Identifying out-of-plane deviations

Abstract

A computer-implemented method for identifying out-of-plane deviations of an elongated interventional device (110). The method includes, in one or more X-ray images (180), and based on one or more pairs of reference markers (160) detected in said one or more X-ray images (180). 1..n The distance between (190) 1..n‑1 (S130) Identify (S130) one or more segments (170) of the elongated interventional device (110) having an out-of-plane offset relative to the image plane (120). 1..n‑1 The position of ).

Description

Technical Field

[0001] This disclosure relates to identifying out-of-plane deviations of elongated interventional devices relative to the plane of an X-ray image. A computer-implemented method, computer program product, system, and elongated interventional device are also disclosed. Background Technology

[0002] In many medical studies, clinicians use X-ray imaging to image anatomical structures. For example, X-ray imaging is often used to perform interventional procedures such as catheter insertion.

[0003] In X-ray imaging, the orientation of the source-detector assembly is adjusted to provide a desired view of the anatomical structure. A live X-ray image of the anatomical structure or an individual X-ray image is generated when the source-detector assembly is in a fixed position relative to the anatomical structure. The X-ray source-detector assembly includes an X-ray source and an X-ray detector mounted to a support structure. The X-ray source-detector assembly can typically rotate about two or more orthogonal axes to provide the desired view. Support structures of various shapes have been used, including, for example, C-arms, O-arms, and U-arms.

[0004] X-ray imaging can also be performed in combination with other imaging modalities to obtain additional information about anatomical structures. For example, the diagnosis and treatment of peripheral vascular disease often involves a combination of X-ray and intravascular ultrasound (IVUS) imaging.

[0005] Unlike the three-dimensional images generated by computed tomography (CT) X-ray imaging, X-ray imaging provides projective images. Projective images generated by X-ray imaging suffer from poor representation of depth information. Therefore, the interpretation of such X-ray images can be challenging.

[0006] Therefore, there is still room for improvement in the representation of features in X-ray projection images. Summary of the Invention

[0007] According to a first aspect of this disclosure, a computer-implemented method is provided for identifying out-of-plane deviations of an elongated interventional device relative to an image plane defined by an X-ray image generated by an X-ray source-detector apparatus. The elongated interventional device includes a plurality of reference markers distributed along the length of the elongated interventional device to define segments of the elongated interventional device, and the method includes:

[0008] Receive X-ray imaging data, the X-ray imaging data representing one or more X-ray images of the elongated interventional device including the plurality of reference markers;

[0009] One or more X-ray images are generated based on the X-ray imaging data; and

[0010] The location of one or more segments of the elongated interventional device having an out-of-plane offset relative to the image plane is identified in one or more X-ray images and based on the distance between one or more pairs of reference markers detected in the one or more X-ray images.

[0011] According to a second aspect of this disclosure, the X-ray imaging data is generated using the X-ray source-detector apparatus having an initial imaging orientation relative to the elongated interventional device, and the computer-implemented method includes:

[0012] Calculate the subsequent imaging orientation of the X-ray source-detector device relative to the elongated interventional device, such that the distance between the pair or more pairs of reference markers increases for the one or more segments of the elongated interventional device with out-of-plane offset.

[0013] According to a third aspect of this disclosure, the computer-implemented method includes:

[0014] Subsequent X-ray imaging data representing one or more subsequent X-ray images of the elongated interventional device, including the plurality of reference markers, are received when the X-ray source-detector device has a subsequent imaging orientation relative to the elongated interventional device; and

[0015] An estimate of the three-dimensional shape of the elongated interventional device is calculated based on the X-ray imaging data and the subsequent X-ray imaging data.

[0016] According to a fourth aspect of this disclosure, the one or more X-ray images comprise a series of X-ray image frames, and the positions of one or more segments of the elongated interventional device having out-of-plane deviations relative to the image plane are identified in the one or more X-ray images based on the change in distance between one or more pairs of reference markers between consecutive image frames as the elongated interventional device moves along the body lumen axis.

[0017] According to other aspects of this disclosure, a computer program product, a system, and an intervention device for use with said system are also provided.

[0018] Note that the features disclosed regarding the computer-implemented method can also be incorporated into the system and computer program product in a corresponding manner. For the sake of brevity, the features of the computer-implemented method need not therefore be repeated for the system and computer program product.

[0019] Other features and advantages of this disclosure will become apparent from the following description of examples with reference to the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of an example system 100 including X-ray source-detector devices 130, 140, and 150, based on some aspects of this disclosure.

[0021] Figure 2 This is a flowchart of an example method for identifying out-of-plane deviations of an elongated interventional device 110 according to some aspects of this disclosure.

[0022] Figure 3 It includes reference marker 160 1..n A schematic diagram of an example slender interventional device 110, with reference marker 160. 1..n Define the segment 170 of the slender interventional device 110 1..n-1 .

[0023] Figure 4 The illustration shows the reference marker 160. 1..n Example X-ray image 180 of the slender interventional device 110.

[0024] Figure 5A The illustration shows the reference marker 160. 1..n Example X-ray image 180 of a slender interventional device 110 within a body lumen 230.

[0025] Figure 5B The illustration shows the reference marker 160. 1..n The slender interventional device 110 provides X-ray images 180 within a body lumen 230 and includes segments 170. 1..n-1 An example graphic representation of out-of-plane deviation 240.

[0026] Figure 5C The illustration shows the reference marker 160. 1..n Example X-ray image 180 of the elongated interventional device 110 within a body lumen 230, and indicating regarding Figure 5A Side view.

[0027] Figure 6 This is another flowchart of an example method for identifying out-of-plane deviations of an elongated interventional device 110 according to some aspects of this disclosure.

[0028] Figure 7A It includes one or more segments 170 of an elongated interventional device 110 with out-of-plane offset. 1..n-1 The example X-ray image 180 shows the location of the image, and the example graphic representation of the subsequent imaging posture 210 is shown in the diagram.

[0029] Figure 7BThis is a schematic diagram of an example graphical representation 240 of the three-dimensional shape of the elongated interventional device 110 calculated using subsequent imaging posture 210.

[0030] Figure 8 This is a flowchart of an example method for estimating the three-dimensional shape of the S170 slender interventional device 110.

[0031] Figure 9 It is a schematic diagram of an example graphical representation 350 including an example intravascular ultrasound image 240 and the rate of change of the length of a segment 170 of a continuous intravascular ultrasound imaging device.

[0032] Figure 10 This is a schematic diagram including an example intravascular ultrasound image 240 and an example synthetic X-ray image 260.

[0033] Figure 11 This is a schematic diagram of an example intravascular ultrasound imaging device 110 including an imaging section 280.

[0034] Figure 12 shows the data including reference marker 160. 1..n A schematic diagram of an example slender interventional device 110, with reference marker 160. 1..n Includes cylindrical sections.

[0035] Figure 13 It is an X-ray image frame 400 1..k A schematic diagram of an example stream, illustrating the use of reference marker 1601 in consecutive X-ray image frames 400. 1..k The distance moved between 410 1..k . Detailed Implementation

[0036] Examples of this application are provided with reference to the following description and accompanying drawings. In this description, for purposes of explanation, numerous specific details of certain examples are set forth. References to “example,” “implementation,” or similar language in the specification mean that a feature, structure, or characteristic described in connection with that example is included in at least one example. It should also be appreciated that a feature described with respect to one example may also be used in another example, and for the sake of brevity, all features need not be repeated. For example, features described with respect to a computer-implemented method may be implemented in a corresponding manner in systems and devices.

[0037] In the following description, reference is made to a computer-implemented method relating to imaging a slender interventional device within the vascular system. Reference is made to an IVUS imaging procedure in which a slender interventional device in the form of an IVUS imaging catheter is positioned within a body lumen in the form of a blood vessel within the vascular system. However, it should be appreciated that examples of the computer-implemented method can be used in other imaging procedures and with other slender interventional devices. Examples according to this disclosure can be used, for example, in endoscopy, colonoscopy, bronchoscopy, ventriculoperitoneal shunt placement, and transesophageal echocardiography (TEE) procedures. Therefore, it is contemplated that the method disclosed herein can be used with other slender interventional devices besides IVUS imaging catheters, such as, but not limited to, catheters, guidewires, optical coherence tomography (OCT) devices, blood pressure devices and / or flow sensor devices, TEE probes, etc. It should be appreciated that the slender interventional device can be suitably positioned within body lumens in other areas of the body besides the vascular system, such as the digestive tract, colon, esophagus, etc. It should also be recognized that, in addition to or besides ultrasound sensors, interventional devices may include one or more other sensors, such as, but not limited to, force sensors, conductivity sensors, impedance sensors, electrocardiogram sensors, chemical sensors, and optical sensors.

[0038] Note that the computer-implemented methods disclosed herein can be provided as a non-transient computer-readable storage medium including computer-readable instructions stored thereon, which, when executed by at least one processor, cause the at least one processor to perform the methods. In other words, the computer-implemented methods can be implemented as a computer program product. The computer program product can be provided by dedicated hardware or hardware capable of running software in association with appropriate software. When provided by a processor, these functions can be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors that can share resources. The explicit use of the terms “processor” or “controller” should not be construed as exclusively referring to hardware capable of running software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, read-only memory (ROM) for storing software, random access memory (RAM), non-volatile storage devices, etc. Furthermore, examples of this disclosure can take the form of a computer program product accessible from a computer-usable storage medium or a computer-readable storage medium, which provides program code for use by or in conjunction with a computer or any instruction execution system. For the purposes of this description, a computer-usable storage medium or computer-readable storage medium can be any means that may include, store, transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system or device or propagation medium. Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer disks, random access memory (RAM), read-only memory (ROM), hard disks, and optical discs. Current examples of optical discs include compressed disc-read-only memory (CD-ROM), optical disc-read / write (CD-R / W), and Blu-ray. TM and DVD.

[0039] Figure 1 This is a schematic diagram of an example system 100 including X-ray source-detector devices 130, 140, and 150, based on some aspects of this disclosure. Figure 1 The X-ray source-detector assembly includes an X-ray source 130, an X-ray detector 140, and a support structure 150. The X-ray source 130 and X-ray detector 140 are mounted to the support structure 150. In some examples, the X-ray source includes a collimator (not shown). The X-ray detector includes a two-dimensional array of detector elements and may be, for example, a planar detector or a curved detector.

[0040] exist Figure 1The diagram illustrates a support structure 150 in the form of a so-called C-arm. The C-arm is a C-shaped example of a support structure used to support the X-ray source 130 and the X-ray detector 140. Alternatively, support structures 150 with different shapes can be used instead of the illustrated C-arm, such as an O-arm or a U-arm. The support structure 150 can be movable, allowing the X-ray source 130 and the X-ray detector 140 to rotate about two or more orthogonal axes. For example, the support structure 150 can allow the X-ray source 130 and the X-ray detector 140 to rotate about axis A-A' and about axis B', as shown below. Figure 1 The corresponding arrows A and B are illustrated in the diagram. Axis B' points vertically into the plane of the drawing. In some examples, the support structure 150 can also cause the X-ray source 130 and the X-ray detector 140 to revolve around a third axis ( Figure 1 The C-C' axis rotates, but this is not necessary. Axis A-A', B', and C-C' are in... Figure 1 The axes are illustrated as intersecting, but this is not necessary, and in some examples, the axes do not intersect. The support structure 150 may be provided with various bearings and / or movable joints and / or hinges and / or other movable couplers to provide the aforementioned movement.

[0041] like Figure 1 As illustrated, the X-ray source 110 and X-ray detector 120 are separated to provide an imaging region between them. X-rays emitted by the X-ray source 130 are detected by the X-ray detector 140, the range of which is... Figure 1 The unidirectional arrow indicates this. X-ray detector 130 receives X-rays that have passed through the imaging region and measures their intensity. Any X-ray attenuating medium within the imaging region will affect the measured intensity.

[0042] An elongated interventional device 110 in the form of an IVUS imaging catheter is positioned in the imaging region between an X-ray source 130 and an X-ray detector 140. The elongated interventional device 110 includes a reference marker 160. 1..n Reference markers include X-ray absorbing materials such as gold, platinum, tungsten, titanium, barium, bismuth, iridium, and tantalum. Reference marker 160 1..n The segments 170 of the slender interventional device 110 are distributed along its length to define the slender interventional device. 1..n-1 The reference marker can take the shape of a sphere, cylinder, coil, etc. Reference marker 160 1..n This produces identifiable regions within an X-ray image represented by X-ray imaging data. Therefore, Figure 1 The X-ray detector 130 of the X-ray source-detector devices 130, 140, and 150 generates a representation including multiple reference markers 160. 1..nX-ray imaging data of one or more X-ray images from a slender interventional device 110.

[0043] Depend on Figure 1 The X-ray images generated by the X-ray source-detector devices 130, 140, and 150 define the image plane 120. Figure 1 The illustrated X-ray detector represents a planar array of detector elements. In the illustrated example, the image plane 120 is parallel to and coincides with the radiation-receiving surface of the planar array of detector elements. The X-ray detector 140 may alternatively include an array of detector elements disposed on a curved surface, or an array of detector elements disposed on planar segments surrounding the curved surface. The curved surface may represent a portion of a cylindrical surface. The image plane may also be defined by this curved array of detector elements as a plane that truncates the four outermost detector elements in the array.

[0044] Figure 1 The system 100 also includes one or more processors 300. The system 100 may also include one or more non-transitory computer-readable storage media 310, a display 320, and components such as a keyboard and / or mouse. Figure 1 User input devices (not shown in the diagram). Figure 1 Various items within the system communicate with each other, as indicated by interconnected arrows. Thus, one or more processors 300 communicate with the X-ray source 130 and the X-ray detector 140. One or more non-transient computer-readable storage media 310 may jointly store instructions that, when executed by one or more processors 300, cause the system 100 to perform various operations described in more detail below. In some examples, a user input device may be used to provide user input to the system 100 in the form of instructions for performing operations. A display 320 may be used to display one or more X-ray images, display one or more associated graphical representations, display user input, etc.

[0045] In use, the X-ray source-detector devices 130, 140, and 150 are adjusted to provide a desired view of the imaging area for performing an imaging procedure. In this position, the X-ray source-detector devices 130, 140, and 150 have an initial orientation 200 relative to the elongated interventional device 110. The X-ray source 130 is controlled by one or more processors 300 to generate X-rays. The X-ray detector 140 generates a representation including multiple reference markers 160. 1..nX-ray imaging data of one or more X-ray images from an elongated interventional device 110. The X-ray imaging data may represent a single-frame projected X-ray image, a multi-frame projected X-ray image, or a live-frame projected X-ray image. The X-ray imaging data is received by one or more processors 300. The one or more processors 300 may then perform further operations on the X-ray imaging data, including one or more of the following: generating one or more X-ray images from the X-ray imaging data for display on a display 320, further processing the X-ray images and / or X-ray imaging data, and storing the X-ray images and / or X-ray imaging data using one or more non-transient computer-readable storage media 310.

[0046] Figure 2 This is a flowchart of an example method for identifying out-of-plane deviations of an elongated interventional device 110 according to some aspects of this disclosure. Figure 2 The method illustrated can be derived from Figure 1 The system illustrated is executed by processor 300. (Reference) Figure 2 A computer-implemented method for identifying out-of-plane deviations of an elongated interventional device 110 relative to an image plane 120 defined by X-ray images 180, 220 generated by X-ray source-detector devices 130, 140, 150 (the elongated interventional device 110 includes segments 170 distributed along the length of the elongated interventional device 110 to define the elongated interventional device). 1..n-1 160 benchmarks 1..n )include:

[0047] Receive S110 X-ray imaging data, the X-ray imaging data representing the plurality of reference markers 160 1..n One or more X-ray images 180 of the elongated interventional device 110;

[0048] Based on the X-ray imaging data, generate one or more X-ray images 180 (S120); and

[0049] In one or more X-ray images 180 and based on one or more pairs of reference markers 160 detected in the one or more X-ray images 180 1..n The distance between them is 190 1..n-1 Identify one or more segments 170 of the elongated interventional device 110 having an out-of-plane offset relative to the image plane 120. 1..n-1 The location.

[0050] If passed Figure 2 As indicated by the dotted lines, the above operation can then be repeated for subsequently received X-ray images.

[0051] By identifying one or more segments 170 of an elongated interventional device 110 having an out-of-plane offset relative to the image plane 120 1..n-1 The method provides improved visualization of the path of the slender interventional device as the path deviates toward or away from the image plane 120.

[0052] In this example method, image rendering techniques can be used to generate one or more X-ray images based on X-ray imaging data. In the identification step, image segmentation techniques can be used to detect the reference marker 160. 1..n The location is used to determine one or more pairs of reference markers 160 detected in one or more X-ray images 180. 1..n The distance between them is 190 1..n-1 Reference marker 160 1..n The pairs can be adjacent or non-adjacent pairs. An elongated interventional device 110 has one or more segments 170 with an out-of-plane offset relative to the image plane 120. 1..n-1 The position can then be compared with the reference marker 160. 1..n The distance between one or more pairs is 190. 1..n-1 To determine this. For example, a pair of reference markers 160. 1..n The distance between them can be compared with the expected distance, or a pair of reference markers in the X-ray image can be used. 1..n The distance between them and another pair of reference markers in the X-ray image is 160. 1..n The distances between them can be compared, or a pair of reference markers in the X-ray image can be used. 1..n The distance between them is the same as the same pair of reference markers 160 in subsequent X-ray images. 1..n The distances between them are compared. The comparison may include, for example, determining the difference or ratio between the values ​​being compared.

[0053] refer to Figure 3 The diagram illustrates the principle of recognizing S130 operations. Figure 3 It includes reference marker 160 1..n A schematic diagram of an example slender interventional device 110, with reference marker 160. 1..n Define the segment 170 of the slender interventional device 110 1..n-1 .exist Figure 3 In the image, the elongated interventional device 110 has an n-shaped profile in a plane perpendicular to the image plane 120. Reference marker 160 1..n The position is projected onto image plane 120. Within region DD-EE, segments 170 of the elongated interventional device 110... 1..n-1 120° offset from the image plane. In the region EE-FF, the elongated interventional device 110 is segmented at 170°.1..n-1 Reasonably parallel to the image plane 120. Within the region FF-GG, the segments 170 of the elongated interventional device 110... 1..n-1 Offset towards image plane 120. Within region GG-HH, segment 170 of the elongated interventional device 110. 1..n-1 Again, reasonably parallel to the image plane 120. (As in...) Figure 3 As can be seen in the diagram, the slender interventional device 110 is segmented into 170 sections. 1..n-1 Reference markers 160 detected in X-ray images in regions DD-EE and FF-GG that are oriented toward or away from the image plane 120°. 1..n The distance between the pairs is 190. 1..n-1 With the slender interventional device 110 segment 170 1..n-1 The EE-FF and GG-HH regions that are reasonably parallel to the image plane 120 will be reduced compared to the EE-FF region. Note that shortening the distance to the reference marker 160... 1..n The distance between them is 190 1..n-1 The changes have a relatively small impact. Therefore, segment 170 1..n-1 Offset and segmentation 170 toward image plane 120 1..n-1 The deviation from the image plane 120 results in the reference marker 160 being detected in the X-ray image. 1..n The distance between the pairs is 190. 1..n-1 The decrease.

[0054] Figure 4 The illustration shows the reference marker 160. 1..n Example X-ray image 180 of the slender interventional device 110. Figure 4 Reference marker 160 1..n The intervals are constant, but in other examples, the intervals may not be constant, but rather vary in a known way; that is, the intervals between reference markers may be predetermined. Orientation Figure 4 On the left side, the segments 170 of the elongated interventional device 110 are reasonably parallel to the image plane 120, and the distance 190 between the reference markers 160 is... 1..n-1 It is reasonably constant. Orientation Figure 4 On the right side, segment 170 bends toward image plane 120, and the distance between reference markers 160 is 190. 1..n-1 It is relatively shorter.

[0055] The identification operation S130 can include various graphical representations. In one example, the length of each segment 170 can be displayed. In another example, each segment 170 can be plotted based on the degree of out-of-plane offset of the segment. Therefore, refer to... Figure 4Segments 170 facing right of the illustration and having an out-of-plane offset relative to image plane 120 can be drawn in a different manner than segments 170 facing left of the illustration that are substantially parallel to image plane 120. In one example, depending on the degree of out-of-plane offset of the segments, a color scheme or shading scheme may be applied, for example, to each segment. In some examples, the drawing for each segment may depend on the rate of change of the length of successive segments along the length of the elongated interventional device. In another example, the recognition operation S130 may include:

[0056] Determine the continuous segments 170 along the elongated interventional device 110 in one or more X-ray images 180 as described in S210. 1..n-1 The rate of change of length; and

[0057] Generate a graphical representation of the rate of change of the length described in S220 350.

[0058] Figure 5A The illustration shows the reference marker 160. 1..n Example X-ray image 180 of a slender interventional device 110 within a body lumen 230. Figure 5B The illustration shows the reference marker 160. 1..n The slender interventional device 110 provides X-ray images 180 within a body lumen 230 and includes segments 170. 1..n-1 An example graphic representation of out-of-plane deviation 240. Figure 5C The illustration shows the reference marker 160. 1..n Example X-ray image 180 of the elongated interventional device 110 within a body lumen 230, and indicating regarding Figure 5A Side view. In Figure 5A and Figure 5B In the example, the body lumen 230 and therefore the elongated interventional device 110 are offset out of plane relative to the image plane 120. In particular, Figure 5A and Figure 5B The deviation in the image is away from the image plane 120 in the central segment of the image, and above this, the body lumen 230 becomes flatter in the upper segment of the image to be more parallel to the image plane 120. In the side view, that is, in the horizontal direction from Figure 5A Viewed from the left, the slender interventional device 110 will have an S-shaped profile, such as Figure 5C As shown. After the recognition operation S130, Figure 5B The central section of the slender interventional device 110 is shaded with a darker shade, and the darkest shade represents the segment with the highest rate of change in length of the continuous segments along the length of the slender interventional device.

[0059] The above method may include one or more additional operations, see reference. Figure 6 Describe these operations, Figure 6 This is another flowchart of an example method for identifying out-of-plane deviations of an elongated interventional device 110 according to some aspects of this disclosure. Figure 6 The flowchart in the document includes the operations S100, S110, and S120 described above, and additionally includes... Figure 6 Optional operations S140-S320 for the dashed outline in the diagram. Refer to the other examples below to describe these additional optional operations.

[0060] refer to Figure 6 and Figure 1 In one example, a subsequent imaging posture 210 is calculated. In this example, the X-ray imaging data is generated using X-ray source-detector assemblies 130, 140, and 150 having an initial imaging posture 200 relative to the elongated interventional device 110. In this example, the operation includes:

[0061] Calculate the subsequent imaging orientation 210 of the X-ray source-detector device relative to the elongated interventional device in S140, such that one or more pairs of reference markers 160 1..n The distance between them is 190 1..n-1 For one or more segments 170 of the slender interventional device 110 with out-of-plane deviation 1..n Increase.

[0062] As can be appreciated, if the orientation of the X-ray source-detector assembly is adjusted such that for one or more segments 170 of the elongated interventional device 110 with out-of-plane offset... 1..n One or more pairs of reference markers 160 1..n The distance between them is 190 1..n-1 The addition of this feature allows for subsequent imaging pose 210 to achieve out-of-plane offset segments 170 that are more parallel to the image plane alignment. 1..n The curve. Therefore, subsequent imaging pose enables improved visualization of out-of-plane deviation segments of slender interventional devices.

[0063] By way of example, the subsequent imaging pose 210 calculated in operation S140 will be applied to the generation Figure 5A The source-detector apparatus for the image may include rotating the X-ray source-detector apparatus by 90° about a vertical line in the plane of the X-ray image 180, such that in the horizontal direction from Figure 5A Viewing the elongated interventional device 110 from the left. This will achieve a side projection of the elongated interventional device 110 with a more S-shaped profile, wherein each pair of reference markers 160 currently has an out-of-plane offset. 1..n The distance between them increases. Figure 5C The image shown is a projection of that side.

[0064] In some examples, the subsequent imaging pose 210 calculated in operation S140 includes applying a predetermined pose transformation to the initial pose S200. For example, the subsequent imaging pose 210 calculated in operation S140 may include a rotation of approximately 90° of the current pose relative to a vertical axis coinciding with the isocenter of the X-ray source-detector apparatus. Other predetermined pose transformations may also be applied. An example of a predetermined pose transformation including a 90° rotation relative to a vertical axis coinciding with the isocenter of the X-ray source-detector apparatus is... Figure 7B The angle β is illustrated in the diagram. Further attitude transformations can be applied, for example, by rotating the attitude about an axis passing between the center of the source and the center of the detector, from the attitude achieved by the aforementioned 90° rotation, such that the horizontal image axis is perpendicular to the reference marker 160° at opposite ends of the out-of-plane segment. 1..n Construction lines. See, for example... Figure 7A The line D-D' represents the construction line, and the angle α represents another orientation change. The angle α can be geometrically calculated from the X-ray image at 180°. (Reference) Figure 5B and Figure 7A The initial imaging orientation 200 for generating the X-ray image 180 is guided into the plane of the attached figure. This is achieved by rotating the initial imaging orientation 200 approximately 90° relative to a vertical axis that coincides with the isocenter of the X-ray source-detector assembly (i.e., Figure 7B The subsequent imaging pose 210, achieved by adjusting the angle β in the image, will enable a more complete S-shaped image of the interventional device 110 and, in Figure 5B An improved visualization of the current darkened out-of-plane offset segments. Further attitude transformation by angle α generates reference markers at the opposite ends of one or more out-of-plane offset segments. 1..n The view maximizes the distance between the two planes and further improves the visualization by making the plane coinciding with the “S” more parallel to the image plane 120.

[0065] In some examples, the operation includes:

[0066] Generate a graphical representation of the subsequent imaging pose 210 calculated by S150.

[0067] Figure 7A It includes one or more segments 170 of an elongated interventional device 110 with out-of-plane offset. 1..n-1 A schematic diagram illustrating an example X-ray image 180 indicating the location and an example graphic representation of the subsequent imaging posture 210. The initial imaging posture (not shown) is guided to... Figure 7A In the plane of the attached figure. The graphical representation of the calculated subsequent imaging pose 210 is given by Figure 7AArrows are provided, but alternative graphical representations can also be used. Graphical representations can take the form of icons, or text, such as "Rotate the C-arm 45 degrees around axis A-A'", etc. Figure 7A The image plane is significantly offset from the image plane by dark shading segments in the central portion of the elongated interventional device 110, providing support for one or more segments 170 of the elongated interventional device 110 with out-of-plane offset. 1..n-1 Location identifier. Figure 7A The illustrated example shows a recommended subsequent imaging pose 210 achieved by rotating the initial imaging pose by an angle α.

[0068] In some examples, attitude adjustment between the initial imaging pose 200 and the subsequent imaging pose 210 is performed by the user, while in other examples, attitude adjustment is performed automatically. When attitude adjustment is performed automatically, the operation may include:

[0069] S230 is a control signal generated to automatically adjust the attitude of the X-ray source-detector devices 130, 140, and 150 from the initial imaging attitude 200 to the subsequent imaging attitude 210.

[0070] In some examples, attitude adjustment is performed when the calculated attitude adjustment exceeds a predetermined threshold and / or upon receiving user confirmation of automatic adjustment. In these examples, control signals S230 for automatically adjusting the attitude of the X-ray source-detector devices 130, 140, 150 are generated and executed.

[0071] i) Depends on the difference between the subsequent imaging pose 210 calculated by S240 and the initial imaging pose 200 exceeding a predetermined threshold; and / or

[0072] ii) Depends on the user input that confirms the automatic adjustment of the orientation of the X-ray source-detector devices 130, 140, 150 by S250.

[0073] In some examples, after subsequent imaging pose 210 has been provided, the operation includes estimating the three-dimensional shape of the elongated interventional device 110. In these examples, the operation includes:

[0074] When the X-ray source-detector devices 130, 140, and 150 have a subsequent imaging orientation 210 relative to the elongated interventional device, receiving S160 indicates the inclusion of the plurality of reference markers 160. 1..n The subsequent X-ray imaging data of one or more subsequent X-ray images 220 of the elongated interventional device 110; and

[0075] Based on the X-ray imaging data and the subsequent X-ray imaging data, S170 calculates an estimate of the three-dimensional shape of the elongated interventional device 110.

[0076] Figure 7B This is a schematic diagram of an example graphical representation 240 of the three-dimensional shape of the elongated interventional device 110 calculated using subsequent imaging pose 210. Alternatively, [the following can be used]... Figure 7B Various alternative graphical representations of the examples.

[0077] Various techniques can be used to estimate the three-dimensional shape of the elongated interventional device 110. In one technique, a model of the elongated interventional device, including reference markers, can be fitted to X-ray imaging data and subsequent X-ray imaging data. The fitted model can be constrained based on the mechanical properties of the elongated interventional device, such as its stiffness. The fitted model can be constrained based on X-ray image information that provides context for the location of the elongated interventional device. For example, the fitted model can be constrained based on knowledge that the elongated interventional device is positioned in the aorta, cerebral vascular system, or pulmonary airways, etc. In another example, stereoscopic image reconstruction techniques (such as those disclosed in Brost, A. et al., entitled “Accuracy of x-ray image-based 3D localization from two C-arm views: a comparison between an ideal system and areal device” (Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72611Z (March 13, 2009))) can be applied to X-ray imaging data and subsequent X-ray imaging data. In yet another example, calculating the estimate of the three-dimensional shape of the elongated interventional device 110 in S170 includes:

[0078] Based on the subsequent X-ray imaging data, generate one or more subsequent X-ray images 220 in S180;

[0079] S190 The one or more X-ray images 180 and the one or more subsequent X-ray images 220 are segmented to determine the plurality of reference markers 160 in the one or more X-ray images 180. 1..n The position of each in and the plurality of reference markers 160 in the one or more subsequent X-ray images 220 1..n Each position; and

[0080] Based on the plurality of reference markers 160 in the one or more X-ray images 180 1..n The location of each of the following and based on the plurality of reference markers 160 in the one or more subsequent X-ray images 220 1..n S200, the plurality of reference markers are sorted at each of the positions, such that the plurality of reference markers 160 1..n The order represents the three-dimensional shape of the elongated interventional device 110.

[0081] In this example, a neural network can be used to perform the segmentation operation S190 and / or the sorting operation S200. (Reference) Figure 8 An example of this technology is described. Figure 8 This is a flowchart of an example method for estimating the three-dimensional shape of the S170 slender interventional device 110.

[0082] refer to Figure 8 Having already generated X-ray image data and subsequent X-ray image data, the flowchart begins by inputting the X-ray image data and subsequent X-ray image data into the segmentation network. In operation S190, the box labeled "Segmentation Network" uses a deep learning method based on an encoder-decoder network to segment the benchmark marker 160 from the X-ray image. 1..n An example segmentation network for this purpose is disclosed in the 2015 paper "U-Net: Convolutional Networks for Biomedical Image Segmentation" (arXiv:150504597v1 1–8) by Ronneberger, O., Fischer, P., and Brox, T. The input sequence of X-ray images is stacked and may include temporal information to increase the robustness of segmentation. The segmentation network may be trained according to the type of elongated interventional device, or may include inputs to the network having an index indicating the type of elongated interventional device represented in the X-ray image. An AI-based image classifier can also be used to automatically determine the type of elongated interventional device. After the X-ray image has been segmented, the segmented image, the "segmented image," is further processed in boxes labeled "spot detectors and centroids," which identify the superposition between reference markers and calculate the center position of each reference marker, i.e., the centroid x, y pair representing the "marker position."

[0083] The next step is to sort the list of reference marker locations so that they probabilistically represent slender interventional devices. Due to the nature of projected X-ray images, this process can be more complex for curved, slender interventional devices than for straight, slender ones. For straight, slender interventional devices, the techniques disclosed in Ambrosini, P. et al., entitled “Fully automatic and real-time catheter segmentation in X-ray fluoroscopy” (International Conference on Medical Image Computing and Computer-Assisted Intervention, Springer, Cham, 2017), can be used. However, for more complex curved, slender interventional devices, [the following can be used]. Figure 8 The box marked as a shape sequence detector.

[0084] Before inputting the reference marker positions into the shape sequence detector, the input reference marker positions generated by the speckle detector and centroids can be normalized in a box labeled "Normalization" to reduce the complexity of sorting their positions. Normalization first translates the reference marker positions by calculating their positions relative to the centroids of all reference markers, and then rotates the reference marker positions so that the principal axes of the set (e.g., based on principal component analysis) are aligned with the vertical axis.

[0085] Next, the problem of sorting the list of reference marker positions, labeled as the shape sequence detector, is formulated as a multi-label classification problem using a fully convolutional deep learning model that encodes the natural variations in the shape of the elongated interventional device and the order of the reference markers across various projections. The input is a vector of reference marker positions, and the output is an ordered sequence of reference marker positions. The reference marker positions output by the shape sequence detector could be, for example: X0, Y0 → S0 = .4; X1, Y1 → S1 = .1, X2, Y2 → S2 = .7, which defines the order of the reference markers in shape as S1, S0, S2. The number of hidden layers used in the neural network of the shape sequence detector can depend on the available time, and its complexity can be higher for more flexible elongated interventional devices and the number of reference markers represented by the model. By way of example, an elongated interventional device with twelve reference markers could have twelve outputs and eight hidden layers. In one example, a sigmoid activation function is used as the last layer in the neural network, and binary cross-entropy is used as the loss function. Common hyperparameter tuning and training methods, such as the Adam optimization algorithm, can be used.

[0086] The output of the shape sequence detector includes the positions and order of reference markers. This data can be used to determine the distance 190° between pairs of reference markers. 1..n-1 The distance between consecutive reference markers is then input into a box labeled "Derivative," which, for example, uses a discrete derivative function to determine the rate of change of the length of the segments of the elongated interventional device. In a box labeled "Overlay," this information can then be mapped to a color palette, or to line thickness, etc., to provide one or more X-ray images 180 showing consecutive segments 170 along the elongated interventional device 110. 1..n-1 A graphical representation of the rate of change of length. The graphical representation can be provided, for example, as a superposition of one or more X-ray images 180°.

[0087] In use, a common trained neural network, represented by the box "shape sequence detector," can be used, or a specific trained neural network can be selected by the user, or the specific trained neural network can be automatically selected based on the anatomical region in which the elongated interventional device is positioned, the type of interventional device being imaged, or the procedure being performed using the elongated interventional device. The anatomical region in which the elongated interventional device is positioned can be determined based on X-ray image analysis or based on the X-ray imaging system setup. The elongated interventional device can be positioned, for example, in the aorta, or in the cerebral vascular system, or in the pulmonary airways. The anatomical region can also be used to constrain the three-dimensional shape of the elongated interventional device during the sequencing operation S200.

[0088] In some examples, the slender interventional device 110 includes an intravascular ultrasound imaging device. Figure 9 This is a schematic diagram of an example graphical representation 350 including an example intravascular ultrasound image 240 and the rate of change of the length of a segment 170 of a continuous intravascular ultrasound imaging device. Image 360 ​​shows a side view of an elongated interventional device 110 showing its out-of-plane deviation relative to the image plane 120, and is provided for illustrative purposes only. Figure 9 The intravascular ultrasound image 240 shows a longitudinal view of the ultrasound signal reflectance along the body lumen 230. Multiple reference markers 160 1..n Along Figure 9 The length of the IVUS imaging device is set, and its position, determined from the X-ray image including the IVUS imaging device, is superimposed on the intravascular ultrasound image 240. Figure 9 The example graphical representation 350 of the length change rate of a segment 170 in a continuous intravascular ultrasound imaging device includes two dark regions with a relatively high length change rate and three white regions with a relatively low length change rate. (Reference) Figure 6 and Figure 9In operation S210, the rate of change of the length of the segment 170 of the continuous intravascular ultrasound imaging device is determined, wherein the continuous segment 170 along the elongated interventional device 110 is determined in one or more X-ray images 180. 1..n-1 The rate of change of length. A graphical representation of the rate of change of length can then be generated in operation S220.

[0089] Figure 9 The diagram also illustrates the correlation between the axial position 270 along the body lumen 230 in intravascular ultrasound image 240 and the corresponding position along the body lumen 230 in a graphical representation 350 of the rate of change of the length of the segment 170 of the continuous intravascular ultrasound imaging device. Figure 9 In this context, the correlation is provided by a dashed line representing the position in the graphical representation 350 of the rate of change of the length of the segments 170 of the continuous intravascular ultrasound imaging device. However, other forms of providing this correlation can be used, including displaying images 240 and 350 side by side, highlighting areas in the two images, and so on.

[0090] In one example, the axial position 270 along the body lumen 230 in the intravascular ultrasound image 240 is correlated with the corresponding position along the body lumen 230 in a graphical representation 250 of the three-dimensional shape of the elongated interventional device 110. This reference Figure 10 Describe it. Figure 10 This is a schematic diagram including an example intravascular ultrasound image 240 and an example composite X-ray image 260. In this example, one or more X-ray images 180 represent a first longitudinal view of a body lumen 230, and one or more subsequent X-ray images 220 represent a second longitudinal view of the body lumen, and the elongated interventional device 110 includes an intravascular ultrasound imaging device. The method includes:

[0091] S260 receives intravascular ultrasound imaging data representing the ultrasound signal reflectance along the body lumen 230 within the first and second views;

[0092] Based on the intravascular ultrasound imaging data, an intravascular ultrasound image 240 representing the ultrasound signal reflectivity along the body lumen 230 is generated (S270).

[0093] Based on the calculated estimate of the three-dimensional shape of the elongated interventional device, a graphical representation 240 of the three-dimensional shape of the elongated interventional device 110 is generated in S280; and

[0094] The axial position 270 of the intravascular ultrasound image 240 along the body lumen 230 is correlated with the corresponding position along the body lumen 230 in the graphic representation 250 of the three-dimensional shape of the elongated interventional device 110, S290.

[0095] refer to Figure 10 In one example, the correlation in operation S290 is provided by an indicator in the form of a dashed vertical line connecting the intravascular ultrasound image 240 to a graphical representation 250 of the three-dimensional shape of the elongated interventional device 110. In another example, the correlation in operation S290 can be provided by overlaying the three-dimensional shape of the elongated interventional device 110 onto the intravascular ultrasound image 240. In these examples, a synthetic X-ray image can be generated based on X-ray imaging data and subsequent X-ray imaging data, and the axial position 270 along the body lumen 230 in the intravascular ultrasound image 240 can be correlated with the position in the synthetic X-ray image 260. In this example, the method includes:

[0096] Based on the X-ray imaging data and the subsequent X-ray imaging data, an S300 composite X-ray image 260 is generated, the composite X-ray image including a portion of the first longitudinal view 180 of the body lumen 230 and a portion of the second longitudinal view 220 of the body lumen 230; and

[0097] Correlate the position 270 along the axial direction of the body lumen 230 in the intravascular ultrasound image 240 with the position in the synthetic X-ray image 260 S310.

[0098] Figure 10 The synthesized X-ray images can be generated by overlaying corresponding portions of an X-ray image with subsequent X-ray images, and facilitate deeper insight into the anatomical region under study. In one example, portions of a first longitudinal view 180 of the body lumen 230 and portions of a second longitudinal view 220 of the body lumen 230 can be centered on an indicator (i.e., a dashed line). The synthesized image 260 aids in the identification of features in intravascular images. For example, the synthesized image can be used to confirm the presence of potential vascular branches in an intravascular ultrasound image 240.

[0099] In one example, the elongated interventional device 110 includes an intravascular ultrasound imaging device, and when the imaging portion 280 of the intravascular ultrasound imaging device reaches one or more segments 170 of the elongated interventional device 110 having out-of-plane offset... 1..n-1 Upon identifying the position, various control signals are generated for controlling the attitude of the X-ray source-detector device, or the collimation of the X-ray source-detector device, or the patient bed, or the retraction of the device. In this example, the method includes:

[0100] When the intravascular ultrasound imaging device moves axially along the body lumen 230, it receives intravascular ultrasound imaging data representing the ultrasound signal reflectivity along the body lumen 230 in S320; and wherein:

[0101] i) When the imaging portion 280 of the intravascular ultrasound imaging device reaches one or more segments 170 of the elongated interventional device 110 with out-of-plane deviation. 1..n-1 Upon the identified position, execute S230 to generate a control signal for automatically adjusting the attitude of the X-ray source-detector devices 130, 140, 150 from the initial imaging attitude 200 to the subsequent imaging attitude 210; and / or

[0102] ii) Including when the imaging portion 280 of the intravascular ultrasound imaging device 110 reaches one or more segments 170 of the elongated interventional device 110 having out-of-plane deviation. 1..n-1 Upon the identified position, a control signal is generated for adjusting the collimation of the X-ray source-detector devices 130, 140, and 150; and / or

[0103] iii) Including when the imaging portion 280 of the intravascular ultrasound imaging device 110 reaches one or more segments 170 of the elongated interventional device 110 having out-of-plane deviation. 1..n-1 Upon identification of the position, a control signal is generated for adjusting the position of the patient bed 290; and / or

[0104] iv) wherein the intravascular ultrasound imaging device 110 is axially moved along the body lumen 230 by an automatic pull-back device, and includes the following: when the imaging portion 280 of the intravascular ultrasound imaging device 110 reaches one or more segments 170 of the elongated interventional device 110 having out-of-plane offset. 1..n-1 When the identified position is reached, a control signal is generated to cause the automatic pull-back device to pause the axial movement of the intravascular ultrasound imaging device 110 along the body lumen 230.

[0105] The provision of the aforementioned control signals improves the generated X-ray images and / or improves the workflow by eliminating the need for users to manually perform such adjustments.

[0106] In one example, the one or more X-ray images 180 comprise a series of X-ray image frames, and wherein, in the one or more X-ray images 180, one or more segments 170 of the elongated interventional device 110 with an out-of-plane offset relative to the image plane 120 are identified as S130. 1..n-1 Positioning is based on one or more pairs of reference markers 160 between consecutive image frames as the elongated interventional device 110 moves axially along the body lumen 230. 1..n The distance between them is 190 1..n-1 The changes.

[0107] In doing so, this example provides a dynamic indication of the out-of-plane deviation of the slender interventional device.

[0108] According to another example, a computer program product is provided. The computer program product includes instructions that, when executed by a processor 300, cause the processor 300 to perform a method for identifying out-of-plane deviations of an elongated interventional device 110 relative to an image plane 120 defined by X-ray images 180, 220 generated by X-ray source-detector devices 130, 140, 150, the elongated interventional device 110 including segments 170 distributed along the length of the elongated interventional device 110 to define segments of the elongated interventional device 110. 1..n-1 160 benchmarks 1..n The method includes:

[0109] Receive S110 X-ray imaging data, the X-ray imaging data representing the plurality of reference markers 160 1..n One or more X-ray images 180 of the elongated interventional device 110;

[0110] Based on the X-ray imaging data, generate one or more X-ray images 180 (S120); and

[0111] In one or more X-ray images 180 and based on one or more pairs of reference markers 160 detected in the one or more X-ray images 180 1..n The distance between them is 190 1..n-1 Identify one or more segments 170 of the elongated interventional device 110 having an out-of-plane offset relative to the image plane 120. 1..n-1 The location.

[0112] The computer program product may include additional instructions for performing one or more of the operations described above with respect to the computer-implemented methods.

[0113] According to another example, a non-transient computer-readable storage medium is provided. The non-transient computer-readable storage medium is encoded with instructions executable by one or more processors 300 to identify out-of-plane deviations of an elongated interventional device 110 relative to an image plane 120 defined by X-ray images 180, 220 generated by X-ray source-detector devices 130, 140, 150, the elongated interventional device 110 including segments 170 distributed along the length of the elongated interventional device 110 to define the elongated interventional device 110. 1..n-1 160 benchmarks 1..n The computer-readable storage medium includes instructions for performing the following operations:

[0114] Receive S110 X-ray imaging data, the X-ray imaging data representing the plurality of reference markers 160 1..n One or more X-ray images 180 of the elongated interventional device 110;

[0115] Based on the X-ray imaging data, generate one or more X-ray images 180 (S120); and

[0116] In one or more X-ray images 180 and based on one or more pairs of reference markers 160 detected in the one or more X-ray images 180 1..n The distance between them is 190 1..n-1 Identify one or more segments 170 of the elongated interventional device 110 having an out-of-plane offset relative to the image plane 120. 1..n-1 The location.

[0117] The non-transient computer-readable storage medium may include additional instructions for performing one or more of the operations described above with respect to the computer-implemented method.

[0118] In another example, a system is provided. The system is configured to perform one or more of the operations described with respect to a computer-implemented method. Figure 1 The figure illustrates an example of system 100. In this example, a system 100 is disclosed for identifying out-of-plane deviations of an elongated interventional device 110 relative to an image plane 120 defined by X-ray images 180, 220 generated by X-ray source-detector devices 130, 140, 150, the elongated interventional device 110 comprising segments 170 distributed along the length of the elongated interventional device 110 to define the elongated interventional device 110. 1..n-1 160 benchmarks 1..n The system 100 includes a processor 300, which is configured to perform a method including the following operations:

[0119] Receive S110 X-ray imaging data, the X-ray imaging data representing the plurality of reference markers 160 1..n One or more X-ray images 180 of the elongated interventional device 110;

[0120] Based on the X-ray imaging data, generate one or more X-ray images 180 (S120); and

[0121] In one or more X-ray images 180 and based on one or more pairs of reference markers 160 detected in the one or more X-ray images 180 1..n The distance between them is 1901..n-1 Identify one or more segments 170 of the elongated interventional device 110 having an out-of-plane offset relative to the image plane 120. 1..n-1 The location.

[0122] System 100 can also be configured to perform one or more of the operations described above regarding the computer-implemented method.

[0123] In another example, an elongated interventional device 110 is provided for use with system 100. (Reference) Figure 11 Figure 12 illustrates the slender interventional device 110. Figure 11 Figure 12 is a schematic diagram of an example intravascular ultrasound imaging device 110 including an imaging section 280, and Figure 13 is a schematic diagram including a reference marker 160. 1..n A schematic diagram of an example slender interventional device 110, with reference marker 160. 1..n Includes cylindrical sections. In Figure 12, image AD represents A) a reference with 0° rotation and 0° tilt about axis 340, B) 90° rotation and 45° tilt about axis 340, C) 90° rotation and 0° tilt about axis 340, and D) 45° rotation and 0° tilt about axis 340.

[0124] refer to Figure 11 As shown in Figure 12, the example elongated interventional device 110 includes a plurality of reference markers 160 disposed along the length axis of the interventional device 110. 1..n ;and

[0125] i) 160 per benchmark 1..n The device includes cylindrical segments of X-ray absorbing material, each segment having a different orientation 330 relative to the axis 340 of the elongated interventional device 110. 1..n The plane.

[0126] In the alternative examples:

[0127] ii) Each reference marker comprises multiple axially separated regions of X-ray absorbing material, each region having a different axial length.

[0128] Multiple reference markers may include, for example,: i) one or more turns of X-ray absorption wire wound around the axis of the elongated interventional device 110, and / or ii) five reference markers 160 separated along the axis of the elongated interventional device 110. 1..n (iii) including a ring of X-ray absorbing material, and (iv) a polymer doped with X-ray absorbing material. Various X-ray absorbing materials can be used, such as gold, platinum, tungsten, titanium, barium, bismuth, iridium, or tantalum.

[0129] Providing reference markers with different orientations or axial lengths relative to the axis of the elongated interventional device helps distinguish it in X-ray images 180, 220. Understanding its position in the X-ray images can facilitate its segmentation in operation S190, and thus improve the determination of the position and / or orientation of the elongated interventional device 110. For example, the example in Figure 12 can be used to determine the rotation of the elongated interventional device 110.

[0130] In another example, the path for identifying the elongated interventional device 110 is disclosed relative to a series of X-ray image frames 400 generated by the X-ray source-detector devices 130, 140, 150. 1..k Another computer-implemented method for out-of-plane offset of a defined image plane 120, wherein the elongated interventional device 110 includes one or more reference markers 160 disposed along the elongated interventional device 110. 1..n The method includes:

[0131] As the elongated interventional device 110 moves along the path through the body lumen 230, it receives indications including the elongated interventional device 110 and the one or more reference markers 160. 1..n X-ray imaging data of a series of X-ray image frames;

[0132] Multiple X-ray image frames 400 are generated based on the X-ray imaging data. 1..k ;

[0133] According to the plurality of X-ray image frames 400 1..k And based on the one or more reference markers 160 1..n In continuous X-ray image frame 400 1..k The distance moved between 410 1..k Identify one or more segments of the path through the body lumen 230 that have an out-of-plane offset relative to the image plane 120; and

[0134] In the subsequently generated X-ray image frame 400 1..k The location of one or more segments of the path through the body lumen 230 that have an out-of-plane deviation relative to the image plane 120 is identified.

[0135] refer to Figure 13 This example is described. Figure 13 This is an example of a series of 400 X-ray image frames. 1..k A schematic diagram, illustrating the use of reference marker 1601 in continuous X-ray image frames 400. 1..k The distance moved between 410 1..k .exist Figure 13In this example, the location of the reference marker 1601 in a previous X-ray image frame is identified within the current X-ray image frame, which has the dashed reference marker 160'1. This example can be used with... Figure 1 The illustrated system 100 is implemented in a similar manner, wherein the processor 300 is alternatively configured to perform the method steps described above. Regarding Figure 6 The described operations can also be implemented using this example. In another example, a computer program product including instructions that, when executed by a processor, cause the processor to perform the method.

[0136] The examples described above should be understood as illustrative examples of this disclosure. Further examples are also contemplated. For example, the examples described with respect to a computer-implemented method may also be implemented in a computer program product, in a computer-readable storage medium, and in system 100. Therefore, it should be understood that features described with respect to any example may be used alone or in combination with other features described, and may also be used in combination with one or more features of another example or a combination of other examples. Furthermore, equivalents and modifications not described above may be employed without departing from the scope of this disclosure as defined in the appended claims. Any reference numerals in the claims should not be construed as limiting the scope of this disclosure.

Claims

1. A computer-implemented method for identifying out-of-plane deviations of an elongated interventional device (110) relative to an image plane (120) defined by an X-ray image (180, 220) generated by an X-ray source-detector device having an initial imaging posture (200) relative to the elongated interventional device (110), the elongated interventional device (110) comprising a plurality of reference markers (160). 1..n The plurality of reference markers are distributed along the length of the elongated interventional device (110) to define the segments (170) of the elongated interventional device. 1..n-1 The method includes: Receive X-ray imaging data, the X-ray imaging data representing the plurality of reference markers (160) 1..n One or more X-ray images (180) of the elongated interventional device (110) of the device. One or more X-ray images are generated based on the X-ray imaging data (180); Based on the reference markers (160) detected in one or more X-ray images (180) 1..n The distance between one or more pairs of reference markers (190) 1..n-1 ), identifying one or more segments (170) of the elongated interventional device (110) having an out-of-plane offset relative to the image plane (120) in one or more X-ray images (180). 1..n-1 The position of ) and Calculate the subsequent imaging orientation (210) of the X-ray source-detector device relative to the elongated interventional device, such that for the one or more segments (170) of the elongated interventional device (110) with out-of-plane offset... 1..n ), the reference marker (160) 1..n The distance (190) between the one or more pairs of reference markers. 1..n-1 )Increase.

2. The computer-implemented method according to claim 1, comprising: Generate a graphical representation of the calculated subsequent imaging pose (210).

3. The computer-implemented method according to claim 1 or claim 2, comprising: Receive subsequent X-ray imaging data, which represents the plurality of reference markers (160) in the case that the X-ray source-detector device has the subsequent imaging orientation (210) relative to the elongated interventional device (110). 1..n One or more subsequent X-ray images (220) of the elongated interventional device (110); and An estimate of the three-dimensional shape of the elongated interventional device (110) is calculated based on the X-ray imaging data and the subsequent X-ray imaging data.

4. The computer-implemented method according to claim 3, wherein, The calculation of the estimate of the three-dimensional shape of the elongated interventional device (110) includes: One or more subsequent X-ray images are generated based on the subsequent X-ray imaging data (220). The one or more X-ray images (180) and the one or more subsequent X-ray images (220) are segmented respectively to determine the plurality of reference markers (160) in the one or more X-ray images (180). 1..n The position of each reference marker in the one or more subsequent X-ray images (220) and the plurality of reference markers (160) 1..n The position of each reference marker; and Based on the multiple reference markers (160) in the one or more X-ray images (180) 1..n The location of each reference marker in the one or more subsequent X-ray images (220) and based on the multiple reference markers (160) in the one or more subsequent X-ray images (220) 1..n The position of each reference marker in the plurality of reference markers is used to sort the plurality of reference markers such that the plurality of reference markers (160) 1..n The order of ) represents the three-dimensional shape of the elongated interventional device (110).

5. The computer-implemented method according to claim 1 or 2, comprising: Determine the continuous segments (170) along the elongated interventional device (110) in one or more X-ray images (180). 1..n-1 The rate of change of the length of ) and Generate a graphical representation of the rate of change of the length (350).

6. The computer-implemented method according to claim 1, comprising: A control signal is generated to automatically adjust the orientation of the X-ray source-detector device from the initial imaging orientation (200) to the subsequent imaging orientation (210).

7. The computer-implemented method according to claim 6, wherein, The generation of control signals for automatically adjusting the attitude of the X-ray source-detector assembly is performed according to the following: i) depending on the difference between the calculated subsequent imaging pose (210) and the initial imaging pose (200) exceeding a predetermined threshold; and / or ii) Depends on user input that confirms the automatic adjustment of the orientation of the X-ray source-detector device.

8. The computer-implemented method according to claim 3, wherein, The one or more X-ray images (180) represent a first longitudinal view of a body lumen (230), wherein the one or more subsequent X-ray images (220) represent a second longitudinal view of the body lumen, and wherein the elongated interventional device (110) includes an intravascular ultrasound imaging device, and the computer-implemented method includes: Receive intravascular ultrasound imaging data representing the reflectivity of ultrasound signals along the body lumen (230) in the first longitudinal view and the second longitudinal view; An intravascular ultrasound image (240) representing the reflectivity of the ultrasound signal along the body lumen (230) is generated based on the intravascular ultrasound imaging data. A graphical representation of the three-dimensional shape of the elongated interventional device (110) is generated based on the calculated estimate of the three-dimensional shape of the device; and The axial position (270) along the body lumen (230) in the intravascular ultrasound image (240) is correlated with the corresponding position along the body lumen (230) in the graphic representation (250) of the three-dimensional shape of the elongated interventional device (110).

9. The computer-implemented method according to claim 8, comprising: A synthetic X-ray image (260) is generated based on the X-ray imaging data and the subsequent X-ray imaging data. The synthetic X-ray image includes a portion of the first longitudinal view (180) of the body lumen (230) and a portion of the second longitudinal view (220) of the body lumen (230). The position (270) along the axial direction of the body lumen (230) in the intravascular ultrasound image (240) is correlated with the position in the synthetic X-ray image (260).

10. The computer-implemented method according to claim 6, wherein, The elongated interventional device (110) includes an intravascular ultrasound imaging device, and the computer-implemented method includes: As the intravascular ultrasound imaging device moves axially along the body lumen (230), it receives intravascular ultrasound imaging data representing the reflectivity of ultrasound signals along the body lumen (230); and wherein: i) When the imaging portion (280) of the intravascular ultrasound imaging device reaches one or more segments (170) of the elongated interventional device (110) having out-of-plane deviation. 1..n-1 When the identified position is reached, a control signal is generated to automatically adjust the attitude of the X-ray source-detector device from the initial imaging attitude (200) to the subsequent imaging attitude (210); and / or ii) including one or more segments (170) of the elongated interventional device (110) having out-of-plane deviation when the imaging portion (280) of the intravascular ultrasound imaging device reaches it. 1..n-1 When the identified position is reached, a control signal is generated for adjusting the collimation of the X-ray source-detector device; and / or iii) including one or more segments (170) of the elongated interventional device (110) having out-of-plane deviation when the imaging portion (280) of the intravascular ultrasound imaging device reaches it. 1..n-1 When the identified position is reached, a control signal is generated for adjusting the position of the patient bed (290); and / or iv) wherein the intravascular ultrasound imaging device is axially moved along the body lumen (230) by an automatic pull-back device, and includes one or more segments (170) of the elongated interventional device (110) having out-of-plane offset when the imaging portion (280) of the intravascular ultrasound imaging device reaches one or more segments (170) of the elongated interventional device (110). 1..n-1 When the identified position is reached, a control signal is generated to cause the automatic pull-back device to pause the movement of the intravascular ultrasound imaging device along the axial direction of the body lumen (230).

11. The computer-implemented method according to claim 1, wherein, The one or more X-ray images (180) comprise a series of X-ray image frames, and wherein, in the one or more X-ray images (180), one or more segments (170) of the elongated interventional device (110) with an out-of-plane offset relative to the image plane (120) are identified. 1..n-1 The position of the reference marker (160) is based on the distance between consecutive image frames as the elongated interventional device (110) moves axially along the body lumen (230). 1..n The distance between one or more pairs of reference markers (190) 1..n-1 (Changes).

12. A computer program product comprising instructions which, when executed by a processor (300), cause the processor (300) to perform the method according to any one of claims 1 to 11.

13. A system comprising: A processor (300) configured to perform a computer-implemented method according to any one of claims 1 to 11, and X-ray source-detector device used to generate the X-ray images (180, 220).

14. The system of claim 13, further comprising the elongated interventional device (110), wherein, The elongated interventional device includes segments (170) distributed along its length to define the elongated interventional device. 1..n-1 The multiple reference markers (160) 1..n ).

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