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 an imaging probe is placed at a specified position within the arterial cavity, the imaging probe is driven to move axially at a set speed to obtain an original image within the arterial cavity; image similarity recognition is performed between each frame of the original image within at least one cardiac cycle to obtain a speed synchronization time point between the artery and the imaging probe; based on the speed synchronization time point, the set speed, the image similarity recognition information, and the cardiac pulsation state information, the speed-time relationship of the axial movement of the artery is calculated; based on the speed-time relationship, the distance between each frame in 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 frame spacing of the reconstructed image is more realistic, and the accuracy of the reconstructed image within the arterial cavity is higher. 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, device, equipment 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 practice, due to the relative motion between the coronary artery and the catheter, 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 inability to provide accurate 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] Performing image similarity recognition between frames of the original image within at least one cardiac cycle to obtain a velocity synchronization time point between the artery and the imaging probe;

[0010] Calculating a speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, image similarity recognition information, and heart beat state information;

[0011] According to the speed-time relationship of the arterial axial motion, the distance between each frame in the original image is adjusted to obtain a reconstructed image of the arterial cavity.

[0012] In a specific embodiment of the present application, performing image similarity recognition between frames of the original image within at least one cardiac cycle to obtain the velocity synchronization time point of the artery and the imaging probe includes:

[0013] Performing image similarity recognition between frames of the original image within at least one cardiac cycle to search for adjacent pairs of similar frames that meet set conditions; the set conditions are: the interval between the imaging times of the adjacent pairs of similar frames does not exceed a preset time interval threshold, the similarity is not less than a preset similarity threshold, and the similarity is the highest within the time interval threshold;

[0014] An intermediate time point between the adjacent pairs of similar frames is determined as a velocity synchronization time point between the artery and the imaging probe.

[0015] In a specific embodiment of the present application, the calculating the speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, the image similarity recognition information, and the heart beat state information includes:

[0016] Performing image similarity recognition and matching on frames before and after the same velocity synchronization time point within a time range not exceeding one cardiac cycle, searching for several pairs of symmetrical pairs of similar frames whose similarity is not less than a preset similarity threshold and whose similarity is the highest within this cardiac cycle;

[0017] Calculating the axial motion velocity value of the artery at the imaging time point corresponding to each pair of the symmetrically paired similar frames based on the displacement distance of the artery between the imaging time points of each pair of the symmetrically paired similar frames being equal to the displacement distance of the imaging probe, the set speed, and the heart beat state information corresponding to the imaging time point;

[0018] The velocity-time relationship of the axial motion of the artery in at least one cardiac cycle is obtained based on a plurality of axial motion velocity values ​​of the artery before and after a plurality of velocity synchronization time points.

[0019] In a specific embodiment of the present application, the heart beat state information includes: the heart is in systole or diastole at each time point, the movement speed of the artery at the alternating time point is zero, and the total arterial displacement distance in systole and diastole is equal; based on whether the axial movement direction of the artery in systole or diastole is the same as or opposite to the movement direction of the imaging probe, it is determined that the axial movement speed of the artery corresponding to the imaging time points in systole and diastole is the same as or opposite to the direction of the set speed.

[0020] In a specific embodiment of the present application, obtaining the velocity-time relationship of the axial motion of the artery in at least one cardiac cycle based on a plurality of axial motion velocity values ​​of the artery before and after a plurality of velocity synchronization time points includes:

[0021] The axial motion velocity values ​​of each artery are subjected to fitting processing or interpolation processing to obtain the velocity-time relationship of the axial motion of the artery.

[0022] In a specific embodiment of the present application, adjusting the distance between each frame in the original image according to the speed-time relationship of the axial motion of the artery to obtain the reconstructed image of the arterial cavity includes:

[0023] Confirming the starting 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;

[0024] sequentially calculating the corresponding relative displacement coordinates of each frame image according to the speed-time relationship of the arterial axial motion and the set speed;

[0025] Based on the relative displacement coordinates of each frame of image, the distance between each frame of image is adjusted to obtain a reconstructed image of the arterial cavity.

[0026] In a specific embodiment of the present application, the original image within at least one cardiac cycle is obtained by the following steps:

[0027] Determine the diastole and systole of the heart using electrocardiogram or blood pressure monitoring information;

[0028] The total duration of diastole and systole was determined as the duration of one cardiac cycle;

[0029] The original image having a duration of at least one cardiac cycle is intercepted from the original image in the arterial cavity.

[0030] In a specific embodiment of the present application, the original image within at least one cardiac cycle is obtained by the following steps:

[0031] Acquiring electrocardiogram or blood pressure monitoring information synchronized with the original image in the arterial cavity;

[0032] Based on the electrocardiogram or blood pressure monitoring information, the original image within at least one cardiac cycle is intercepted from the original image in the arterial cavity.

[0033] In a specific embodiment of the present application, the at least one cardiac cycle is greater than one cardiac cycle, and the original image within greater than one cardiac cycle is obtained by the following steps:

[0034] For each frame of the original image in the arterial cavity, performing similarity identification between the frame and subsequent frames;

[0035] If the similarity peak value appears three times repeatedly, the duration corresponding to the three similarity peak values ​​is determined to be greater than the duration of one cardiac cycle, and the similarity peak value is not less than a preset similarity threshold;

[0036] The original image having a duration greater than one cardiac cycle is intercepted from the original image in the arterial cavity.

[0037] In a specific embodiment of the present application, the velocity-time relationship of the arterial axial motion in multiple cardiac cycles is obtained from the velocity-time relationship of the arterial axial motion in one cardiac cycle according to a periodic law.

[0038] In a specific embodiment of the present application, the process of image similarity recognition includes rotating, translating and / or scaling the frame to be recognized.

[0039] In a specific embodiment of the present application, the reconstructed image 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;

[0040] Correspondingly, the adjusting the distance between the frames of the original image includes: extracting some frames of the original image according to the display frame rate and performing distance adjustment.

[0041] An intra-arterial image reconstruction device, comprising:

[0042] 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;

[0043] a speed synchronization time point acquisition module, configured to perform image similarity recognition between frames of the original image within at least one cardiac cycle to obtain a speed synchronization time point between the artery and the imaging probe;

[0044] a speed-time relationship calculation module, configured to calculate the speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, image similarity recognition information, and cardiac pulsation state information;

[0045] The image reconstruction module is used to adjust the distance between each frame in the original image according to the speed-time relationship of the axial movement of the artery to obtain a reconstructed image inside the arterial cavity.

[0046] An intra-arterial image reconstruction device, comprising:

[0047] memory for storing computer programs;

[0048] 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.

[0049] 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.

[0050] Using the technical solutions provided in the embodiments of the present application, a catheter imaging probe is first placed at a specified position within the arterial lumen, then the imaging probe is driven to retract at a set speed to obtain an original image of the arterial lumen. Image similarity recognition is performed between each frame of the original image within at least one cardiac cycle to determine the velocity synchronization time point between the artery and the imaging probe. Based on the velocity synchronization time point, the set speed, the image similarity recognition information, and cardiac pulsation status information, the velocity-time relationship of the arterial axial motion is calculated. Based on this velocity-time relationship, the distances between each frame in the original image are adjusted to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion between the artery and the imaging probe, the distances between each frame in the original image are adjusted based on the determined velocity-time relationship of the arterial axial motion. The reconstructed image of the arterial lumen obtained based on the adjusted distances is more realistic, resulting in higher accuracy in the reconstructed image of the arterial lumen. The coronary lesion length measured using the reconstructed image is more accurate, providing reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans, facilitating medical decisions such as determining stent implant length, and improving diagnostic and treatment outcomes. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 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 paying any creative work.

[0052] Figure 1 This is a flowchart of an implementation method of an intra-arterial image reconstruction method in an embodiment of the present application;

[0053] Figure 2 Schematic diagram of the movement of the imaging probe along the long axis of the artery in an embodiment of the present application;

[0054] Figure 3 This is a schematic diagram of the movement of the imaging probe during the retraction process in an embodiment of the present application;

[0055] Figure 4 Schematic diagram of the imaging sequence of the original image in the embodiment of the present application;

[0056] Figure 5 Schematic diagram of the relationship between the displacement distances of the imaging probe and the artery in adjacent cardiac cycles in an embodiment of the present application;

[0057] Figure 6 This is a schematic diagram of marking the axial motion velocity values ​​of the artery in the embodiment of the present application;

[0058] Figure 7 Schematic diagram of the time relationship curve of the arterial axial motion in the embodiment of the present application;

[0059] Figure 8 This is a schematic diagram of image reconstruction when the imaging probe is slowly retracted in an embodiment of the present application;

[0060] Figure 9 This is a schematic diagram of image reconstruction when the imaging probe is rapidly retracted in an embodiment of the present application;

[0061] Figure 10 This is a schematic structural diagram of an intra-arterial image reconstruction device according to an embodiment of the present application;

[0062] Figure 11 This is a schematic structural diagram of an intra-arterial image reconstruction device according to an embodiment of the present application;

[0063] Figure 12 Schematic diagram of the absolute displacement relationship between the imaging probe and a reference point of the artery in an embodiment of the present application. DETAILED DESCRIPTION

[0064] 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 axially at a set speed to obtain an original image of the arterial lumen. Image similarity recognition is performed between frames of the original image within at least one cardiac cycle to obtain the speed synchronization time point between the artery and the imaging probe. Based on the speed synchronization time point, the set speed, image similarity recognition information, and cardiac pulsation status information, the speed-time relationship of the arterial axial motion is calculated. The distance between each frame in the original image is then adjusted based on the speed-time relationship of the arterial axial motion to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion of the artery and the imaging probe, the distance between each frame in the original image is adjusted based on the speed-time relationship of the arterial axial motion to reconstruct the arterial image. This ensures that the frame spacing of the reconstructed image is more realistic, resulting in higher accuracy in the reconstructed arterial image. The method also provides reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans, facilitating medical decisions such as determining stent length, and improving diagnostic and treatment outcomes.

[0065] 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.

[0066] 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:

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] S120: Perform image similarity recognition between frames of the original image within at least one cardiac cycle to obtain a speed synchronization time point between the artery and the imaging probe.

[0073] During the heart's contraction and relaxation cycle, known as the cardiac cycle, arteries undergo periodic back-and-forth motion along their longitudinal axis. The extent and periodicity of this motion are particularly pronounced in the coronary arteries.

[0074] At the same time, the imaging probe of the catheter moves axially at a certain speed in the artery. The movement of the imaging probe of the catheter relative to the artery along the long axis of the artery is as follows: Figure 2 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 some parts of the arterial cavity, such as Figure 3 As shown, when the user observes the image acquired by the imaging probe or the static image converted from the image (such as the arterial long-axis image), it is impossible to accurately know the actual shape of the arterial cavity, which is not conducive to the judgment and measurement of the lesion.

[0075] After obtaining the original image of the arterial cavity, image similarity recognition can be performed between frames of the original image within at least one cardiac cycle to determine the time point of velocity synchronization between the artery and the imaging probe. The image similarity recognition process can include rotating, translating, and / or scaling the frames to be recognized.

[0076] In a specific embodiment of the present application, this step may include the following steps:

[0077] Step 1: Perform image similarity recognition between frames of the original image within at least one cardiac cycle, and search for adjacent pairs of similar frames that meet set conditions; the set conditions are: the imaging time interval of the adjacent pairs of similar frames does not exceed a preset time interval threshold, the similarity is not lower than a preset similarity threshold, and the similarity is the highest within the time interval threshold;

[0078] Step 2: The middle time point between adjacent pairs of similar frames is determined as the velocity synchronization time point between the artery and the imaging probe.

[0079] For ease of description, the above two steps are combined for illustration.

[0080] After the catheter's imaging probe is placed at a designated position within the arterial lumen and driven axially at a set speed to obtain an original image of the arterial lumen, the original image within at least one cardiac cycle can be extracted. Image similarity recognition is performed between frames of the original image within the at least one cardiac cycle to find adjacent pairs of similar frames that meet set conditions. For any adjacent pair of similar frames, the interval between the imaging times of the adjacent pair of similar frames does not exceed a preset time interval threshold, and the similarity of the adjacent pair of similar frames is not less than a preset similarity threshold and has the highest similarity within the time interval threshold.

[0081] like Figure 3 As shown in FIG, the imaging probe moves in a "Z-shaped" manner relative to the artery. When the imaging probe is synchronized with the speed of the artery, the imaging probe will repeatedly image a portion of the artery. Figure 4 As shown, the imaging probe moves along the axial direction at the set speed and collects the imaging sequence A1-A 11 When the set speed is synchronized with the movement speed of the artery, the imaging sequence A acquired by the imaging probe 12 -A 22 A will appear 11 With A 12 Similar, A 10 With A 13 Similar, ...A1 and A 22 A similar situation. Obviously, A 11 With A 12 The middle time point between the two is the time point of arterial and imaging probe speed synchronization. 33 For several frames in the original image within at least one cardiac cycle, image similarity recognition is performed on each frame, and adjacent pairs of similar frames that meet the set conditions can be found: A 11 With A 12 、A 22 With A 23 .

[0082] The time interval threshold can be set according to the time interval of the imaging probe for image acquisition, so that the adjacent pairs of similar frames found are adjacent frames as much as possible. The similarity threshold can be set to 90% or higher.

[0083] After finding adjacent pairs of similar frames that meet the set conditions, the middle time point between the adjacent pairs of similar frames can be determined as the speed synchronization time point of the artery and the imaging probe. Figure 4 A 11 With A 12 The middle time point between 22 With A 23 The intermediate time points between the two can be determined as the velocity synchronization time points between the artery and the imaging probe.

[0084] S130: Calculating the speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, the image similarity recognition information, and the heart beat state information.

[0085] After performing image similarity recognition between frames of original images within at least one cardiac cycle and obtaining the speed synchronization time point between the artery and the imaging probe, the speed-time relationship of the axial motion of the artery can be calculated based on the speed synchronization time point, the set speed, the image similarity recognition information, and the cardiac pulsation state information.

[0086] In a specific embodiment of the present application, this step may include the following steps:

[0087] The first step is to perform image similarity recognition and matching on frames before and after the same velocity synchronization time point within a time range of no more than one cardiac cycle, and to find several pairs of symmetrical pairs of similar frames whose similarity is not less than a preset similarity threshold and whose similarity is the highest within this cardiac cycle.

[0088] The second step: calculating the axial motion velocity value of the artery at the imaging time point corresponding to each pair of symmetrically similar frames based on the displacement distance of the artery between the imaging time points of each pair of symmetrically similar frames being equal to the displacement distance of the imaging probe, the set speed, and the heart beat state information corresponding to the imaging time point;

[0089] The third step: obtaining a velocity-time relationship of the axial motion of the artery within at least one cardiac cycle based on a plurality of arterial axial motion velocity values ​​before and after a plurality of velocity synchronization time points.

[0090] For ease of description, the above three steps are combined for explanation.

[0091] Image similarity recognition is performed between frames of the original image within at least one cardiac cycle, and at least two velocity synchronization time points between the artery and the imaging probe are obtained. Image similarity recognition and matching can be performed on frames before and after the same velocity synchronization time point within a time range of no more than one cardiac cycle, and several pairs of symmetrical pairs of similar frames are found, whose similarity is not less than a preset similarity threshold and whose similarity is the highest within this cardiac cycle.

[0092] like Figure 4 As shown, for A which is determined as the speed synchronization time point 11 With A 12 The intermediate time point between the two is used to identify and match the frames before and after the speed synchronization time point. The pairs of symmetrical similar frames found are: A1 and A 22 , A2 and A 21 , A3 and A 20 ,……,A 11 With A 12 Similarly, for A, which is determined as the speed synchronization time point 22 With A 23 At the intermediate time point between the two, the frames before and after the speed synchronization time point are identified and matched for image similarity. The pairs of symmetrical similar frames found are: A 12 With A 33 、A 13 With A 32 、A 14 With A 31 ,……,A 22 With A 23 It can also be considered that A1-A 11 With A 23 -A 33 A parallel similarity relationship 12 -A 22 With A 23 -A 33 They are in a symmetrical and similar relationship.

[0093] For each pair of symmetrically similar frames, the displacement distance of the artery between the imaging time points is equal to the displacement distance of the imaging probe.

[0094] The heart beat state information may include: the heart is in systole or diastole at each time point, the displacement velocity of the artery at the alternating time point is zero, and the total displacement distance of the artery in systole and diastole is equal; based on whether the axial movement direction of the artery in systole or diastole is the same as or opposite to the movement direction of the imaging probe, it can be determined whether the axial movement velocity of the artery corresponding to the imaging time point in systole and diastole is the same as or opposite to the direction of the set velocity.

[0095] When the axial movement direction of the artery during systole or diastole is the same as the movement direction of the imaging probe, it can be determined that the axial movement speed of the artery corresponding to the imaging time points in systole and diastole is in the same direction as the set speed. When the axial movement direction of the artery during systole or diastole is opposite to the movement direction of the imaging probe, it can be determined that the axial movement speed of the artery corresponding to the imaging time points in systole and diastole is opposite to the direction of the set speed.

[0096] That is, the following information about arterial displacement can be determined:

[0097] (1) Image similarity recognition is performed between the frames of the original image within at least one cardiac cycle. At the intermediate time point between the pairs of similar frames that meet the set conditions, the movement speed of the artery is the same as the set speed of the imaging probe of the catheter. Figure 4 A 11 、A 12 The middle time point and adjacent pair-wise similar frames A 22 、A 23 The middle time points are all the time points when the movement speed of the artery is the same as the set speed of the imaging probe.

[0098] (2) Within a time range of no more than one cardiac cycle, perform image similarity recognition and matching on the frames before and after the same speed synchronization time point, and find several pairs of symmetrical pairs of similar frames that meet the similarity not less than the preset similarity threshold and have the highest similarity within this cardiac cycle. The displacement distance of the artery between the imaging time points of each pair of symmetrical pairs of similar frames is equal to the displacement distance of the imaging probe. Figure 4 In the search, several pairs of symmetrically similar frames are found, including A1 and A 22 , A2 and A 21 , A3 and A 20 ,……,A 11 With A 12 etc., A1 and A 22 The displacement distance of the artery between the imaging time points is equal to the displacement distance of the imaging probe, and A2 is equal to A 21 The displacement distance of the artery between the imaging time points is equal to the displacement distance of the imaging probe, and the same applies to other points.

[0099] (3) Within the time range of two adjacent cardiac cycles, perform image similarity recognition and matching on the frames before the previous speed synchronization time point and the frames after the next speed synchronization time point of the two adjacent speed synchronization time points, and find several pairs of parallel pairs of similar frames that meet the similarity not less than the preset similarity threshold and have the highest similarity within the two adjacent cardiac cycles. The displacement distance of the imaging probe between the imaging time points of each pair of parallel pairs of similar frames is equal to the displacement distance of the artery within the relative time interval. The relative time interval here is the absolute value of the time difference between the parallel pairs of similar frames from the start of the heartbeat to the time required for the image to be generated in each cardiac cycle. For example, imaging sequence A X1 -A Xn With A Y1 -A Yn With parallel similarity relationship, A X1 With A Y1 are parallel pairs of similar frames, and the displacement distance of the imaging probe between the imaging time points of the parallel pairs of similar frames is equal to the displacement distance of the artery in the relative time interval, such as Figure 5 As shown. The relative time interval is: T X1 With T Y1 The absolute value of the difference between X1 A X1 The time required from the start of the cardiac cycle to the generation of the image in one's own cardiac cycle, T Y1 A Y1 The time required from the start of the cardiac cycle to the generation of the image in one's own cardiac cycle.

[0100] (4) The heart is in systole or diastole at each time point, and the arterial velocity at the alternating time points is zero. The original image can be synchronized with the electrocardiogram, and the alternating time points of the start and end of the cardiac cycle, and the alternating time points of the heart's systole and diastole can be regarded as the time points when the arterial velocity is zero. The heart's systole in the cardiac cycle includes the isovolumetric contraction period, the rapid ejection period, and the slowed ejection period, and the heart's diastole includes the isovolumetric relaxation period, the rapid filling period, and the slowed filling period.

[0101] (5) According to the periodicity of cardiac contraction and relaxation, the total distance of arterial displacement during cardiac contraction is equal to the total distance of arterial displacement during cardiac diastole.

[0102] Based on the above information, i.e., the displacement distance of the artery between the imaging time points of each pair of symmetrically similar frames is equal to the displacement distance of the imaging probe, the set speed, and the heart beat state information corresponding to the imaging time point, the axial motion velocity value of the artery at the imaging time point corresponding to each pair of symmetrically similar frames can be calculated.

[0103] Then, based on a number of arterial axial motion velocity values ​​before and after a number of velocity synchronization time points, the velocity-time relationship of the arterial axial motion within at least one cardiac cycle can be obtained.

[0104] Specifically, the axial motion velocity value of the artery may be subjected to fitting processing or interpolation processing to obtain the displacement-time relationship of the axial motion of the artery.

[0105] For ease of understanding, a velocity-time coordinate system can be established, with the X-axis being time and the Y-axis being velocity. The axial velocity values ​​of the arteries can be marked in the velocity-time coordinate system, such as Figure 6 Shown (illustrative only).

[0106] By fitting the axial motion velocity values ​​of the artery, the velocity-time relationship of the axial motion of the artery in at least one cardiac cycle is obtained. The velocity-time relationship can be expressed by a function or a curve. The velocity-time relationship expressed by the curve is as follows: Figure 7 shown.

[0107] Alternatively, the velocity-time relationship of the arterial axial motion within at least one cardiac cycle can be obtained by performing interpolation processing on the arterial axial motion velocity values, that is, inserting new points by function calculation.

[0108] After obtaining the velocity-time relationship of the arterial axial motion during at least one cardiac cycle, the velocity-time relationship of the arterial axial motion during multiple cardiac cycles can be derived using the periodicity. Specifically, the velocity-time relationship of the arterial axial motion during multiple cardiac cycles can be derived from the velocity-time relationship of the arterial axial motion during a single cardiac cycle using the periodicity. Alternatively, synchronized ECG or blood pressure monitoring can be used to obtain time-correlated cardiac pulse state information within the entire time range required for reconstruction.

[0109] S140: Adjust the distance between each frame in the original image according to the speed-time relationship of the arterial axial motion to obtain a reconstructed image of the arterial cavity.

[0110] After obtaining the velocity-time relationship of the arterial axial motion, the distance between each two adjacent frames of the original image can be obtained based on the velocity-time relationship, and the distance between each frame in the original image can be adjusted to reconstruct the image inside the arterial cavity.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] Using the method provided in an embodiment of the present application, a catheter imaging probe is first placed at a specified position within the arterial lumen. The imaging probe is then driven to retract at a set speed to obtain an original image of the arterial lumen. Image similarity recognition is performed between each frame of the original image within at least one cardiac cycle to determine the velocity synchronization time point between the artery and the imaging probe. Based on the velocity synchronization time point, the set speed, the image similarity recognition information, and cardiac pulsation status information, the velocity-time relationship of the arterial axial motion is calculated. Based on this velocity-time relationship, the distances between each frame in the original image are adjusted to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion between the artery and the imaging probe, the distances between each frame in the original image are adjusted based on the determined velocity-time relationship of the arterial axial motion. The reconstructed image of the arterial lumen obtained based on the adjusted distances is more realistic, resulting in higher accuracy in the reconstructed image of the arterial lumen. The coronary lesion length measured using the reconstructed image is more accurate, providing reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans, facilitating medical decisions such as determining stent length, and improving diagnostic and treatment outcomes.

[0116] In one embodiment of the present application, step S140 may include the following steps:

[0117] Step 1: 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, and set the initial relative displacement coordinates accordingly;

[0118] Step 2: Calculate the corresponding relative displacement coordinates of each frame image sequentially according to the velocity-time relationship of the arterial axial motion and the set speed;

[0119] Step 3: Based on the relative displacement coordinates of each frame image, adjust the distance of each frame image to obtain the reconstructed image inside the arterial cavity.

[0120] For ease of description, the above three steps are combined for explanation.

[0121] After calculating the velocity-time relationship of the arterial axial motion based on the velocity synchronization time point, the set velocity, image similarity recognition information, and cardiac pulsation status information, the corresponding relationship between the arterial velocity value and time can be obtained through the velocity-time relationship. The starting velocity value in the velocity-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.

[0122] After determining the above correspondence, the relative displacement coordinates corresponding to each frame of the original image can be sequentially calculated based on the velocity-time relationship of the arterial axial motion 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 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 subsequent frame can be sequentially calculated.

[0123] After obtaining the relative displacement coordinates corresponding to each frame of the original image, the distance between the frames can be further adjusted based on the relative displacement coordinates. Alternatively, the distance between the frames can be adjusted based on the relative displacement coordinates according to a preset ratio. 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 lumen.

[0124] For ease of understanding, the velocity-time relationship of the arterial axial motion and the set velocity of the imaging probe motion can be expressed by curves, and then the two curves are placed in the same coordinate system, such as Figure 8 、 Figure 9As shown in the figure, the relative displacement coordinates corresponding to each frame of the original image can be obtained by measurement. For example, by calculating the area of ​​the shaded parts 1, 2, 3, 4, and 5, the axial displacement of the artery between the six adjacent frames of the original image can be obtained, and then the relative displacement coordinates of each frame can be calculated. 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 8 This is a schematic diagram of image reconstruction when the imaging probe is slowly retracted. Figure 9 Schematic diagram of image reconstruction when the imaging probe is quickly retracted.

[0125] In the embodiment of the present application, in step S120, it is necessary to perform image similarity recognition between frames of original images within at least one cardiac cycle. Specifically, the original images within at least one cardiac cycle can be obtained by the following steps:

[0126] The first step is to determine the diastole and systole of the heart using electrocardiogram or blood pressure monitoring information;

[0127] The second step: determine the total duration of diastole and systole as the duration of one cardiac cycle;

[0128] The third step is to intercept an original image with a duration of at least one cardiac cycle from the original image in the arterial cavity.

[0129] The heart is always in a state of relaxation and contraction. The diastolic and systolic periods of the heart can be determined using electrocardiogram (ECG) or blood pressure monitoring information. The total duration of the heart's diastolic and systolic periods can be determined as the duration of a cardiac cycle. After the imaging probe of the catheter is placed at a specified position in the arterial cavity and the imaging probe is driven to move axially at a set speed to obtain the original image of the arterial cavity, the original image of at least one cardiac cycle can be captured from the original image of the arterial cavity. Image similarity recognition and subsequent steps are then performed between the frames of the original image within at least one cardiac cycle to obtain a reconstructed image of the arterial cavity.

[0130] In another embodiment of the present application, the original images within at least one cardiac cycle may be obtained by the following steps:

[0131] Step 1: Acquire electrocardiogram or blood pressure monitoring information synchronized with the original image in the arterial cavity;

[0132] Step 2: Based on the electrocardiogram or blood pressure monitoring information, an original image within at least one cardiac cycle is captured from the original image in the arterial cavity.

[0133] In practical applications, while driving the imaging probe to move and collect images, electrocardiogram detection or blood pressure monitoring can be performed synchronously to obtain electrocardiogram or blood pressure monitoring information synchronized with the original image in the arterial cavity.

[0134] The cardiac cycle can be determined using electrocardiogram (ECG) or blood pressure monitoring information. Based on these ECG and blood pressure monitoring information, a raw image within at least one cardiac cycle can be captured from the original image within the arterial lumen. This allows for a more accurate raw image within at least one cardiac cycle. Image similarity recognition is then performed between the frames of the raw image within the at least one cardiac cycle, and subsequent steps are performed to obtain a reconstructed image within the arterial lumen.

[0135] In another embodiment of the present application, at least one cardiac cycle is greater than one cardiac cycle, and the original image within greater than one cardiac cycle can be obtained by the following steps:

[0136] The first step is to identify the similarity between each frame of the original image in the arterial cavity and the subsequent frames;

[0137] The second step: if the similarity peak value appears three times repeatedly, the duration corresponding to the three similarity peak values ​​is determined to be greater than the duration of one cardiac cycle, and the similarity peak value is not less than the preset similarity threshold value;

[0138] The third step is to intercept an original image with a duration greater than one cardiac cycle from the original image in the arterial cavity.

[0139] The imaging probe of the catheter is placed at a specified position in the arterial cavity, and the imaging probe is driven to move axially at a set speed to obtain the original image of the arterial cavity. For each frame of the original image, the similarity between the frame image and subsequent frames can be identified.

[0140] For any frame image, after similarity recognition between this frame image and subsequent frames, if there are three similarity peaks, and all three similarity peaks are not lower than the preset similarity threshold, it means that the artery position corresponding to this frame image has been repeatedly imaged three times, that is, it has encountered the imaging probe three times. It can be considered that the time for the artery to move and chase the imaging probe exceeds one cardiac cycle. If there are only two similarity peaks, the time corresponding to the two similarity peaks is less than one cardiac cycle, because the imaging probe itself has a motion speed. Figure 12As shown in the figure, it is a schematic diagram of the absolute displacement relationship between the imaging probe and a reference point of the artery. As time goes by, the absolute displacement of the imaging probe continues to increase, while the absolute displacement of the reference point of the artery fluctuates back and forth. The point where the two intersect is the time point of encounter and repeated imaging. If there are three similarity peaks, the duration corresponding to the three similarity peaks will inevitably be greater than the duration of one cardiac cycle.

[0141] It should be noted that not every frame will have three similarity peaks when similarity recognition is performed with subsequent frames. It will not appear again after the first few frames of the imaging process. In this embodiment of the application, as long as the frames corresponding to the three repeated similarity peaks can be found, the duration that is greater than one cardiac cycle and less than two cardiac cycles can be determined.

[0142] An original image with a duration greater than one cardiac cycle is intercepted from the original image in the arterial cavity, and image similarity recognition and subsequent steps are performed between frames of the original image in at least one cardiac cycle to obtain a reconstructed image in the arterial cavity.

[0143] 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 method described above can refer to each other.

[0144] See also Figure 10 As shown, the device may include the following modules:

[0145] The original image acquisition module 1010 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;

[0146] The velocity synchronization time point obtaining module 1020 is used to perform image similarity recognition between frames of the original image within at least one cardiac cycle to obtain the velocity synchronization time point between the artery and the imaging probe;

[0147] The speed-time relationship calculation module 1030 is used to calculate the speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, the image similarity recognition information and the heart beat state information;

[0148] The image reconstruction module 1040 is used to adjust the distance between each frame in the original image according to the speed-time relationship of the arterial axial motion to obtain a reconstructed image of the arterial cavity.

[0149] 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 to retract at a set speed to obtain a raw image of the arterial lumen. Image similarity recognition is performed between each frame of the raw image within at least one cardiac cycle to determine the time point of velocity synchronization between the artery and the imaging probe. Based on the velocity synchronization time point, the set speed, image similarity recognition information, and cardiac pulsation status information, the velocity-time relationship of the arterial axial motion is calculated. Based on this velocity-time relationship, the distances between each frame in the raw image are adjusted to obtain a reconstructed image of the arterial lumen. Taking into account the relative motion between the artery and the imaging probe, the distances between each frame in the raw image are adjusted based on the determined velocity-time relationship of the arterial axial motion. The reconstructed image of the arterial lumen obtained based on the adjusted distances is more realistic, resulting in a more accurate reconstructed image of the arterial lumen. The length of the coronary lesion measured using the reconstructed image is more accurately measured, providing reliable numerical evidence for clinicians to diagnose and determine relevant treatment plans, facilitating medical decisions such as determining stent length, and improving diagnostic and treatment outcomes.

[0150] In a specific embodiment of the present application, the speed synchronization time point obtaining module 1020 is used to:

[0151] Performing image similarity recognition between frames of original images within at least one cardiac cycle to find adjacent pairs of similar frames that meet set conditions; the set conditions are: the imaging time interval of the pairs of similar frames does not exceed a preset time interval threshold, the similarity is not less than a preset similarity threshold, and the similarity is the highest within the time interval threshold;

[0152] The middle time point between adjacent pairs of similar frames was determined as the velocity synchronization time point between the artery and the imaging probe.

[0153] In a specific embodiment of the present application, the speed-time relationship calculation module 1030 is used to:

[0154] Within a time range of no more than one cardiac cycle, perform image similarity recognition and matching on the frames before and after the same velocity synchronization time point, and find several pairs of symmetrical pairs of similar frames that meet a similarity not less than a preset similarity threshold and have the highest similarity within this cardiac cycle;

[0155] Calculate the axial motion velocity value of the artery at the imaging time point corresponding to each pair of symmetrically paired similar frames based on the displacement distance of the artery between the imaging time points of each pair of symmetrically paired similar frames being equal to the displacement distance of the imaging probe, the set speed, and the heart beat state information corresponding to the imaging time point;

[0156] According to a plurality of arterial axial motion velocity values ​​before and after a plurality of velocity synchronization time points, a velocity-time relationship of the arterial axial motion in at least one cardiac cycle is obtained.

[0157] In a specific embodiment of the present application, the heart beat state information includes: the heart is in systole or diastole at each time point, the movement speed of the artery at the alternating time point is zero, and the total arterial displacement distance in systole and diastole is equal; based on whether the axial movement direction of the artery in systole or diastole is the same as or opposite to the movement direction of the imaging probe, it is determined that the axial movement speed of the artery corresponding to the imaging time point in systole and diastole is the same as or opposite to the direction of the set speed.

[0158] In a specific embodiment of the present application, the speed-time relationship calculation module 1030 is used to:

[0159] The axial motion velocity values ​​of each artery are fitted or interpolated to obtain the velocity-time relationship of the axial motion of the artery.

[0160] In a specific embodiment of the present application, the image reconstruction module 1040 is configured to:

[0161] 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, and set the initial relative displacement coordinates accordingly;

[0162] According to the speed-time relationship of the arterial axial motion and the set speed, the corresponding relative displacement coordinates of each frame image are calculated sequentially;

[0163] Based on the relative displacement coordinates of each frame of image, the distance between each frame of image is adjusted to obtain a reconstructed image inside the arterial cavity.

[0164] In a specific embodiment of the present application, the original image acquisition module 1010 is further configured to acquire original images within at least one cardiac cycle through the following steps:

[0165] Determine the diastole and systole of the heart using electrocardiogram or blood pressure monitoring information;

[0166] The total duration of diastole and systole was determined as the duration of one cardiac cycle;

[0167] An original image with a duration of at least one cardiac cycle is captured from the original image in the arterial cavity.

[0168] In a specific embodiment of the present application, the original image acquisition module 1010 is further configured to acquire original images within at least one cardiac cycle through the following steps:

[0169] Acquire electrocardiogram or blood pressure monitoring information synchronized with the original images inside the arterial cavity;

[0170] Based on electrocardiogram or blood pressure monitoring information, an original image within at least one cardiac cycle is intercepted from the original image in the arterial cavity.

[0171] In a specific embodiment of the present application, at least one cardiac cycle is greater than one cardiac cycle, and the original image acquisition module 1010 is further configured to acquire original images within greater than one cardiac cycle by the following steps:

[0172] For each frame of the original image in the arterial cavity, similarity recognition is performed between the frame and subsequent frames;

[0173] If the similarity peak value appears three times repeatedly, the duration corresponding to the three similarity peak values ​​is determined to be greater than the duration of one cardiac cycle, and the similarity peak value is not less than the preset similarity threshold value;

[0174] An original image having a duration greater than one cardiac cycle is intercepted from the original image in the arterial cavity.

[0175] In a specific embodiment of the present application, the velocity-time relationship of the arterial axial motion in multiple cardiac cycles is obtained from the velocity-time relationship of the arterial axial motion in one cardiac cycle according to a periodic law.

[0176] In a specific embodiment of the present application, the process of image similarity recognition includes rotating, translating and / or scaling the frame to be recognized.

[0177] In a specific embodiment of the present application, the reconstructed image 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;

[0178] Correspondingly, the image reconstruction module 1040 is configured to extract partial frames of the original image according to the display frame rate to perform distance adjustment.

[0179] Corresponding to the above method embodiment, the present application embodiment further provides an intra-arterial image reconstruction device, comprising:

[0180] memory for storing computer programs;

[0181] The processor is used to implement the steps of the above-mentioned arterial intraluminal image reconstruction method when executing the computer program.

[0182] like Figure 11 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.

[0183] 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.

[0184] 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.

[0185] 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:

[0186] 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;

[0187] Performing image similarity recognition between frames of original images within at least one cardiac cycle to obtain a speed synchronization time point between the artery and the imaging probe;

[0188] Calculate the velocity-time relationship of the arterial axial motion according to the velocity synchronization time point, the set velocity, the image similarity recognition information, and the heart beat state information;

[0189] According to the speed-time relationship of the arterial axial motion, the distance between each frame in the original image is adjusted to obtain a reconstructed image inside the arterial cavity.

[0190] 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 displacement speed data, image data, etc.

[0191] 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.

[0192] The communication interface 12 may be an interface of a communication module, and is used to connect to other devices or systems.

[0193] Of course, it needs to be explained that Figure 11 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 11 More or fewer components than shown, or combinations of certain components.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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. An intra-arterial image reconstruction device, characterized in that: include: 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; a speed synchronization time point acquisition module, configured to perform image similarity recognition between frames of the original image within at least one cardiac cycle to obtain a speed synchronization time point between the artery and the imaging probe; a speed-time relationship calculation module, configured to calculate the speed-time relationship of the arterial axial motion according to the speed synchronization time point, the set speed, image similarity recognition information, and cardiac pulsation state information; The image reconstruction module is used to adjust the distance between each frame in the original image according to the speed-time relationship of the axial movement of the artery to obtain a reconstructed image inside the arterial cavity.

2. The device according to claim 1, characterized in that The speed synchronization time point acquisition module is specifically used for: Performing image similarity recognition between frames of the original image within at least one cardiac cycle to search for adjacent pairs of similar frames that meet set conditions; the set conditions are: the interval between the imaging times of the adjacent pairs of similar frames does not exceed a preset time interval threshold, the similarity is not less than a preset similarity threshold, and the similarity is the highest within the time interval threshold; An intermediate time point between the adjacent pairs of similar frames is determined as a velocity synchronization time point between the artery and the imaging probe.

3. The device according to claim 1 or 2, characterized in that The speed-time relationship calculation module is specifically used for: Performing image similarity recognition and matching on frames before and after the same velocity synchronization time point within a time range not exceeding one cardiac cycle, searching for several pairs of symmetrical pairs of similar frames whose similarity is not less than a preset similarity threshold and whose similarity is the highest within this cardiac cycle; Calculating the axial motion velocity value of the artery at the imaging time point corresponding to each pair of the symmetrically paired similar frames based on the displacement distance of the artery between the imaging time points of each pair of the symmetrically paired similar frames being equal to the displacement distance of the imaging probe, the set speed, and the heart beat state information corresponding to the imaging time point; The velocity-time relationship of the axial motion of the artery in at least one cardiac cycle is obtained based on a plurality of axial motion velocity values ​​of the artery before and after a plurality of velocity synchronization time points.

4. The device according to claim 3, characterized in that The heart beat state information includes: the heart is in systole or diastole at each time point, the movement speed of the artery at the alternating time points is zero, and the total displacement distance of the artery in systole and diastole is equal; based on whether the axial movement direction of the artery in systole or diastole is the same as or opposite to the movement direction of the imaging probe, determining whether the axial movement speed of the artery corresponding to the imaging time points in systole and diastole is the same as or opposite to the direction of the set speed.

5. The device according to claim 3, characterized in that The speed-time relationship calculation module is specifically used for: The axial motion velocity values ​​of each artery are subjected to fitting processing or interpolation processing to obtain the velocity-time relationship of the axial motion of the artery.

6. The device according to claim 1, characterized in that The image reconstruction module is specifically used for: Confirming the starting 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; sequentially calculating the corresponding relative displacement coordinates of each frame image according to the speed-time relationship of the arterial axial motion and the set speed; Based on the relative displacement coordinates of each frame of image, the distance between each frame of image is adjusted to obtain a reconstructed image of the arterial cavity.

7. The device according to claim 1, characterized in that The original image acquisition module is specifically used for: Determine the diastole and systole of the heart using electrocardiogram or blood pressure monitoring information; The total duration of diastole and systole was determined as the duration of one cardiac cycle; The original image having a duration of at least one cardiac cycle is intercepted from the original image in the arterial cavity.

8. The device according to claim 1, characterized in that The original image acquisition module is specifically used for: Acquiring electrocardiogram or blood pressure monitoring information synchronized with the original image in the arterial cavity; Based on the electrocardiogram or blood pressure monitoring information, the original image within at least one cardiac cycle is intercepted from the original image in the arterial cavity.

9. The device according to claim 1, characterized in that The at least one cardiac cycle is greater than one cardiac cycle, and the original image acquisition module is specifically used for: For each frame of the original image in the arterial cavity, performing similarity identification between the frame and subsequent frames; If the similarity peak value appears three times repeatedly, the duration corresponding to the three similarity peak values ​​is determined to be greater than the duration of one cardiac cycle, and the similarity peak value is not less than a preset similarity threshold; The original image having a duration greater than one cardiac cycle is intercepted from the original image in the arterial cavity.

10. The device according to claim 1, characterized in that The velocity-time relationship of the arterial axial motion in a plurality of cardiac cycles is obtained from the velocity-time relationship of the arterial axial motion in one cardiac cycle according to a periodic law.

11. The device according to claim 1, characterized in that The process of image similarity recognition includes rotating, translating and / or scaling the frame to be recognized.

12. The device according to claim 1, characterized in that The reconstructed image 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, the image reconstruction module is specifically configured to extract partial frames of the original image according to the display frame rate to perform distance adjustment.

Images