; For each of the distance change values, a ratio of the distance change value to the time interval between two corresponding adjacent imaging time points is determined as a relative speed value within the time period between the two adjacent imaging time points corresponding to the distance change value; Relative velocity data between the artery and the imaging probe is determined based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value.

3. The method according to claim 2, characterized in that The determining of the relative velocity data between the artery and the imaging probe based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value includes: If the frame rate of the motion image is less than a preset frequency threshold, interpolation processing is performed on the relative speed value in the time period between each two adjacent imaging time points; Each relative velocity value and the interpolated value are determined as relative velocity data between the artery and the imaging probe.

4. The method according to any one of claims 1 to 3, characterized in that The step of adjusting the distance between frames of the original image according to the relative velocity data to obtain a reconstructed image of the arterial cavity includes: confirming the starting relative speed value in the relative speed data and the starting frame in the original image corresponding to the same starting time, and setting the initial relative displacement coordinates accordingly; According to the relationship between speed and displacement, the relative displacement coordinates corresponding to each frame image are calculated sequentially; The distance between each frame image is adjusted according to the relative displacement coordinates at a preset ratio to obtain the reconstructed image.

5. The method according to claim 2, characterized in that The determining of the relative velocity data between the artery and the imaging probe based on the relative velocity value within a time period between two adjacent imaging time points corresponding to each distance change value includes: If the frame rate of the motion image is less than a preset frequency threshold, the set speed of the imaging probe is removed from each relative speed value within at least one cardiac cycle, the movement speed value of the artery is restored, and fitting processing is performed to obtain the speed-time relationship of the arterial movement.

6. The method according to claim 5, characterized in that The step of adjusting the distance between frames of the original image according to the relative velocity data to obtain a reconstructed image of the arterial cavity includes: confirming the motion speed value in the speed-time relationship corresponding to the same starting time and the starting frame in the original image, and setting the initial relative displacement coordinates accordingly; According to the relationship between speed and displacement and the set speed of the imaging probe, the relative displacement coordinates corresponding to each frame of image are sequentially calculated; The distance between each frame image is adjusted according to the relative displacement coordinates at a preset ratio to obtain the reconstructed image.

7. The method according to claim 5 or 6, characterized in that The time period range of at least one cardiac cycle is acquired using time-synchronized electrocardiogram or blood pressure monitoring information.

8. The method according to claim 1, characterized in that The motion image of the imaging probe moving in the arterial cavity is obtained by digital subtraction angiography technology.

9. The method according to claim 1, characterized in that The reconstructed image in the arterial cavity includes: a longitudinal section image, a three-dimensional image and / or a video, and the display frame rate of the reconstructed image is determined according to the display requirements of the category; Correspondingly, adjusting the distance between each frame of the original image includes: A partial frame of the original image is extracted according to the display frame rate to perform distance adjustment.

10. An intra-arterial image reconstruction device, characterized in that: include: A motion image acquisition module, used to acquire motion images of the imaging probe of the catheter during its movement within the arterial cavity; a velocity data determination module, configured to analyze the motion image and determine relative velocity data between the artery and the imaging probe; An image reconstruction module, configured to adjust the distance between frames of the original image according to the relative velocity data to obtain a reconstructed image of the arterial cavity; In which, the original image is obtained by the imaging probe moving axially at a set speed in the arterial cavity; the relative displacement coordinates corresponding to the first frame image of the original image are the initial relative displacement coordinates, and the relative displacement coordinates corresponding to the second frame image of the original image are the product of the relative speed value corresponding to the time interval between the second frame image and the first frame image and the time interval of the acquisition, and the relative displacement coordinates corresponding to each frame image are calculated sequentially in sequence; according to the relative displacement coordinates corresponding to each frame image, the distance between each frame image is adjusted according to a preset ratio to obtain the reconstructed image.

11. An intra-arterial image reconstruction device, characterized in that: include: Memory for storing computer programs; A processor is configured to implement the steps of the method for reconstructing intra-arterial images as claimed in any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for reconstructing intra-arterial images according to any one of claims 1 to 9 are implemented.

Images