A method, apparatus, device and medium for catheter positioning of an angiographic filling frame

Abstract

The application provides a method, device, equipment and medium for positioning a catheter in an angiographic filling frame, the method comprising: determining a first translation vector based on the coordinates of each center point in a first catheter center line and the coordinates of each center point in a second catheter center line, and translating the first catheter region in a second angiographic image based on the first translation vector to obtain a first translated catheter region and a translated catheter center line; determining a second translation vector based on the coordinates of each center point in the translated catheter center line and the coordinates of each center point in the second catheter center line, and translating the first translated catheter region in the second angiographic image based on the second translation vector to obtain a second translated catheter region; and determining a catheter target region in the second angiographic image based on the second translated catheter region and the second catheter region. According to the method and device, the dynamic positioning of the catheter in each frame of the angiographic image can be quickly and accurately obtained continuously.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical image processing technology, in particular to a catheter positioning method and device for angiographic filling frames, equipment and medium. BACKGROUND

[0002] In an angiographic image, the positioning of a catheter is an important prerequisite for the positioning of a blood vessel starting point, and the automatic positioning of a catheter is an important prerequisite for the automatic analysis of a blood vessel. Moreover, the difficulty of automatic positioning currently lies in the blurred edge at the junction of a blood vessel and a catheter, and some feature analysis methods (such as machine learning) cannot achieve good results at these key positions.

[0003] Currently, the most commonly used method for catheter positioning in angiography is mainly a deep learning-based method, which first manually annotates a large amount of catheter data, then spends a lot of time to obtain the final training model, and then directly applies it to new data. The limitation of this method is that a large amount of data and accurate manual annotation are required, as well as a large amount of subsequent model training time; the deep learning method is limited by data, the position of the catheter can be at any edge of the image, and the model has poor adaptability to such arbitrary directions; and it is easily disturbed by noise, especially at the junction of the catheter and the blood vessel, because of the overlap of the filling agent, the machine is difficult to distinguish. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a catheter positioning method, device, equipment and medium for angiographic filling frames, which is based on the catheter in the non-filling frame, uses a dynamic matching method to offset the catheter from the previous frame to the current frame, and quickly and accurately continuously obtains the dynamic positioning of the catheter in each frame of the angiographic image.

[0005] In a first aspect, an embodiment of the present application provides a catheter positioning method for angiographic filling frames, which comprises:

[0006] An angiographic video is obtained, a non-filling end frame angiographic image and a filling start frame angiographic image are determined in the angiographic video, and the non-filling end frame angiographic image is taken as a first angiographic image and the filling start frame angiographic image is taken as a second angiographic image; wherein the first angiographic image comprises a first catheter region and the second angiographic image comprises a second catheter region;

[0007] The first catheter region in the first angiographic image is mapped to the second angiographic image, and the first catheter region in the second angiographic image is skeletonized to obtain a first catheter center line, and the second catheter region is skeletonized to obtain a second catheter center line;

[0008] determine a first translation vector based on the coordinates of each center point in the first catheter center line in the second angiography image and the coordinates of each center point in the second catheter center line in the second angiography image, and translate the first catheter region in the second angiography image based on the first translation vector to obtain a first translated catheter region and a translated catheter center line;

[0009] determine a second translation vector based on the coordinates of each center point in the translated catheter center line in the second angiography image and the coordinates of each center point in the second catheter center line in the second angiography image, and translate the first translated catheter region in the second angiography image based on the second translation vector to obtain a second translated catheter region;

[0010] determine a catheter target region in the second angiography image based on the second translated catheter region and the second catheter region.

[0011] Further, after the catheter target region in the second angiography image is determined based on the second translated catheter region and the second catheter region, the catheter positioning method further comprises:

[0012] determine a next frame angiography image adjacent to the second angiography image in the angiography video;

[0013] take the second angiography image as the first angiography image and take the next frame angiography image as the second angiography image;

[0014] return to execute the step of mapping the first catheter region in the first angiography image to the second angiography image until there is no next frame angiography image adjacent to the second angiography image in the angiography video.

[0015] Further, the determination of the first translation vector based on the coordinates of each center point in the first catheter center line in the second angiography image and the coordinates of each center point in the second catheter center line in the second angiography image comprises:

[0016] determine a catheter end point of the first catheter center line from the center points in the first catheter center line;

[0017] determine the distance between each center point in the second catheter center line and the catheter end point, and determine the center point in the second catheter center line closest to the catheter end point as a first center point;

[0018] determine the first translation vector based on the coordinates of the first center point in the second angiography image and the coordinates of the catheter end point in the second angiography image.

[0019] Further, the second translation vector is determined based on the coordinates of each center point in the translation catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image, including:

[0020] a first catheter starting point of the translation catheter center line is determined from the center points in the translation catheter center line, and a second catheter starting point of the second catheter center line is determined from the center points in the second catheter center line;

[0021] if the first catheter starting point is above the second catheter starting point, distances between each center point in the translation catheter center line and the second catheter starting point are determined, and a center point in the translation catheter center line closest to the second catheter starting point is determined as a second center point;

[0022] the second translation vector is determined based on the coordinates of the second center point in the second contrast image and the coordinates of the second catheter starting point in the second contrast image.

[0023] Further, if the first catheter starting point is below the second catheter starting point, the second translation vector is determined by the following steps:

[0024] distances between each center point in the second catheter center line and the first catheter starting point are determined, and a center point in the second catheter center line closest to the first catheter starting point is determined as a third center point;

[0025] the second translation vector is determined based on the coordinates of the third center point in the second contrast image and the coordinates of the first catheter starting point in the second contrast image.

[0026] Further, the catheter target region in the second contrast image is determined based on the second translation catheter region and the second catheter region, including:

[0027] it is judged whether the second translation catheter region is out of the second contrast image;

[0028] if the second translation catheter region is out of the second contrast image, a pixel region in the second translation catheter region that is out of the second contrast image is deleted to obtain an adjusted second translation catheter region, and the adjusted second translation catheter region is integrated with the second catheter region to obtain the catheter target region;

[0029] if the second translation catheter region does not exceed the pixel range of the second angiogram image, determining whether the second translation catheter region reaches the edge of the second angiogram image;

[0030] if the second translation catheter region reaches the edge of the second angiogram image, integrating the second translation catheter region and the second catheter region to obtain the catheter target region;

[0031] if the second translation catheter region does not reach the edge of the second angiogram image, supplementing the second catheter region by using the second translation catheter region, and determining the supplemented second catheter region as the catheter target region.

[0032] In a second aspect, the embodiments of the present application further provide a catheter positioning device for an angiographic filling frame, the catheter positioning device comprising:

[0033] an angiogram image acquisition module, configured to acquire an angiographic video, determine a non-filling end frame angiogram image and a filling start frame angiogram image in the angiographic video, and take the non-filling end frame angiogram image as a first angiogram image and take the filling start frame angiogram image as a second angiogram image; wherein the first angiogram image comprises a first catheter region and the second angiogram image comprises a second catheter region;

[0034] a catheter center line determination module, configured to map the first catheter region in the first angiogram image to the second angiogram image, skeletonize the first catheter region in the second angiogram image to obtain a first catheter center line, and skeletonize the second catheter region to obtain a second catheter center line;

[0035] a first translation module, configured to determine a first translation vector based on the coordinates of each center point in the first catheter center line in the second angiogram image and the coordinates of each center point in the second catheter center line in the second angiogram image, and translate the first catheter region in the second angiogram image based on the first translation vector to obtain a first translation catheter region and a translation catheter center line;

[0036] a second translation module, configured to determine a second translation vector based on the coordinates of each center point in the translation catheter center line in the second angiogram image and the coordinates of each center point in the second catheter center line in the second angiogram image, and translate the first translation catheter region in the second angiogram image based on the second translation vector to obtain a second translation catheter region;

[0037] a catheter target region module configured to determine a catheter target region in the second angiogram based on the second translated catheter region and the second catheter region.

[0038] Further, the catheter positioning apparatus further comprises a loop calculation module configured to, after the catheter target region in the second angiogram is determined based on the second translated catheter region and the second catheter region:

[0039] determine a next frame angiogram adjacent to the second angiogram in the angiography video;

[0040] map the first catheter region in the first angiogram to the second angiogram as the second catheter region in the second angiogram;

[0041] return to perform the mapping of the first catheter region in the first angiogram to the second angiogram until there is no next frame angiogram adjacent to the second angiogram in the angiography video.

[0042] In a third aspect, an electronic device is provided, which comprises a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, and the machine readable instructions are executed by the processor to perform the steps of the catheter positioning method for angiography filling frame as described above.

[0043] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, when the computer program is run by a processor, the steps of the catheter positioning method for angiography filling frame as described above are performed.

[0044] The method comprises the steps of: acquiring a digital subtraction angiography (DSA) video, determining a non-filling end frame angiogram and a filling start frame angiogram in the DSA video, taking the non-filling end frame angiogram as a first angiogram, and taking the filling start frame angiogram as a second angiogram; mapping a first catheter region in the first angiogram to the second angiogram, skeletonizing the first catheter region in the second angiogram to obtain a first catheter center line, and skeletonizing a second catheter region to obtain a second catheter center line; determining a first translation vector based on coordinates of each center point in the first catheter center line in the second angiogram and coordinates of each center point in the second catheter center line in the second angiogram, and translating the first catheter region in the second angiogram based on the first translation vector to obtain a first translation catheter region and a translation catheter center line; determining a second translation vector based on coordinates of each center point in the translation catheter center line in the second angiogram and coordinates of each center point in the second catheter center line in the second angiogram, and translating the first translation catheter region in the second angiogram based on the second translation vector to obtain a second translation catheter region; and determining a catheter target region in the second angiogram based on the second translation catheter region and the second catheter region.

[0045] The catheter positioning method provided by the application is based on the catheter of a non-filling frame, uses a dynamic matching method to offset the catheter of a previous frame to the catheter of a current frame, and continuously and quickly and accurately obtains the dynamic positioning of the catheter in each angiogram.

[0046] In order to make the above objectives, features and advantages of the application more apparent, the following will specifically describe a preferred embodiment in conjunction with the accompanying drawings, and the specific description is as follows. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without paying creative labor on the basis of these drawings.

[0048] Figure 1 A flowchart of a catheter positioning method of a filling frame of a digital subtraction angiography provided by the embodiments of the application;

[0049] Figure 2Fig. 1 is a structural schematic diagram of a catheter positioning device for an angiographic filling frame according to an embodiment of the present application;

[0050] Figure 3 Fig. 2 is a structural schematic diagram of a catheter positioning device for an angiographic filling frame according to another embodiment of the present application;

[0051] Figure 4 Fig. 3 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without creative work falls within the scope of protection of the present application.

[0053] First, the application scenarios applicable to the present application are introduced. The present application can be applied to the technical field of medical image processing.

[0054] In an angiographic image, the positioning of a catheter is an important prerequisite for the positioning of a blood vessel starting point, and the automatic positioning of the catheter is an important prerequisite for the automatic analysis of a blood vessel. Moreover, the difficulty of current automatic positioning lies in that the edge of the junction between the blood vessel and the catheter is blurred. Some feature analysis methods (such as machine learning) cannot play a good effect at these key positions.

[0055] It is found through research that at present, the most commonly used method for catheter positioning in angiography is mainly a method based on deep learning. First, a large amount of catheter data is manually labeled, and then a large amount of time is spent to obtain the final training model, which is then directly applied to new data. The limitation of this method lies in the need for a large amount of data and accurate manual labeling, as well as a large amount of subsequent model training time. The method of deep learning is limited by data. The position of the catheter can be at any edge of the image. The adaptability of the model to such arbitrary directions is poor. Moreover, it is easily disturbed by noise, especially at the junction between the catheter and the blood vessel, because of the overlapping filling of the contrast agent, the machine is difficult to distinguish.

[0056] Based on this, the embodiment of the present application provides a catheter positioning method for angiographic filling frames, which can quickly and accurately continuously acquire dynamic positioning of the catheter in each frame of the angiographic image.

[0057] Please refer to Figure 1 , Figure 1 The flow chart of the catheter positioning method for angiographic filling frames provided by the embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, the catheter positioning method for angiographic filling frames provided by the embodiment of the present application comprises the following steps. Figure 1

[0058] S101, acquiring an angiographic video, determining a non-filling termination frame angiographic image and a filling start frame angiographic image in the angiographic video, and taking the non-filling termination frame angiographic image as a first angiographic image and taking the filling start frame angiographic image as a second angiographic image.

[0059] It should be noted that the non-filling termination frame angiographic image refers to the last frame image of the angiographic video when the angiography is in a non-filling state. The filling termination frame angiographic image refers to the first frame image of the angiographic video when the angiography is in a filling state.

[0060] For the above step S101, in the specific implementation, the angiographic video is acquired, the non-filling termination frame angiographic image and the filling start frame angiographic image are determined in the angiographic video, and the non-filling termination frame angiographic image is taken as the first angiographic image and the filling start frame angiographic image is taken as the second angiographic image. Wherein, the first angiographic image includes a first catheter region, and the second angiographic image includes a second catheter region. The first catheter region is the region of the catheter in the first angiographic image during angiography. The second catheter region is the region of the catheter in the second angiographic image during angiography.

[0061] ​As an optional implementation, for the step S101, the non-contrast termination frame angiogram and the contrast initiation frame angiogram can be determined in the angiography video by the following method: for each frame angiogram in the angiography video, first determine the starting point of the catheter in the angiogram, and then perform region growing based on the starting point of the catheter to determine the catheter area of the catheter region corresponding to the catheter in the angiogram. Then, the catheter areas of the catheter regions in any two adjacent frame angiograms in the angiography video are compared in turn. When the ratio between the catheter area of the catheter region in the latter one of the two adjacent frame angiograms and the catheter area of the catheter region in the former one of the two adjacent frame angiograms is greater than or equal to the area difference threshold value, the former one of the two adjacent frame angiograms is taken as the non-contrast termination frame angiogram, and the latter one of the two adjacent frame angiograms is taken as the contrast initiation frame angiogram. When the catheter area in the latter one of the two adjacent frame angiograms increases dramatically compared with the catheter area in the former one of the two adjacent frame angiograms, for example, the catheter area in the latter one of the two adjacent frame angiograms exceeds 30% of the catheter area in the former one of the two adjacent frame angiograms, it is considered that the contrast agent starts to fill, the former one of the two adjacent frame angiograms is the last frame in the non-contrast state, and the latter one of the two adjacent frame angiograms is the first frame in the contrast state.

[0062] S102, mapping the first catheter region in the first angiogram to the second angiogram, skeletonizing the first catheter region in the second angiogram to obtain a first catheter center line, and skeletonizing the second catheter region in the second angiogram to obtain a second catheter center line.

[0063] For the step S102, in the specific implementation, the first catheter region in the first angiogram is mapped to the second angiogram, and both the first catheter region and the second catheter region exist in the second angiogram. Then, the first catheter region is skeletonized in the second angiogram to obtain a first catheter center line, and the second catheter region is skeletonized in the second angiogram to obtain a second catheter center line. Here, the skeletonization of a digital image is a process of converting the foreground region in a binary image into its "skeleton". Generally, the steps of digital image skeletonization can be summarized as follows: 1. Image preprocessing: Some preprocessing operations are usually needed for the image, such as noise removal, smoothing, etc., so as to better extract the image skeleton. 2. Edge extraction: Some edge detection algorithms, such as Canny algorithm, etc., can be used to extract the edges in the image. 3. Extraction of the center axis: the edge lines are contracted inward until the center axis is extracted. Commonly used algorithms include distance transformation, thinning algorithm, etc. 4. Refinement of the skeleton: some post-processing operations are performed on the extracted skeleton to make the skeleton more delicate and continuous. For example, breakpoint connection, isolated point removal, etc.

[0064] S103, determining a first translation vector based on the coordinates of each center point in the first catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image, and translating the first catheter region in the second contrast image based on the first translation vector to obtain a first translated catheter region and a translated catheter center line.

[0065] For the above step S103, in a specific implementation, a first translation vector is determined based on the coordinates of each center point in the first catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image. After obtaining the first translation vector, the first catheter region is translated in the second contrast image based on the first translation vector to obtain a first translated catheter region, and then the first translated catheter region is skeletonized to obtain a translated catheter center line. Specifically, let the first catheter center line be M, the number of center points in the first catheter center line be m, and M = {M0, M1, M2, …, Mm}, the coordinates of Mi in the second contrast image can be represented as (x Mi ,y Mi ), and the translated catheter center line can be represented as M 1 = {M0+v i , M1+v i , …, M m +v i}, where M 1 represents the translated catheter center line, v i represents the first translation vector calculated, and the calculation of each center point in the translated catheter center line can be represented as

[0066] Specifically, for the above step S103, the first translation vector is determined based on the coordinates of each center point in the first catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image, including:

[0067] Step 1031, determining a catheter end point of the first catheter center line from each center point in the first catheter center line.

[0068] Here, since the vessel is filled at the tail of the catheter, and the first catheter centerline is the catheter centerline in the non-filled frame, and the second catheter centerline is the catheter centerline in the filled frame, the second catheter centerline will certainly be longer than the first catheter centerline at the tail, so the matching is started from the catheter end point of the first catheter centerline. For the above step 1031, in the implementation, the catheter end point of the first catheter centerline is determined from each center point in the first catheter centerline. Here, in the determination of the catheter end point, since there are two end points in the catheter centerline, the catheter enters the image from either side of the image, so the end point farther from the edge of the image is taken as the catheter end point.

[0069] Step 1032, determine the distance between each center point in the second catheter centerline and the catheter end point, and determine the center point in the second catheter centerline closest to the catheter end point as the first center point.

[0070] For the above step 1032, in the implementation, the distance between each center point in the second catheter centerline and the catheter end point is determined, and the center point in the second catheter centerline closest to the catheter end point is determined as the first center point. Specifically, the distance between the center point in the second catheter centerline and the catheter end point is calculated by the following formula:

[0071]

[0072]

[0073] wherein the second catheter centerline is N, the number of center points in the second catheter centerline is n, N = {N0, N1, N2,..., Nn}, and the coordinates of Ni in the second contrast image can be represented as (x Ni ,y Ni ). M m represents the catheter end point in the first catheter centerline, (x Mm ,y Mm ) represents the coordinates of the catheter end point in the second contrast image, N k represents the kth center point in the second catheter centerline, (x Nk ,y Nk ) represents the coordinates of the kth center point in the second catheter centerline in the second contrast image, N i represents the first center point.

[0074] Step 1033, determine the first translation vector based on the coordinates of the first center point in the second contrast image and the coordinates of the catheter end point in the second contrast image.

[0075] For the above step 1033, in a specific implementation, after determining the first center point closest to the catheter end point in the second catheter center line, the first translation vector can be determined based on the coordinates of the first center point in the second contrast image and the coordinates of the catheter end point in the second contrast image. Specifically, the first translation vector of the catheter end point to the first center point is calculated by the following formula:

[0076]

[0077] wherein (x Ni ,y Ni ) represents the coordinates of the first center point in the second contrast image.

[0078] S104, based on the coordinates of each center point in the translation catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image, a second translation vector is determined, and the first translation catheter region is translated in the second contrast image based on the second translation vector, to obtain a second translation catheter region.

[0079] For the above step S104, in a specific implementation, the second translation vector is determined based on the coordinates of each center point in the translation catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image. After obtaining the second translation vector, the first translation catheter region is translated in the second contrast image based on the second translation vector, to obtain a second translation catheter region. Specifically, the catheter center line corresponding to the second translation catheter region can be represented as wherein M 2 represents the catheter center line corresponding to the second translation catheter region, v j represents the calculated second translation vector, and the calculation of each center point in the catheter center line corresponding to the second translation catheter region can be represented as:

[0080]

[0081] wherein, represents the kth center point in the translation catheter center line.

[0082] Specifically, for the above step S104, the second translation vector is determined based on the coordinates of each center point in the translation catheter center line in the second contrast image and the coordinates of each center point in the second catheter center line in the second contrast image, comprising:

[0083] Step 1041, determining a first catheter starting point of the translation catheter centerline from the center points in the translation catheter centerline, and determining a second catheter starting point of the second catheter centerline from the center points in the second catheter centerline.

[0084] For the above step 1041, in implementation, the first catheter starting point of the translation catheter centerline is determined from the center points in the translation catheter centerline, and the second catheter starting point of the second catheter centerline is determined from the center points in the second catheter centerline. Here, in determining the catheter starting point, since there are two end points in the catheter centerline, the catheter enters the image from either side of the image, so the end point closer to the edge of the image is taken as the catheter starting point.

[0085] Step 1042, if the first catheter starting point is above the second catheter starting point, the distance between each center point in the translation catheter centerline and the second catheter starting point is determined, and the center point in the translation catheter centerline closest to the second catheter starting point is determined as the second center point.

[0086] Step 1043, determining the second translation vector based on the coordinates of the second center point in the second contrast image and the coordinates of the second catheter starting point in the second contrast image.

[0087] For the above step 1042-Step 1043, in implementation, it is determined which of the first catheter starting point N1 and the second catheter starting point N0 is above. If N0 is above, it means that the translation catheter centerline M 1 has grown temporarily, at this time, taking the second catheter starting point N0 as the moving point, finding the point closest to the second catheter starting point N0 on the translation catheter centerline M 1 , and calculating the translation vector v to N0. That is, the second translation vector is calculated by the following formula:

[0088]

[0089]

[0090]

[0091] where (x N0 , y N0 ) represents the coordinates of the second catheter starting point N0 in the second contrast image, M 1 k represents the kth center point in the translation catheter centerline M 1 . This indicates the second center point, which is the closest to the starting point of the second catheter, along the centerline of the translation catheter.

[0092] Regarding step 1042 above, if the starting point of the first catheter is below the starting point of the second catheter, the second translation vector is determined through the following steps:

[0093] A: Determine the distance between each center point in the second catheter centerline and the first catheter starting point, and determine the center point in the second catheter centerline that is closest to the first catheter starting point as the third center point;

[0094] B: The second translation vector is determined based on the coordinates of the third center point in the second angiographic image and the coordinates of the first catheter origin in the second angiographic image.

[0095] Regarding steps A-B above, in specific implementation, the origin of the first catheter should be determined. Which is above the second duct origin N0? Below N0, it indicates a temporary shift of the catheter centerline M. 1 It's too short; at this point, start from the first catheter. As the moving point, find the point on the centerline N of the second catheter that is adjacent to the starting point of the first catheter. The closest point N between them j And calculate To N j Translation vector v j The second translation vector is calculated using the following formula:

[0096]

[0097]

[0098]

[0099] Where, N k Denotes the k-th center point in the centerline N of the second catheter, (x Nk ,y Nk ) represents the coordinates of the k-th center point in the second catheter centerline N in the second angiographic image.

[0100] S105, the catheter target region in the second angiography image is determined based on the second translation catheter region and the second catheter region.

[0101] Regarding step S105 above, in specific implementation, after the second translational catheter region is determined, the catheter target region in the second angiography image is determined based on the second translational catheter region and the second catheter region.

[0102] For the step S105, the determination of the catheter target region in the second contrast image based on the second translated catheter region and the second catheter region comprises:

[0103] Step 1051, judging whether the second translated catheter region exceeds the second contrast image.

[0104] Since the second translated catheter region is obtained by twice translation, the second translated catheter region may exceed the second contrast image, or the second translated catheter region may not reach the edge of the second contrast image. Therefore, it is necessary to judge the position of the second translated catheter region. For the step 1051, in the implementation, first, it is judged whether the second translated catheter region exceeds the second contrast image. If yes, the step 1052 is performed, and if no, the step 1053 is performed.

[0105] Step 1052, if the second translated catheter region exceeds the second contrast image, deleting the pixel region in the second translated catheter region that exceeds the second contrast image to obtain an adjusted second translated catheter region, and integrating the adjusted second translated catheter region with the second catheter region to obtain the catheter target region.

[0106] For the step 1052, in the implementation, when it is judged that the second translated catheter region exceeds the second contrast image, the exceeding part needs to be deleted, that is, the pixel region in the second translated catheter region that exceeds the second contrast image is deleted to obtain an adjusted second translated catheter region. And the adjusted second translated catheter region is integrated with the second catheter region in the second contrast image to obtain the catheter target region.

[0107] Step 1053, if the second translated catheter region does not exceed the second contrast image, judging whether the second translated catheter region reaches the edge of the second contrast image.

[0108] For the step 1053, in the implementation, when it is judged that the second translated catheter region does not exceed the second contrast image, it is necessary to continue to judge whether the second translated catheter region can reach the edge of the second contrast image, that is, whether the second translated catheter region reaches the edge of the second contrast image. That is, it is necessary to judge whether there is a pixel coordinate in the second translated catheter region that is located at the edge of the second contrast image. If yes, it is considered that the second translated catheter region reaches the edge of the second contrast image, and the step 1054 is performed. If no, it is considered that the second translated catheter region does not reach the edge of the second contrast image, and the step 1055 is performed.

[0109] Step 1054, if the second translation catheter region reaches the edge of the second angiography image, the second translation catheter region is integrated with the second catheter region to obtain the catheter target region.

[0110] For the above step 1054, in specific implementation, when it is judged that the second translation catheter region reaches the edge of the second angiography image, the second translation catheter region is integrated with the second catheter region in the second angiography image to obtain the catheter target region.

[0111] Step 1055, if the second translation catheter region does not reach the edge of the second angiography image, the second translation catheter region is used to supplement the second catheter region, and the supplemented second catheter region is determined as the catheter target region.

[0112] For the above step 1055, in specific implementation, when it is judged that the second translation catheter region does not reach the edge of the second angiography image, the second translation catheter region is used to supplement the second catheter region, and the supplemented second catheter region is determined as the catheter target region. Specifically, the second catheter region is supplemented by the following formula:

[0113] F C ={(x, y) + v i +v j |(x, y)∈F C-1}

[0114]

[0115] Wherein, F C represents the second catheter region in the second angiography image, F C-1 represents the second translation catheter region, and (x, y) represents a pixel point in the second translation catheter region on the second angiography image.

[0116] Specifically, after the catheter target region in the second angiography image is determined based on the second translation catheter region and the second catheter region, the catheter positioning method further comprises:

[0117] (1) determining a next frame angiography image adjacent to the second angiography image in the angiography video.

[0118] (2) taking the second angiography image as the first angiography image and taking the next frame angiography image as the second angiography image.

[0119] (3) returning to execute the step of mapping the first catheter region in the first angiography image to the second angiography image until there is no next frame angiography image adjacent to the second angiography image in the angiography video.

[0120] After the catheter region in the filling start frame angiogram image in the angiography video is determined, the catheter region in the next frame angiogram image adjacent to the filling start frame angiogram image needs to be calculated, and the catheter region in each filling frame angiogram image in the angiography video can be obtained by repeatedly calculating in this way. For the above steps (1)-(3), in the specific implementation, the next frame angiogram image adjacent to the second angiogram image in the angiography video is determined. Then, the second angiogram image is taken as the first angiogram image, and the next frame angiogram image is taken as the second angiogram image. The step of mapping the first catheter region in the first angiogram image to the second angiogram image in step S102 is executed until there is no next frame angiogram image adjacent to the second angiogram image in the angiography video.

[0121] The catheter positioning method for angiography filling frames provided by the embodiment of the present application first acquires an angiography video, determines a non-filling end frame angiogram image and a filling start frame angiogram image in the angiography video, and takes the non-filling end frame angiogram image as a first angiogram image and the filling start frame angiogram image as a second angiogram image. Then, the first catheter region in the first angiogram image is mapped to the second angiogram image, and the first catheter region is skeletonized in the second angiogram image to obtain a first catheter center line and the second catheter region is skeletonized to obtain a second catheter center line. A first translation vector is determined based on the coordinates of each center point in the first catheter center line in the second angiogram image and the coordinates of each center point in the second catheter center line in the second angiogram image, and the first catheter region is translated in the second angiogram image based on the first translation vector to obtain a first translated catheter region and a translated catheter center line. A second translation vector is determined based on the coordinates of each center point in the translated catheter center line in the second angiogram image and the coordinates of each center point in the second catheter center line in the second angiogram image, and the first translated catheter region is translated in the second angiogram image based on the second translation vector to obtain a second translated catheter region. Finally, a catheter target region in the second angiogram image is determined based on the second translated catheter region and the second catheter region.

[0122] The catheter positioning method provided by the present application is based on the catheter in the non-filling frame, uses the dynamic matching method to offset the catheter in the previous frame to the catheter in the current frame, and continuously obtains the dynamic positioning of the catheter in each frame angiogram image quickly and accurately.

[0123] Please refer to Figure 2 , Figure 3 , Figure 2Fig. 1 is a structural schematic diagram of a catheter positioning device for angiographic filling frame according to an embodiment of the present application, Figure 3 Fig. 2 is a structural schematic diagram of a catheter positioning device for angiographic filling frame according to another embodiment of the present application. As shown in Figure 2 The catheter positioning device 200 comprises:

[0124] An angiographic image acquisition module 201 is configured to acquire an angiographic video, determine a non-filling end frame angiographic image and a filling start frame angiographic image in the angiographic video, and take the non-filling end frame angiographic image as a first angiographic image and take the filling start frame angiographic image as a second angiographic image. The first angiographic image comprises a first catheter region, and the second angiographic image comprises a second catheter region.

[0125] A catheter centerline determination module 202 is configured to map the first catheter region in the first angiographic image to the second angiographic image, skeletonize the first catheter region in the second angiographic image to obtain a first catheter centerline, and skeletonize the second catheter region to obtain a second catheter centerline.

[0126] A first translation module 203 is configured to determine a first translation vector based on coordinates of each center point in the first catheter centerline in the second angiographic image and coordinates of each center point in the second catheter centerline in the second angiographic image, and translate the first catheter region in the second angiographic image based on the first translation vector to obtain a first translated catheter region and a translated catheter centerline.

[0127] A second translation module 204 is configured to determine a second translation vector based on coordinates of each center point in the translated catheter centerline in the second angiographic image and coordinates of each center point in the second catheter centerline in the second angiographic image, and translate the first translated catheter region in the second angiographic image based on the second translation vector to obtain a second translated catheter region.

[0128] A catheter target region module 205 is configured to determine a catheter target region in the second angiographic image based on the second translated catheter region and the second catheter region.

[0129] Further, as shown in Figure 3 The catheter positioning device 200 further comprises a loop calculation module 206. After the catheter target region in the second angiographic image is determined based on the second translated catheter region and the second catheter region, the loop calculation module 206 is configured to:

[0130] determining a next frame of the angiography images adjacent to the second angiography image in the angiography video;

[0131] mapping the first catheter region in the first angiography image to the second angiography image as the second angiography image, and mapping the next frame of the angiography images adjacent to the second angiography image in the angiography video to the second angiography image as the first angiography image;

[0132] returning to the step of mapping the first catheter region in the first angiography image to the second angiography image by the catheter centerline determination module 202 until there is no next frame of the angiography images adjacent to the second angiography image in the angiography video.

[0133] Further, when determining the first translation vector based on the coordinates of each center point in the first catheter centerline in the second angiography image and the coordinates of each center point in the second catheter centerline in the second angiography image, the first translation module 203 is further configured to:

[0134] determining a catheter end point of the first catheter centerline from the center points in the first catheter centerline;

[0135] determining the distance between each center point in the second catheter centerline and the catheter end point, and determining a first center point in the second catheter centerline closest to the catheter end point;

[0136] determining the first translation vector based on the coordinates of the first center point in the second angiography image and the coordinates of the catheter end point in the second angiography image.

[0137] Further, when determining the second translation vector based on the coordinates of each center point in the translation catheter centerline in the second angiography image and the coordinates of each center point in the second catheter centerline in the second angiography image, the second translation module 204 is further configured to:

[0138] determining a first catheter start point of the translation catheter centerline from the center points in the translation catheter centerline, and determining a second catheter start point of the second catheter centerline from the center points in the second catheter centerline;

[0139] if the first catheter start point is above the second catheter start point, determining the distance between each center point in the translation catheter centerline and the second catheter start point, and determining a second center point in the translation catheter centerline closest to the second catheter start point;

[0140] determining the second translation vector based on the coordinate of the second center point in the second angiogram image and the coordinate of the second catheter origin in the second angiogram image.

[0141] Further, if the first catheter origin is below the second catheter origin, the second translation module 204 is further configured to determine the second translation vector by the following steps:

[0142] determining the distance between each center point in the second catheter centerline and the first catheter origin, and determining the center point in the second catheter centerline closest to the first catheter origin as a third center point;

[0143] determining the second translation vector based on the coordinate of the third center point in the second angiogram image and the coordinate of the first catheter origin in the second angiogram image.

[0144] Further, when determining the catheter target region in the second angiogram image based on the second translated catheter region and the second catheter region, the catheter target region module 205 is further configured to:

[0145] determining whether the second translated catheter region exceeds the second angiogram image;

[0146] if the second translated catheter region exceeds the second angiogram image, deleting the pixel region in the second translated catheter region that exceeds the second angiogram image to obtain an adjusted second translated catheter region, and integrating the adjusted second translated catheter region with the second catheter region to obtain the catheter target region;

[0147] if the second translated catheter region does not exceed the pixel range of the second angiogram image, determining whether the second translated catheter region reaches the edge of the second angiogram image;

[0148] if the second translated catheter region reaches the edge of the second angiogram image, integrating the second translated catheter region with the second catheter region to obtain the catheter target region;

[0149] if the second translated catheter region does not reach the edge of the second angiogram image, supplementing the second catheter region with the second translated catheter region, and determining the supplemented second catheter region as the catheter target region.

[0150] Please refer to Figure 4 , Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in Figure 4As shown in FIG. 4, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.

[0151] The memory 420 stores machine readable instructions executable by the processor 410, and when the electronic device 400 is running, the processor 410 communicates with the memory 420 through the bus 430. When the machine readable instructions are executed by the processor 410, the above-mentioned Figure 1 The steps of the catheter positioning method of the angiographic filling frame in the method embodiment shown can be implemented in the manner described above, and the specific implementation manner can be referred to the method embodiment, which will not be described here.

[0152] The application also provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the catheter positioning method of the angiographic filling frame in the method embodiment shown can be executed. Figure 1 The steps of the catheter positioning method of the angiographic filling frame in the method embodiment shown can be implemented in the manner described above, and the specific implementation manner can be referred to the method embodiment, which will not be described here.

[0153] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-mentioned system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0154] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, which can be electrical, mechanical or other forms.

[0155] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0156] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0157] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0158] It should be noted that similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings, in addition, the terms "first", "second", "third" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0159] Finally, it should be noted that the above-described embodiments are only specific implementations of the present application, which are used to illustrate the technical solutions of the present application, but not to limit them, the protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily think of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed by the present application, or make equivalent replacements to some technical features thereof, and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of catheter positioning for an angiographic fill frame, the method comprising: The catheter positioning method comprises: Obtaining an angiography video, determining a non-contrast termination frame angiogram and a contrast initiation frame angiogram in the angiography video, and taking the non-contrast termination frame angiogram as a first angiogram and the contrast initiation frame angiogram as a second angiogram; wherein the first angiogram comprises a first catheter region, and the second angiogram comprises a second catheter region; Mapping the first catheter region in the first angiogram to the second angiogram, skeletonizing the first catheter region in the second angiogram to obtain a first catheter center line, and skeletonizing the second catheter region to obtain a second catheter center line; Determining a first translation vector based on the coordinates of each center point in the first catheter center line in the second angiogram and the coordinates of each center point in the second catheter center line in the second angiogram, and translating the first catheter region in the second angiogram based on the first translation vector to obtain a first translated catheter region and a translated catheter center line; Determining a second translation vector based on the coordinates of each center point in the translated catheter center line in the second angiogram and the coordinates of each center point in the second catheter center line in the second angiogram, and translating the first translated catheter region in the second angiogram based on the second translation vector to obtain a second translated catheter region; Determining a catheter target region in the second angiogram based on the second translated catheter region and the second catheter region.

2. The catheter positioning method of claim 1, wherein, After determining the catheter target region in the second angiogram based on the second translated catheter region and the second catheter region, the catheter positioning method further comprises: Determining a next frame angiogram adjacent to the second angiogram in the angiography video; Taking the second angiogram as the first angiogram and the next frame angiogram as the second angiogram; Returning to the step of mapping the first catheter region in the first angiogram to the second angiogram until there is no next frame angiogram adjacent to the second angiogram in the angiography video.

3. The catheter positioning method of claim 1, wherein, The determination of the first translation vector based on the coordinates of each center point in the first catheter center line in the second angiogram and the coordinates of each center point in the second catheter center line in the second angiogram comprises: Determining a catheter termination point of the first catheter center line from each center point in the first catheter center line; Determining the distance between each center point in the second catheter center line and the catheter termination point, and determining the center point in the second catheter center line closest to the catheter termination point as a first center point; Determining the first translation vector based on the coordinates of the first center point in the second angiogram and the coordinates of the catheter termination point in the second angiogram.

4. The catheter positioning method of claim 1, wherein, determining a second translation vector based on the coordinates of each of the center points in the translation catheter center line in the second angiogram and the coordinates of each of the center points in the second catheter center line, including: determining a first catheter starting point of the translation catheter center line from the center points in the translation catheter center line, and determining a second catheter starting point of the second catheter center line from the center points in the second catheter center line; if the first catheter starting point is above the second catheter starting point, determining the distance between each of the center points in the translation catheter center line and the second catheter starting point, and determining the center point in the translation catheter center line closest to the second catheter starting point as a second center point; determining the second translation vector based on the coordinates of the second center point in the second angiogram and the coordinates of the second catheter starting point in the second angiogram.

5. The catheter positioning method of claim 4, wherein, if the first catheter starting point is below the second catheter starting point, determining the second translation vector by the following steps: determining the distance between each of the center points in the second catheter center line and the first catheter starting point, and determining the center point in the second catheter center line closest to the first catheter starting point as a third center point; determining the second translation vector based on the coordinates of the third center point in the second angiogram and the coordinates of the first catheter starting point in the second angiogram.

6. The catheter positioning method of claim 1, wherein, determining a catheter target region in the second angiogram based on the second translation catheter region and the second catheter region, including: determining whether the second translation catheter region exceeds the second angiogram; if the second translation catheter region exceeds the second angiogram, deleting the pixel region in the second translation catheter region that exceeds the second angiogram to obtain an adjusted second translation catheter region, and integrating the adjusted second translation catheter region with the second catheter region to obtain the catheter target region; if the second translation catheter region does not exceed the pixel range of the second angiogram, determining whether the second translation catheter region reaches the edge of the second angiogram; if the second translation catheter region reaches the edge of the second angiogram, integrating the second translation catheter region with the second catheter region to obtain the catheter target region; if the second translation catheter region does not reach the edge of the second angiogram, supplementing the second catheter region with the second translation catheter region, and determining the supplemented second catheter region as the catheter target region.

7. A catheter positioning device for angiographic filling frames, characterized by the catheter positioning device includes: An angiography image acquisition module is configured to acquire an angiography video, determine a non-contrast termination frame angiography image and a contrast initiation frame angiography image in the angiography video, and take the non-contrast termination frame angiography image as a first angiography image and the contrast initiation frame angiography image as a second angiography image; wherein the first angiography image comprises a first catheter region and the second angiography image comprises a second catheter region; A catheter centerline determination module is configured to map the first catheter region in the first angiography image to the second angiography image, skeletonize the first catheter region in the second angiography image to obtain a first catheter centerline, and skeletonize the second catheter region to obtain a second catheter centerline; A first translation module is configured to determine a first translation vector based on coordinates of each center point in the first catheter centerline in the second angiography image and coordinates of each center point in the second catheter centerline in the second angiography image, and translate the first catheter region in the second angiography image based on the first translation vector to obtain a first translated catheter region and a translated catheter centerline; A second translation module is configured to determine a second translation vector based on coordinates of each center point in the translated catheter centerline in the second angiography image and coordinates of each center point in the second catheter centerline in the second angiography image, and translate the first translated catheter region in the second angiography image based on the second translation vector to obtain a second translated catheter region; A catheter target region module is configured to determine a catheter target region in the second angiography image based on the second translated catheter region and the second catheter region.

8. The catheter positioning device of claim 7, wherein, The catheter positioning device further comprises a loop calculation module configured to: determine a next frame angiography image adjacent to the second angiography image in the angiography video; take the second angiography image as the first angiography image and the next frame angiography image as the second angiography image; return to the catheter centerline determination module to perform the step of mapping the first catheter region in the first angiography image to the second angiography image until there is no next frame angiography image adjacent to the second angiography image in the angiography video.

9. An electronic device, comprising: comprise: a processor, a memory and a bus, the memory stores machine readable instructions executable by the processor, when the electronic device is running, the processor and the memory communicate through the bus, the machine readable instructions are executed by the processor to perform the steps of the catheter positioning method of the contrast termination frame of the angiography as claimed in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of the catheter positioning method of the contrast termination frame of the angiography as claimed in any one of claims 1 to 6.

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