Method, device, electronic device and medium for obtaining motion parameters of coronary blood vessels

Abstract

The present invention relates to a method, device, electronic device and medium for obtaining motion parameters of coronary blood vessels, belonging to the technical field of image processing. Through a second mapping relationship, the present invention transforms the problem of motion estimation of coronary blood vessels into the problem of estimating the harmonic coefficients of the cardiac pulsation signal, and then determines the motion parameters of the coronary blood vessels based on the harmonic coefficients of the cardiac pulsation signal, thereby eliminating the influence of motion components other than cardiac pulsation, enabling the obtained motion parameters of the coronary blood vessels to accurately quantify cardiac pulsation, which is beneficial to subsequent effective analysis of cardiac pulsation.

Description

Background Art

[0002] X-ray coronary angiography technology can provide reliable and visual coronary angiography image data, which can be used for the motion estimation of coronary blood vessels and then for the analysis of cardiac pulsation.

[0003] However, the motion of coronary blood vessels is mixed, including cardiac pulsation components, respiratory motion components, and other possible translational motion components. As a result, it is difficult for the prior art to accurately obtain the motion parameters of coronary blood vessels that can quantify cardiac pulsation, which is not conducive to the subsequent effective analysis of cardiac pulsation. Summary of the Invention

[0004] To solve the defect that it is difficult for the prior art to accurately obtain the motion parameters of coronary blood vessels that can quantify cardiac pulsation, the present invention provides a method, device, electronic device, and medium for obtaining the motion parameters of coronary blood vessels.

[0005] In a first aspect, to solve the above technical problems, the present invention provides a method for obtaining the motion parameters of coronary blood vessels, including:

[0006] Obtain a coronary angiography blood vessel sequence of the coronary blood vessels;

[0007] Based on the coronary angiography blood vessel sequence, obtain the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary blood vessels, where the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the smallest frequency among the cardiac pulsation signals corresponding to the coronary blood vessels, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary blood vessels;

[0008] Based on the coronary angiography blood vessel sequence, establish a three-dimensional blood vessel tree structure, which includes the spatial positions of the coronary blood vessels at different times;

[0009] Based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal, determine a second mapping relationship through a first mapping relationship, where the first mapping relationship represents the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the harmonic coefficients corresponding to the cardiac pulsation signals, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known;

[0010] Based on the second mapping relationship, determine a first parameter value, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field;

[0011] Based on the first parameter value, determine the motion parameters of the coronary blood vessels.

[0012] The beneficial effects of the present invention are as follows: Through the second mapping relationship, the problem of motion estimation of coronary blood vessels is transformed into the problem of estimating the harmonic coefficients of cardiac pulsation signals, and then the motion parameters of coronary blood vessels are determined based on the harmonic coefficients of cardiac pulsation signals, thereby eliminating the influence of motion components other than cardiac pulsation, enabling the obtained motion parameters of coronary blood vessels to accurately quantify cardiac pulsation and facilitating subsequent effective analysis of cardiac pulsation.

[0013] Further, the first mapping relationship includes a third mapping relationship and a fourth mapping relationship. The third mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the offset of the spatial positions of the coronary blood vessels at every two adjacent times, and the harmonic coefficients corresponding to the cardiac pulsation signals. The fourth mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the offset of the spatial positions of the coronary blood vessels at two adjacent times.

[0014] Based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal, the second mapping relationship is determined through the first mapping relationship, including:

[0015] According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the third mapping relationship, a fifth mapping relationship is determined. The fifth mapping relationship is the third mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known.

[0016] According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the fourth mapping relationship, a sixth mapping relationship is determined. The sixth mapping relationship is the fourth mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known.

[0017] According to each offset, the fifth mapping relationship, and the sixth mapping relationship, the second mapping relationship is determined.

[0018] The beneficial effects of adopting the above improvement scheme are as follows: By utilizing the correlation relationship between the fifth mapping relationship and the sixth mapping relationship for each offset, the second mapping relationship is determined, thereby transforming the motion estimation problem based on the offset into the parameter estimation problem of harmonic coefficients to eliminate the influence of motion components other than cardiac pulsation.

[0019] Further, based on the first parameter value, the motion parameters of the coronary blood vessels are determined, including:

[0020] Input the first parameter value into the fifth mapping relationship to obtain the offset of the spatial positions of the coronary blood vessels at every two adjacent times.

[0021] Based on the offset of the spatial positions of every two adjacent moments of the coronary artery vessels, calculate the amplitude and phase of the three-dimensional motion of the coronary artery vessels, and determine the amplitude and phase of the three-dimensional motion as the motion parameters of the coronary artery vessels.

[0022] The beneficial effect of adopting the above improvement scheme is: determining the motion parameters by using the preset fifth mapping relationship and the obtained harmonic coefficients can improve the acquisition efficiency of the motion parameters and effectively realize the motion estimation of the coronary artery vessels.

[0023] Furthermore, the third mapping relationship is represented by the following formula:

[0024]

[0025] where (x, y, z) represents the spatial position of the coronary artery vessels, t represents the moment, u(x, y, z, t), v(x, y, z, t), o(x, y, z, t) respectively represent the offsets of the spatial position of the coronary artery vessels at the moment t and the spatial position at the moment adjacent to the moment t in the x, y, z three directions, a m , b m , c m , d m , e m , f m represents the harmonic coefficient corresponding to the m-th cardiac pulsation signal, M represents the number of cardiac pulsation signals corresponding to the coronary artery vessels, the angular frequency ω m = 2πm / T, T represents the period of the fundamental frequency cardiac pulsation signal, and π represents the pi.

[0026] The beneficial effect of adopting the above improvement scheme is: establishing the third mapping relationship in combination with the periodic characteristics of cardiac pulsation enables the obtained offset to effectively represent the motion trajectory of the coronary artery vessels within the period.

[0027] Furthermore, the fourth mapping relationship is represented by the following formula:

[0028] E(u, v, o) = E1(u, v, o) + λE2(u, v, o)

[0029]

[0030] where E(u, v, o) represents the energy of the optical flow field, I(x, y, z, t) represents the pixel value of the spatial position (x, y, z) at the moment t in the three-dimensional vascular tree structure, (x, y, z) represents the spatial position, t represents the moment, u, v, o respectively represent the offsets of the spatial positions of the coronary artery vessels between two adjacent moments in the x, y, z three directions, T represents the period of the fundamental frequency cardiac pulsation signal, λ represents the energy term parameter for balancing E1(u, v, o) and E2(u, v, o), and D2 represents the coordinate range in the optical flow field. Represents the first-order difference operation.

[0031] The beneficial effects of adopting the above improvement scheme are as follows: E1(u, v, o) is used to constrain the intensity consistency of consecutive frames in the image sequence corresponding to the three-dimensional vascular tree structure, and E2(u, v, o) is used to constrain the image spatial gradient energy at different times, so that by minimizing the energy of the optical flow field in the fourth mapping relationship, the spatial smoothness of the motion field corresponding to the optical flow field can be ensured.

[0032] Furthermore, based on the second mapping relationship, determining the first parameter value includes:

[0033] Based on the second mapping relationship, using the Euler-Lagrange equation to establish a linear equation for calculating the parameter value of the harmonic coefficient corresponding to the energy of the minimum optical flow field;

[0034] Using the iterative Jacobi method to solve the linear equation to obtain the first parameter value.

[0035] The beneficial effects of adopting the above improvement scheme are as follows: Using the Euler-Lagrange equation, the problem of calculating the parameter value of the harmonic coefficient corresponding to the energy of the minimum optical flow field is transformed into the problem of solving the linear equation corresponding to each harmonic coefficient, so that the parameter value of each harmonic coefficient is obtained by solving the linear equation through the Jacobi method.

[0036] Furthermore, based on the coronary angiography vascular sequence, establishing a three-dimensional vascular tree structure includes:

[0037] Denosing the coronary angiography vascular sequence;

[0038] Performing image enhancement on the denoised coronary angiography vascular sequence;

[0039] Based on the image-enhanced coronary angiography vascular sequence, determining the centerline image, where the centerline image is used to represent the structure of the coronary vascular tree;

[0040] Performing motion compensation on the centerline image, and marking the bifurcation points and coronary vascular segments of the coronary vascular tree in the motion-compensated centerline image;

[0041] Based on the marked centerline image, establishing a three-dimensional vascular tree structure.

[0042] The beneficial effects of adopting the above improvement scheme are as follows: By performing motion estimation on the marked part of the three-dimensional vascular tree structure, the acquisition efficiency of motion parameters is improved.

[0043] In a second aspect, the present invention provides a device for obtaining motion parameters of coronary blood vessels, including:

[0044] A first acquisition module for acquiring a coronary angiography vascular sequence of coronary blood vessels;

[0045] A second acquisition module, configured to obtain the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary artery blood vessel based on the coronary angiography blood vessel sequence, wherein the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the minimum frequency among the cardiac pulsation signals corresponding to the coronary artery blood vessel, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary artery blood vessel;

[0046] A first processing module, configured to establish a three-dimensional blood vessel tree structure based on the coronary angiography blood vessel sequence, where the three-dimensional blood vessel tree structure includes the spatial positions of the coronary artery blood vessel at different times;

[0047] A second processing module, configured to determine a second mapping relationship based on the spatial positions of the coronary artery blood vessel at different times and the period of the fundamental frequency cardiac pulsation signal through a first mapping relationship, where the first mapping relationship represents the mapping relationship among the spatial positions of the coronary artery blood vessel at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary artery blood vessel, and the harmonic coefficient corresponding to the cardiac pulsation signal, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary artery blood vessel at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known;

[0048] A third processing module, configured to determine a first parameter value based on the second mapping relationship, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field;

[0049] A parameter acquisition module, configured to determine the motion parameter of the coronary artery blood vessel based on the first parameter value.

[0050] In a third aspect, the present invention provides a computer-readable storage medium, in which instructions are stored, and when the instructions run on a terminal device, the terminal device is enabled to execute all or part of the steps of the method for acquiring the motion parameter of the coronary artery blood vessel as described in the first aspect.

[0051] In a fourth aspect, the present invention provides an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor, and when the processor executes the program, all or part of the steps of the method for acquiring the motion parameter of the coronary artery blood vessel as described in the first aspect are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a schematic flowchart of a method for acquiring the motion parameter of a coronary artery blood vessel provided by an embodiment of the present invention;

[0053] Figure 2 It is a schematic result diagram of the first three-dimensional blood vessel motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0054] Figure 3Schematic diagram of the result of the second three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0055] Figure 4 Schematic diagram of the result of the third three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0056] Figure 5 Schematic diagram of the result of the fourth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0057] Figure 6 Schematic diagram of the result of the fifth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0058] Figure 7 Schematic diagram of the result of the sixth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0059] Figure 8 Schematic diagram of the result of the seventh three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0060] Figure 9 Schematic diagram of the result of the eighth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0061] Figure 10 Schematic diagram of the result of the ninth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0062] Figure 11 Schematic diagram of the result of the tenth three-dimensional vascular motion vector field corresponding to Patient 1 provided by an embodiment of the present invention;

[0063] Figure 12 Variation curve of the frame-to-frame prediction error with parameters corresponding to Patient 1 provided by an embodiment of the present invention;

[0064] Figure 13 Variation curve of the frame-to-frame prediction error with parameters corresponding to Patient 2 provided by an embodiment of the present invention;

[0065] Figure 14 Variation curve of the frame-to-frame prediction error with parameters corresponding to Patient 3 provided by an embodiment of the present invention;

[0066] Figure 15 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0067] The following embodiments are further explanations and supplements to the present invention and do not constitute any limitation to the present invention.

[0068] The following describes a method for obtaining the motion parameters of a coronary artery based on the accompanying drawings for embodiments of the present invention.

[0069] Refer to Figure 1 As shown, the present invention provides a method for obtaining the motion parameters of a coronary artery, including the following steps S1 to S6.

[0070] In step S1, a coronary angiography vascular sequence of the coronary artery is obtained.

[0071] Among them, the coronary angiography vascular sequence includes multiple coronary angiography images obtained based on X-ray coronary angiography technology, and the coronary angiography images contain rich coronary artery information (such as the lengths and widths of the branches of the coronary artery tree, etc.).

[0072] In step S2, based on the coronary angiography vascular sequence, the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary artery is obtained. Among them, the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the minimum frequency among the cardiac pulsation signals corresponding to the coronary artery, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary artery.

[0073] It can be understood that due to cardiac pulsation, the position of the coronary artery will shift over time, thereby generating an offset. This offset is composed of cardiac pulsation signals. For patients with arrhythmia, there may be multiple cardiac pulsation signals that make up the offset. At this time, the signal with the minimum frequency among the cardiac pulsation signals is set as the fundamental frequency cardiac pulsation signal, and the cardiac pulsation signals with other frequencies can be regarded as harmonic signals of this fundamental frequency cardiac pulsation signal.

[0074] As a possible implementation manner, based on a compensation algorithm, the coronary angiography vascular sequence is motion-compensated in a signal separation manner, so as to determine information such as the number, frequency, and period of the cardiac pulsation signals by analyzing the signal waveforms separated during the motion compensation process.

[0075] In step S3, based on the coronary angiography vascular sequence, a three-dimensional vascular tree structure is established, and the three-dimensional vascular tree structure includes the spatial positions of the coronary artery at different times.

[0076] Optionally, in one embodiment, the implementation process of establishing a three-dimensional vascular tree structure based on the coronary angiography vascular sequence includes:

[0077] Denoise the coronary angiography vascular sequence;

[0078] Perform image enhancement on the denoised coronary angiography vascular sequence;

[0079] Based on the image-enhanced coronary angiography vascular sequence, determine the centerline image, where the centerline image is used to characterize the structure of the coronary artery tree;

[0080] Perform motion compensation on the centerline image, and mark the bifurcation points and coronary artery segments of the coronary artery vascular tree in the motion-compensated centerline image;

[0081] Based on the marked centerline image, establish a three-dimensional vascular tree structure.

[0082] Exemplarily, denoise the coronary angiography vascular sequence with short duration based on the method of adaptive gradient descent and dual-domain filter; enhance the denoised coronary angiography vascular sequence based on the method of non-local weighting factor and Hessian matrix; for each coronary angiography vascular image in the enhanced coronary angiography vascular sequence, use the lengths and widths of the branches of the coronary artery vascular tree in the coronary angiography vascular image as the edge and radius constraints for segmentation, and based on the image segmentation method (such as the image segmentation method based on the "disc" technique), traverse and extract the coronary artery vascular tree in the coronary angiography vascular image starting from the root node, and then segment the two-dimensional coronary artery vascular tree structure from the coronary angiography vascular image, and determine the two-dimensional coronary artery vascular tree structure as the centerline image, where the node refers to each pixel point corresponding to the coronary artery vascular tree in the coronary angiography vascular image, that is, the pixel points remaining after removing the background pixel points and noise points in the coronary angiography vascular image; adopt the criteria of minimum global mean square error in the time domain and minimum local mean square error in the frequency domain to perform motion compensation on each centerline image, then mark the bifurcation points of the coronary artery vascular tree and the corresponding vascular segments in the motion-compensated centerline image, and finally perform three-dimensional reconstruction on each marked centerline image to obtain a three-dimensional vascular tree structure, so as to estimate the three-dimensional motion of the coronary artery based on each marked part of the three-dimensional vascular tree structure.

[0083] As a possible implementation manner, mark the deformed coronary artery part for subsequent motion estimation of the deformed coronary artery, which is beneficial to the analysis of abnormal cardiac pulsation.

[0084] In step S4, based on the spatial positions of the coronary artery at different times and the period of the fundamental frequency cardiac pulsation signal, determine the second mapping relationship through the first mapping relationship, where the first mapping relationship represents the mapping relationship between the spatial positions of the coronary artery at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary artery and the harmonic coefficient corresponding to the cardiac pulsation signal, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary artery at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known.

[0085] Optionally, in one embodiment, the first mapping relationship includes a third mapping relationship and a fourth mapping relationship. The third mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the offset of the spatial positions of the coronary blood vessels at every two adjacent times, and the harmonic coefficients corresponding to the cardiac pulsation signal. The fourth mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the offset of the spatial positions of the coronary blood vessels at two adjacent times.

[0086] Based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal, the process of determining the second mapping relationship through the first mapping relationship includes:

[0087] According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the third mapping relationship, determine a fifth mapping relationship, which is the third mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known.

[0088] According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the fourth mapping relationship, determine a sixth mapping relationship, which is the fourth mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known.

[0089] Determine the second mapping relationship according to each offset, the fifth mapping relationship, and the sixth mapping relationship.

[0090] In this embodiment, the problem of estimating u, v, and o in the sixth mapping relationship is transformed into the problem of estimating the unknown harmonic coefficients in the fifth mapping relationship. This process includes:

[0091] 1) Solve the energy function E1:

[0092] Perform a first-order Taylor expansion on the pixel value I(x + u, y + v, z + o, t + 1), and we can get:

[0093]

[0094] Then, based on the fifth mapping relationship, use the harmonic coefficients to represent the offsets u, v, and o. Then the expression of the energy function E1 based on the harmonic coefficients is:

[0095]

[0096] 2) Solve the energy function E2:

[0097] Based on the fifth mapping relationship, use the harmonic coefficients to represent the offsets u, v, and o. Then the expression of the energy function E2 based on the harmonic coefficients is:

[0098]

[0099] 3) Solve the energy function E:

[0100] Input E1 and E2 represented based on the harmonic coefficients into the sixth mapping relationship, then the representation of the energy function E based on the harmonic coefficients (i.e., the second mapping relationship E(a m , b m , c m , d m , e m , f m )) is:

[0101]

[0102] Where:

[0103]

[0104] Optionally, the third mapping relationship is represented by the following formula:

[0105]

[0106] Where I = I(x, y, z, t) represents the pixel value corresponding to the coronary blood vessel at the spatial position (x, y, z) at time t, (x, y, z) represents the spatial position of the coronary blood vessel, t represents the time, and u(x, y, z, t), v(x, y, z, t), o(x, y, z, t) respectively represent the offsets of the coronary blood vessel in the x, y, z three directions between the spatial position at time t and the spatial position at the adjacent time of time t, a m , b m , c m , d m , e m , f m represents the harmonic coefficient corresponding to the m-th cardiac pulsation signal, M represents the number of cardiac pulsation signals corresponding to the coronary blood vessel, the angular frequency ω m = 2πm / T, T represents the period of the fundamental frequency cardiac pulsation signal, and π represents the pi.

[0107] Exemplarily, first determine the spatial constraint relationship of the coronary blood vessel based on the spatial position information and offset information of the three-dimensional vascular tree structure.

[0108] Among them, it is assumed that when the coronary artery moves from time t to time t + 1, the offset of a certain vascular point in the 2D coronary artery is (u, v), and (x, y) represents the spatial position in the 2D image domain D1 at time t. Then, for the corresponding vascular point in the three-dimensional coronary artery tree, its offset from time t to time t + 1 is (u, v, o), and (x, y, z) represents the spatial position in the 3D image domain D2 at time t.

[0109] Then, the 2D coronary artery spatial constraint relationship from time t to time t + 1 can be obtained:

[0110] I(x, y, t) = I(x + u, y + v, t + 1)

[0111] And the 3D coronary artery spatial constraint relationship:

[0112] I(x, y, z, t) = I(x + u, y + v, z + o, t + 1)

[0113] Among them, the offset in the 2D / 3D image domain may be composed of multiple cardiac pulsation signals (if there are multiple, this patient is an arrhythmia patient). Let the number be M (this value is determined by the motion compensation algorithm). The cardiac pulsation signal with the minimum frequency (its period is T) is set as the fundamental frequency cardiac pulsation signal, and the cardiac pulsation signals with other frequencies can be regarded as harmonic signals of the fundamental frequency cardiac pulsation signal.

[0114] Then, according to the periodicity of cardiac pulsation, the time constraint condition of the coronary artery is deduced.

[0115] Among them, since the heart has obvious periodicity during contraction and dilation, both I(x, y, t) and I(x, y, z, t) are periodic sequences. Therefore, the time constraints of the two-dimensional and three-dimensional coronary arteries can be respectively expressed as I(x, y, 0) = I(x, y, T) and I(x, y, z, 0) = I(x, y, z, T).

[0116] Combining the spatial constraint relationship and the time constraint condition, the offsets u, v, o are expanded periodically to obtain the third mapping relationship.

[0117] Among them, for the two-dimensional coronary artery, the offsets after periodic expansion of the offsets u, v, o are expressed as:

[0118]

[0119] For the three-dimensional coronary artery, the offsets (the third mapping relationship) after periodic expansion of the offsets u, v, o are expressed as:

[0120]

[0121] Among them, am , b m , c m , d m , e m , f m represents the harmonic coefficient of the m-th (m ∈ [1, M]) cardiac pulsation signal; the angular frequency ω m = 2πm / T.

[0122] It can be understood that if the net movement of the coronary blood vessel within the entire period is zero, the above third mapping relationship can be used to represent the motion trajectory of the coronary blood vessel in any period without sacrificing accuracy.

[0123] Optionally, the fourth mapping relationship is represented by the following formula:

[0124] E(u, v, o) = E1(u, v, o) + λE2(u, v, o)

[0125]

[0126] where E(u, v, o) represents the energy of the optical flow field, I(x, y, z, t) represents the pixel value at the spatial position (x, y, z) at time t in the three-dimensional blood vessel tree structure, (x, y, z) represents the spatial position, t represents the time, u, v, o respectively represent the offsets in the x, y, z directions between the spatial positions of two adjacent times of the coronary blood vessel, T represents the period of the fundamental frequency cardiac pulsation signal, λ represents the energy term parameter for balancing E1(u, v, o) and E2(u, v, o), D2 represents the coordinate range in the optical flow field, represents the first-order difference operation.

[0127] [[ID=Q3]]In this embodiment, a motion field model (the fourth mapping relationship) is established by using a method similar to the extension of the traditional classical optical flow to multiple image frames, so as to characterize the motion characteristics of the coronary blood vessel by using the motion field model. Among them, E1(u, v, o) is set to ensure the intensity consistency of consecutive frames in the entire sequence; E2(u, v, o) is set to constrain the spatial gradient energy of images at different times, so as to ensure the spatial smoothness of the motion field; λ is the energy term parameter for balancing E1 and E2; D2 represents the coordinate range in the optical flow field, that is, the 3D image domain where x, y, z are located.

[0128] In step S5, based on the second mapping relationship, the first parameter value is determined, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field.

[0129] It can be understood that by minimizing the energy function in the sixth mapping relationship, a spatially smooth motion field can be determined, and thus the motion estimation of the coronary blood vessel can be realized by obtaining the relevant parameters corresponding to the spatially smooth motion field.

[0130] In this embodiment, based on the second mapping relationship, the problem of obtaining u, v, and o by minimizing the energy function E is transformed into the problem of obtaining a m , b m , c m , d m , e m , f m by minimizing the energy function E.

[0131] Optionally, in one embodiment, the implementation process of determining the first parameter value based on the second mapping relationship includes:

[0132] Based on the second mapping relationship, use the Euler-Lagrange equation to establish a linear equation for calculating the parameter value of the harmonic coefficient corresponding to the energy of the minimum optical flow field;

[0133] Use the iterative Jacobi method to solve the linear equation to obtain the first parameter value.

[0134] Exemplarily, the linear equation established for the second mapping relationship using the Euler-Lagrange equation is expressed as follows:

[0135]

[0136] Where:

[0137]

[0138] a n , b n , c n , d n , e n , f n represent the harmonic coefficients corresponding to the nth cardiac pulsation signal, ω n = 2πn / T, is the Laplacian operator. This Laplacian operator can be approximated by a discrete operator, and its value is equivalent to subtracting the pixel value from the weighted average of its surrounding adjacent pixels.

[0139] Therefore, the linear equation can be further expressed as:

[0140]

[0141] Where:

[0142]

[0143] unknown coefficients Represents the average value of its respective neighborhood (8-neighborhood for 2D images and 26-neighborhood for 3D images).

[0144] For example, for a 2D image The numerical solution of is:

[0145]

[0146] where i and j represent pixel coordinates.

[0147] Obviously, the coefficient matrix of the above linear equation is symmetric and positive definite. The iterative Jacobi method is used for solving, that is, the unknown coefficients a m , b m , c m , d m , e m , f m Are represented using the following pixel-by-pixel update method:

[0148]

[0149]

[0150]

[0151] where k represents the number of iterations, and the total number of iterations can be set to 5.

[0152] In step S6, based on the first parameter value, the motion parameters of the coronary blood vessels are determined.

[0153] Optionally, in one embodiment, the implementation process of determining the motion parameters of the coronary blood vessels based on the first parameter value includes:

[0154] Input the first parameter value into the fifth mapping relationship to obtain the offset of the spatial position of the coronary blood vessels at every two adjacent moments;

[0155] Based on the offset of the spatial position of the coronary blood vessels at every two adjacent moments, calculate the amplitude and phase of the three-dimensional motion of the coronary blood vessels, and determine the amplitude and phase of the three-dimensional motion as the motion parameters of the coronary blood vessels.

[0156] It should be noted that the two-dimensional vascular motion vector fields corresponding to different coronary angiography projection sequences are different. The two-dimensional vascular motion vector fields in different cardiac cycles (the motion cycles of coronary blood vessels) within the same sequence are also different. The two-dimensional and three-dimensional vascular motion vector fields at different time periods are also different. At the same time, the motion changes of different vascular branches and different vascular points are not the same. It can be seen from this that the motion of coronary blood vessels is very complex. Therefore, by performing marker processing on the coronary angiography projection sequences and then establishing a three-dimensional vascular tree structure, and separately analyzing the marked parts in the three-dimensional vascular tree structure in combination with the periodic characteristics of coronary blood vessels, the three-dimensional motion estimation effect of coronary blood vessels can be effectively improved.

[0157] Exemplarily, for a coronary angiography vascular sequence of a cardiac cycle of patient 1 (including coronary angiography vascular images corresponding to each of the 1st to 12th moments), using the method provided in the above embodiment to reconstruct the three-dimensional blood vessels, a three-dimensional vascular motion vector field (motion field) can be obtained. The schematic diagram of the result of this three-dimensional vascular motion vector field is as Figures 2 to 11 shown. The schematic diagram of the result of a single three-dimensional vascular motion vector field corresponds to the three-dimensional motion of coronary blood vessels between two adjacent moments among the 12 moments, such as Figure 2 corresponding to the three-dimensional motion of coronary blood vessels between the 1st moment and the 2nd moment, Figure 3 corresponding to the three-dimensional motion of coronary blood vessels between the 2nd moment and the 3rd moment, and so on until Figure 10 , Figure 10 corresponding to the three-dimensional motion of coronary blood vessels between the 9th moment and the 10th moment, Figure 11 and Figure 11 then corresponds to the three-dimensional motion of coronary blood vessels between the 11th moment and the 12th moment. Figures 2 to 11 The arrows in Figures 2 to 11 indicate the motion direction of coronary blood vessels between two adjacent moments. For example, the arrow in Figure 2 can represent the motion direction of coronary blood vessels moving from the spatial position at the 1st moment to the spatial position at the 2nd moment.

[0158] By comparing the motion directions of coronary blood vessels in the schematic diagrams of the results of each three-dimensional vascular motion vector field, it can be found that Figure 9 the motion direction of coronary blood vessels in Figure 9 is significantly different from the motion directions of coronary blood vessels in other schematic diagrams of the results. Considering that under normal circumstances, such abnormal motion direction changes do not occur during diastole, and coronary blood vessels are attached to the surface of the heart, the motion direction can be used to characterize the presence of abnormal conditions in the heart (such as the presence of heart tremors), so as to subsequently determine the specific abnormal conditions existing in the heart based on this abnormal motion direction.

[0159] As a possible implementation manner, to measure relevant parameters (including the number M of heart beat signals, the regularization parameter (energy term parameter λ), the window size ( The influence of the corresponding neighborhood size and the number of iterations k on motion estimation is studied. By selecting different combination values and then comparing the estimated motion errors, the combination value that minimizes the error is found, and thus the selection rule of the combination value is obtained.

[0160] To quantitatively analyze the influence of each relevant parameter on the motion parameter, the estimated motion is tested by calculating the frame-to-frame prediction error of the sequence, which is defined as follows:

[0161]

[0162] where I t represents the t-th frame image in the coronary angiography sequence, represents the estimated motion amount from the t-th frame to the (t + 1)-th frame, and ||·||2 represents the second norm.

[0163] As Figures 12 to 14 shown, the frame-to-frame prediction error obtained from experiments on data of three patients with respect to some parameters (including the number M of cardiac pulsation signals and the regularization parameter) is presented. Among them, Figures 12 to 14 the abscissa in MC .

[0164] As Figure 12 shown, when M = 3 and λ = 10, the frame-to-frame prediction error E MC of patient 1 is the smallest; as Figure 13 shown, when M = 3 and λ = 0.5, the frame-to-frame prediction error E MC of patient 2 is the smallest; as Figure 14 shown, when M = 2 and λ = 4, the frame-to-frame prediction error E MC of patient 3 is the smallest.

[0165] Since the number of cardiac pulsation signals corresponding to the minimum E MC is greater than 1 for all three patients, it can be inferred that all three patients suffer from arrhythmia. Among them, there are 3 different frequency signals (3 cardiac pulsation signals) hidden in the cardiac signals of patient 1 and patient 3, and patient 2 has 2 different frequency signals (2 cardiac pulsation signals).

[0166] The actual data shows that these patients do suffer from arrhythmia, which indicates that the motion parameters obtained by the method described in the above embodiments can be subsequently applied to the analysis of abnormal cardiac pulsation, facilitating the quantification of the heart rate quantity and amplitude in the cardiac signals of patients with arrhythmia, and thus providing accurate data support for subsequent analysis of coronary heart disease.

[0167] The method for obtaining the motion parameters of coronary blood vessels provided by the above embodiments transforms the problem of motion estimation of coronary blood vessels into the problem of estimating the harmonic coefficients of cardiac pulsation signals through the second mapping relationship, and then determines the motion parameters of coronary blood vessels based on the harmonic coefficients of cardiac pulsation signals, thereby eliminating the influence of motion components other than cardiac pulsation, enabling the obtained motion parameters of coronary blood vessels to accurately quantify cardiac pulsation, which is beneficial to subsequent effective analysis of cardiac pulsation.

[0168] In the above embodiments, although the steps are numbered, such as S1, S2, etc., they are only specific embodiments given in this application. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, it may include some or all of the above embodiments.

[0169] An apparatus for obtaining motion parameters of coronary blood vessels provided by an embodiment of the present invention includes:

[0170] A first acquisition module, configured to acquire a coronary angiography blood vessel sequence of coronary blood vessels;

[0171] A second acquisition module, configured to acquire the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary blood vessels based on the coronary angiography blood vessel sequence, where the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the smallest frequency among the cardiac pulsation signals corresponding to the coronary blood vessels, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary blood vessels;

[0172] A first processing module, configured to establish a three-dimensional blood vessel tree structure based on the coronary angiography blood vessel sequence, and the three-dimensional blood vessel tree structure includes the spatial positions of the coronary blood vessels at different times;

[0173] A second processing module, configured to determine a second mapping relationship based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal through a first mapping relationship, where the first mapping relationship represents the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the harmonic coefficients of the cardiac pulsation signals, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known;

[0174] A third processing module, configured to determine a first parameter value based on the second mapping relationship, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field;

[0175] A parameter acquisition module, configured to determine the motion parameters of the coronary blood vessels based on the first parameter value.

[0176] Optionally, the first mapping relationship includes a third mapping relationship and a fourth mapping relationship. The third mapping relationship is a mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the offset of the spatial positions of the coronary blood vessels at every two adjacent times, and the harmonic coefficient corresponding to the cardiac pulsation signal. The fourth mapping relationship is a mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the offset of the spatial positions of the coronary blood vessels at two adjacent times.

[0177] Optionally, the second processing module is specifically configured to determine a fifth mapping relationship according to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the third mapping relationship. The fifth mapping relationship is the third mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known. Determine a sixth mapping relationship according to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the fourth mapping relationship. The sixth mapping relationship is the fourth mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known. Determine the second mapping relationship according to each offset, the fifth mapping relationship, and the sixth mapping relationship.

[0178] Optionally, the parameter acquisition module is specifically configured to input the first parameter value into the fifth mapping relationship to obtain the offset of the spatial positions of the coronary blood vessels at every two adjacent times. Based on the offset of the spatial positions of the coronary blood vessels at every two adjacent times, calculate the amplitude and phase of the three-dimensional motion of the coronary blood vessels, and determine the amplitude and phase of the three-dimensional motion as the motion parameters of the coronary blood vessels.

[0179] Optionally, the third processing module is specifically configured to establish a linear equation for calculating the parameter value of the harmonic coefficient corresponding to the minimum energy of the optical flow field by using the Euler-Lagrange equation based on the second mapping relationship. Solve the linear equation by using the iterative Jacobi method to obtain the first parameter value.

[0180] Optionally, the first processing module is specifically configured to denoise the coronary angiography vascular sequence; perform image enhancement on the denoised coronary angiography vascular sequence; determine a centerline image based on the image-enhanced coronary angiography vascular sequence, where the centerline image is used to characterize the structure of the coronary vascular tree; perform motion compensation on the centerline image, and mark the bifurcation points and coronary vascular segments of the coronary vascular tree in the motion-compensated centerline image; establish a three-dimensional vascular tree structure based on the marked centerline image.

[0181] A computer-readable storage medium provided by an embodiment of the present invention stores instructions. When the instructions run on a terminal device, the terminal device is caused to execute the steps of the method for obtaining the motion parameters of coronary blood vessels in any of the above embodiments.

[0182] As Figure 15 shown, an electronic device 500 provided by an embodiment of the present invention includes a memory 510, a processor 520, and a program 530 stored on the memory 510 and running on the processor 520. When the processor 520 executes the program 530, the steps of the method for obtaining the motion parameters of the coronary blood vessels in any of the above embodiments are implemented.

[0183] Among them, the electronic device 500 can be a computer, a mobile phone, etc. Correspondingly, its program 530 is computer software, a mobile phone App, etc. Moreover, for the parameters and steps in the electronic device 500 of the present invention, reference can be made to the parameters and steps in the embodiments of the method for obtaining the motion parameters of the coronary blood vessels in the above text, which will not be elaborated here.

[0184] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: it can be completely hardware, can be completely software (including firmware, resident software, microcode, etc.), or can be a combination of hardware and software, which is generally referred to as "circuit", "module", or "system" in this article. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, which contains computer-readable program code.

[0185] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0186] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for obtaining motion parameters of coronary blood vessels, characterized in that, Including: Obtaining a coronary angiography vascular sequence of coronary blood vessels; Based on the coronary angiography vascular sequence, obtaining the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary blood vessels, where the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the minimum frequency among the cardiac pulsation signals corresponding to the coronary blood vessels, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary blood vessels; Based on the coronary angiography vascular sequence, establishing a three-dimensional vascular tree structure, where the three-dimensional vascular tree structure includes the spatial positions of the coronary blood vessels at different times; Based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal, determining a second mapping relationship through a first mapping relationship, where the first mapping relationship represents the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the harmonic coefficient corresponding to the cardiac pulsation signal, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known; Based on the second mapping relationship, determining a first parameter value, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field; Based on the first parameter value, determining the motion parameters of the coronary blood vessels.

2. The method according to claim 1, characterized in that, The first mapping relationship includes a third mapping relationship and a fourth mapping relationship. The third mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the offset between the spatial positions of every two adjacent times of the coronary blood vessels, and the harmonic coefficient corresponding to the cardiac pulsation signal. The fourth mapping relationship is the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the offset between the spatial positions of two adjacent times of the coronary blood vessels; The determining of the second mapping relationship through the first mapping relationship based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal includes: According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the third mapping relationship, determining a fifth mapping relationship, where the fifth mapping relationship is the third mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known; According to the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, and the fourth mapping relationship, determining a sixth mapping relationship, where the sixth mapping relationship is the fourth mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal are known; According to each of the offsets, the fifth mapping relationship, and the sixth mapping relationship, determining the second mapping relationship.

3. The method according to claim 2, wherein The determining of the motion parameters of the coronary blood vessels based on the first parameter value includes: Input the first parameter value into the fifth mapping relationship to obtain the offset of the spatial positions of every two adjacent moments of the coronary blood vessel; Based on the offset of the spatial positions of every two adjacent moments of the coronary blood vessel, calculate the amplitude and phase of the three-dimensional motion of the coronary blood vessel, and determine the amplitude and phase of the three-dimensional motion as the motion parameters of the coronary blood vessel.

4. The method according to claim 2, wherein The third mapping relationship is represented by the following formula: Among them, (x, y, z) represents the spatial position of the coronary artery, t represents the moment, and u(x, y, z, t), v(x, y, z, t), and o(x, y, z, t) respectively represent the offsets in the x, y, and z directions between the spatial position of the coronary artery at time t and the spatial position at the adjacent moment to time t, a m , b m , c m , d m , e m , f m represents the harmonic coefficient corresponding to the m-th cardiac pulsation signal, M represents the number of cardiac pulsation signals corresponding to the coronary artery, and the angular frequency ω m = 2πm / T, where T represents the period of the fundamental frequency cardiac pulsation signal, and π represents the pi.

5. The method according to claim 2, characterized in that, The fourth mapping relationship is represented by the following formula: E(u, v, o) = E1(u, v, o) + λE2(u, v, o) Wherein, E(u, v, o) represents the energy of the optical flow field, I(x, y, z, t) represents the pixel value at the spatial position (x, y, z) at time t in the three-dimensional blood vessel tree structure, (x, y, z) represents the spatial position, t represents the time, u, v, and o respectively represent the offsets in the x, y, and z directions between the spatial positions of every two adjacent moments of the coronary blood vessel, T represents the period of the fundamental frequency cardiac pulsation signal, λ represents the energy term parameter for balancing E1(u, v, o) and E2(u, v, o), D2 represents the coordinate range in the optical flow field, and ▽ represents the first-order difference operation.

6. The method according to any one of claims 1 to 5, characterized in that The determining the first parameter value based on the second mapping relationship includes: Based on the second mapping relationship, establish a linear equation for calculating the parameter value of the harmonic coefficient corresponding to the energy of the minimum optical flow field by using the Euler-Lagrange equation; Solve the linear equation by using the iterative Jacobi method to obtain the first parameter value.

7. The method according to any one of claims 1 to 5, characterized in that, The establishing the three-dimensional blood vessel tree structure based on the coronary angiography blood vessel sequence includes: Denoise the coronary angiography blood vessel sequence; Perform image enhancement on the denoised coronary angiography blood vessel sequence; Based on the image-enhanced coronary angiography blood vessel sequence, determine the centerline image, wherein the centerline image is used to characterize the structure of the coronary blood vessel tree; Perform motion compensation on the centerline image, and mark the bifurcation points and coronary blood vessel segments of the coronary blood vessel tree in the motion-compensated centerline image; Based on the marked centerline image, establish the three-dimensional blood vessel tree structure.

8. An apparatus for obtaining motion parameters of coronary blood vessels, characterized in that, Including: A first acquisition module, configured to acquire a coronary angiography blood vessel sequence of a coronary blood vessel; A second acquisition module, configured to acquire the period of the fundamental frequency cardiac pulsation signal corresponding to the coronary blood vessel based on the coronary angiography blood vessel sequence, wherein the fundamental frequency cardiac pulsation signal is the cardiac pulsation signal with the minimum frequency among the cardiac pulsation signals corresponding to the coronary blood vessel, and the period of the fundamental frequency cardiac pulsation signal is used to characterize the motion period of the coronary blood vessel; A first processing module, configured to establish a three-dimensional blood vessel tree structure based on the coronary angiography blood vessel sequence, and the three-dimensional blood vessel tree structure includes the spatial positions of the coronary blood vessel at different moments; A second processing module, configured to determine a second mapping relationship based on the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal through a first mapping relationship, where the first mapping relationship represents the mapping relationship between the spatial positions of the coronary blood vessels at different times, the period of the fundamental frequency cardiac pulsation signal, the energy of the optical flow field corresponding to the coronary blood vessels, and the harmonic coefficient corresponding to the cardiac pulsation signal, and the second mapping relationship is the first mapping relationship when the spatial positions of the coronary blood vessels at different times and the period of the fundamental frequency cardiac pulsation signal in the first mapping relationship are known; A third processing module, configured to determine a first parameter value based on the second mapping relationship, where the first parameter value is the harmonic coefficient of the cardiac pulsation signal corresponding to the minimum energy of the optical flow field; A parameter acquisition module, configured to determine the motion parameter of the coronary blood vessel based on the first parameter value.

9. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the instructions are run on the terminal device, the terminal device is caused to execute the steps of the method for acquiring the motion parameter of the coronary blood vessel according to any one of claims 1 to 7.

10. An electronic device, comprising a memory, a processor, and a program stored on the memory and running on the processor, characterized in that, When the processor executes the program, the steps of the method for acquiring the motion parameter of the coronary blood vessel according to any one of claims 1 to 7 are implemented.

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