An intravascular ultrasound cruise positioning device, electronic device and readable medium

Abstract

The present application relates to a kind of intravascular ultrasound cruise positioning device, the device has image acquisition module, plaque load marking module, image segmentation module, dynamic change calculation module, plaque marking module, plaque positioning module and retreat position confirmation module, wherein, image acquisition module can obtain the IVUS image of one sequence in blood vessel based on IVUS system, plaque load marking module can judge and mark the frame possibly existing plaque, and calculate the interval length where plaque is located in sequence, image segmentation module, dynamic change calculation module, plaque marking module can further exist plaque whether still further exist plaque in the two ends of the foregoing plaque area, to review the length of plaque and its position in IVUS image sequence, plaque positioning module finally locates the position of the two ends of plaque, and by retreat position confirmation module, the start point and end point of OCT system retreat are determined, by the present application, the precise retreat of OCT system can be realized, and the amount of contrast agent is reduced.

Description

Technical Field

[0001] This invention relates to the field of intravascular imaging, and more particularly to an intravascular ultrasound cruise positioning device, electronic device, and readable medium. Background Technology

[0002] Traditional methods for vascular plaque localization primarily rely on contrast agent injection and X-ray imaging. This approach can negatively impact kidney function, and the radiation from X-rays poses health risks to both patients and healthcare workers. Therefore, finding a vascular plaque localization method that requires minimal contrast agent use, offers high accuracy, and has minimal impact on patients is of great significance.

[0003] Intravascular imaging is widely used in atherosclerotic diseases, especially coronary artery disease, with intravascular ultrasound (IVUS) and optical coherence tomography (OCT) being the most commonly used imaging systems. Both use intracoronary imaging catheters to image cross-sections of the coronary arteries, but their different imaging principles give them different imaging advantages. Because IVUS has better tissue penetration than OCT, it can identify vessel wall thickness, while OCT has 10 times the axial resolution of IVUS, enabling the identification of plaque microstructures. OCT uses infrared light to image the lumen; however, red blood cells scatter the infrared light, affecting the identification of vascular structures. Therefore, contrast agents are needed to flush the lumen during OCT imaging, while IVUS imaging is less affected by blood flow. In clinical diagnosis and treatment, detailed information about the lesion helps to better assess plaque stability and develop personalized treatment strategies; therefore, using both techniques simultaneously for the same lesion can increase the patient's clinical benefit.

[0004] In current IVUS systems, technicians must operate within a sterile area. The maximum retraction distance is 100mm, and the retraction speed is 0.5mm / s or 1mm / s. Completing a full retraction takes 200s or 100s, respectively. The long retraction distance corresponds to a long retraction time. Retraction stops when the imaging core scans the proximal end of the lesion segment; the stopping time is determined by the physician, leading to inconsistency between physicians. Furthermore, for repeated viewing of key lesions, manual image review is required after retraction for retrospective confirmation, rather than real-time confirmation. In OCT systems, technicians also operate within a sterile area. The retraction distance is 54mm or 75mm, and the retraction speed is 18mm / s or 36mm / s. Under the influence of contrast agent flushing blood, a fixed distance and speed of retraction are performed using a fixed amount of contrast agent. Similar to IVUS, for repeated viewing of key lesions, manual image review is required after retraction for retrospective confirmation, rather than real-time confirmation.

[0005] In summary, both IVUS and OCT systems have technical problems such as long retraction time, uncertainty in retraction time, and inability to confirm lesion images in real time. Summary of the Invention

[0006] This invention discloses an intravascular ultrasound cruise positioning device, electronic device, and readable storage medium, aiming to solve the technical problems existing in the prior art.

[0007] The present invention adopts the following technical solution:

[0008] In a first aspect, embodiments of the present invention provide an intravascular ultrasound cruise positioning device, comprising:

[0009] The image acquisition module is used to acquire a sequence of IVUS images inside the blood vessel;

[0010] The patch load labeling module is used to calculate the patch load of each frame of IVUS image in the sequence and label frames where patches may exist;

[0011] The image segmentation module is used to divide each frame of IVUS image in at least a portion of the sequence into n equally divided sectors.

[0012] The dynamic change calculation module is used to calculate the dynamic changes of the corresponding sector regions of adjacent frames in at least a portion of the sequence.

[0013] The patch marking module is used to mark frames and their fan-shaped regions that may contain patches based on dynamic changes;

[0014] The patch localization module is used to perform fusion calculations on frames marked with patches in the patch marking module and the patch load marking module, and to locate the region where the patch is located.

[0015] The retraction position confirmation module is used to determine the retraction start point and retraction end point of the imaging system based on the location of the patch.

[0016] As a preferred technical solution, the image acquisition module is used to acquire a sequence of IVUS images in cruise mode when the IVUS system is at the distal end of the target lesion. The sequence includes several frames of IVUS images from the distal end to the proximal end of the target lesion.

[0017] As a preferred technical solution, the plaque burden labeling module is used to calculate the lumen area and media area of ​​the blood vessels in each frame of IVUS images in the sequence, and to calculate the plaque burden.

[0018] As a preferred technical solution, the plaque load marking module is used to determine and mark frames that may contain plaques, including determining whether there are ≥3 consecutive frames with a plaque load >25%, and marking these frames as frames that may contain plaques. The plaque load value is adjustable; that is, it can be adjusted to a value greater than 30%, 35%, etc., and this value can be set according to industry requirements, doctor's habits, or patient preferences. The values ​​for plaque load in this invention are all configurable, and will not be elaborated upon here.

[0019] As a preferred technical solution, the patch load marking module is used to determine and mark frames that may contain patches, including determining whether there are ≥3 consecutive frames of images with patch load >30%, and marking them as frames that may contain patches.

[0020] As a preferred technical solution, the patch load marking module is used to determine and mark frames that may contain patches, including determining whether there are ≥3 consecutive frames of images with a patch load >35%, and marking them as frames that may contain patches.

[0021] As a preferred technical solution, the image segmentation module is also used to sequentially label the n sector regions of each frame of IVUS image in at least a portion of the sequence;

[0022] Where 2≤n≤360.

[0023] As a preferred technical solution, the image segmentation module is also used to ensure that the sector regions obtained by segmenting each frame of IVUS image in at least a portion of the sequence correspond one-to-one.

[0024] As a preferred technical solution, the dynamic change calculation module also includes:

[0025] The feature extraction unit is used to extract image features of each sector region in each frame of IVUS images in at least a partial interval of the sequence;

[0026] The feature comparison unit is used to compare the image features of corresponding fan-shaped regions of adjacent frames in at least a portion of the sequence and calculate the difference value.

[0027] As a preferred technical solution, the feature extraction unit is capable of calculating the sum of gray values ​​in each sector region of each frame of IVUS image in at least a portion of the sequence;

[0028] The feature comparison unit is capable of calculating the difference in the sum of gray values ​​of corresponding sector regions of adjacent frames in at least a portion of the sequence.

[0029] As a preferred technical solution, the feature comparison unit is able to calculate the rate of change of difference values ​​between adjacent frames in at least a portion of the sequence based on the difference values.

[0030] As a preferred technical solution, the image segmentation module is used to segment only a few frames of IVUS images extending outward from both ends of the patches marked by the patch load marking module;

[0031] The dynamic change calculation module is used to perform dynamic calculations only on several frames of IVUS images extending outward from both ends of the patch marked by the patch load marking module.

[0032] As a preferred technical solution, the patch marking module is used to calculate frames and their fan-shaped regions that may contain patches based on the difference value and / or the rate of change of the difference value.

[0033] As a preferred technical solution, the patch localization module is used to map IVUS images with patch load >25% to the sequence, and to perform fusion calculation with frames that may contain patches marked by the patch marking module to determine the region where the patch is located.

[0034] As a preferred technical solution, the patch localization module is used to map IVUS images with patch load >30% to the sequence, and to perform fusion calculation with frames that may contain patches marked by the patch marking module to determine the region where the patch is located.

[0035] As a preferred technical solution, the patch localization module is used to map IVUS images with patch load >35% to the sequence, and to perform fusion calculation with frames that may contain patches marked by the patch marking module to determine the region where the patch is located.

[0036] As a preferred technical solution, the patch localization module is used to determine whether there are still patches in several frames of IVUS images extending outward from both ends of the patch marked by the patch load marking module. If there are, the two ends of the patch are repositioned and the area where the patch is located is re-determined.

[0037] As a preferred technical solution, the retraction position confirmation module is used to determine the length redundancy to the distal and proximal ends according to the position of the patch, and use it as the retraction start point and retraction end point of the imaging system.

[0038] In another preferred embodiment of the present invention, an intravascular ultrasound cruise positioning device is provided, the device comprising: an image acquisition module for acquiring a sequence of IVUS images inside a blood vessel; an image segmentation module for segmenting each frame of the IVUS image in at least a portion of the sequence into n equally divided sectors; a dynamic change calculation module for calculating the dynamic changes of the corresponding sector regions of adjacent frames in at least a portion of the sequence; a plaque marking module for marking frames and their sector regions that may contain plaques based on the dynamic changes; and a plaque localization module for determining the region where the plaque is located based on the frames with plaques marked in the plaque marking module.

[0039] In another preferred embodiment of the present invention, an additional intravascular ultrasound cruise positioning device is provided, comprising: an image acquisition module for acquiring a sequence of IVUS images inside a blood vessel; an image segmentation module for segmenting each frame of the IVUS image in at least a portion of the sequence into n equally divided sectors; a dynamic change calculation module for calculating the dynamic changes of the corresponding sector regions of adjacent frames in at least a portion of the sequence; a plaque load marking module for calculating the plaque load of each frame of the IVUS image in the sequence and marking frames where plaques may exist; a plaque marking module for marking frames and their sector regions where plaques may exist based on the dynamic changes; a plaque localization module for performing a fusion calculation on the frames marked with plaques in the plaque marking module and the plaque load marking module, and locating the region where the plaque is located; and a withdrawal position confirmation module for determining the withdrawal start point and withdrawal end point of the imaging system based on the location of the plaque.

[0040] In a second aspect, embodiments of the present invention provide an electronic device, comprising:

[0041] One or more processors;

[0042] Memory, used to store one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors perform the functions that the intravascular ultrasound cruise positioning device described above can achieve.

[0044] Thirdly, embodiments of the present invention provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the functions of the intravascular ultrasound cruise positioning device as described in any of the preceding claims.

[0045] One embodiment of the above invention has the following advantages or beneficial effects:

[0046] This invention primarily provides an intravascular ultrasound cruise positioning device. This device comprises multiple modules, including an image acquisition module, a plaque burden marking module, an image segmentation module, a dynamic change calculation module, a plaque marking module, a plaque localization module, and a pullback position confirmation module. The image acquisition module acquires a continuous sequence of IVUS images within the blood vessel based on an IVUS system. The plaque burden marking module identifies and marks frames where plaques may exist and calculates the interval length of the plaque within the sequence. The image segmentation module, dynamic change calculation module, and plaque marking module collaboratively calculate the distance between the two ends of the aforementioned plaque region. To further verify whether plaques still exist, the length of the plaques and their position in the IVUS image sequence are checked. The plaque localization module ultimately locates the positions of both ends of the plaque, and the retraction position confirmation module determines the starting and ending points of the imaging system's retraction. Based on the collaboration between the above modules, the imaging system can achieve precise retraction within the blood vessel lumen, reducing retraction time and contrast agent usage, alleviating the patient's physical burden, and saving data redundancy. At the same time, doctors can achieve assisted operation control through the above-mentioned intravascular ultrasound cruise positioning device, saving human resources and surgical costs, and saving the treatment time of highly skilled surgeons in this field.

[0047] The implementation of this invention can also significantly improve the average level of diagnostic judgment (especially the withdrawal position confirmation module determines the start and end points of OCT system withdrawal). In other words, inexperienced medical staff can achieve a high level of uniformity in diagnosis and treatment through this invention. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below, forming part of the present invention. The illustrative embodiments of the present invention and their descriptions explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 This is a structural block diagram of an intravascular ultrasound cruise positioning device in a preferred embodiment of the present invention;

[0050] Figure 2 This is a structural block diagram of an intravascular ultrasound cruise positioning device in another preferred embodiment of the present invention;

[0051] Figure 3 This is a structural block diagram of an intravascular ultrasound cruise positioning device according to another embodiment of the present invention;

[0052] Figure 4 This is a continuous sequence of IVUS images in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of a single-frame IVUS image being divided into n equal sectors in an embodiment of the present invention;

[0054] Figure 6 This is a schematic diagram of the pullback start point and pullback end point in an embodiment of the present invention;

[0055] Figure 7 This is a structural block diagram of the electronic device in an embodiment of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. In the description of this invention, it should be noted that the term "or" is generally used to include the meaning of "and / or," unless otherwise expressly indicated.

[0057] Specifically, in the following embodiments, "image" or "IVUS image" refers to an ultrasound image acquired by the IVUS system.

[0058] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0059] During percutaneous coronary intervention (PCI), the guiding catheter is typically first advanced to the coronary sinus ostium to be dilated. Then, the intravascular imaging catheter is advanced to the distal end of the target lesion and directly withdrawn for imaging. The starting point of the withdrawal imaging should be approximately 10 mm distal to the target lesion, and the ending point should be approximately 10 mm proximal to the target lesion. Usually, after the intravascular imaging catheter is advanced to the desired position, the location of the imaging core distal to the target lesion can be determined under the guidance of DSA. The entire withdrawal imaging distance is fixed and must exceed the length of the target lesion. The withdrawal time is also fixed. If OCT imaging is used, the contrast agent used is also fixed.

[0060] Based on existing technology, OCT systems generally suffer from technical problems such as long withdrawal time, uncertainty in withdrawal time, and inability to confirm lesion images in real time.

[0061] To address the existing technical problems, embodiments of the present invention provide an intravascular ultrasound cruise positioning device, with reference to... Figure 1The device, based on an IVUS system, includes an image acquisition module 110, a plaque burden marking module 120, an image segmentation module 130, a dynamic change calculation module 140, a plaque marking module 150, a plaque localization module 160, and a withdrawal position confirmation module 170. Through the synergistic effect of these modules, the device can achieve precise withdrawal of the OCT system within the blood vessel lumen, thereby reducing withdrawal time and contrast agent usage. Since IVUS does not require the injection of contrast agent during image acquisition, the images acquired by the IVUS system provide the approximate location of the lesion within the blood vessel. Based on this, the starting point for OCT withdrawal can be determined, which can shorten the OCT withdrawal distance, reduce the amount of contrast agent used, and also reduce withdrawal time and patient discomfort, among other advantages.

[0062] Vascular imaging systems can be either OCT or IVUS. When using an OCT system, low-frequency IVUS (frequency less than or equal to 40 MHz) is used for initial image acquisition. After determining the retraction distance, contrast agent is injected, and the OCT system retracts again to complete image acquisition. Similarly, when using an IVUS system, low-frequency IVUS (frequency less than or equal to 40 MHz) is used initially for image acquisition. After determining the retraction distance, high-frequency IVUS (frequency greater than 40 MHz) is then used for image acquisition. This method allows for complete contrast agent-free imaging, making it suitable for patients intolerant to contrast agents.

[0063] In a preferred embodiment, the image acquisition module 110 is used to acquire a sequence of IVUS images inside a blood vessel.

[0064] Preferably, the image acquisition module 110 acquires ultrasound images based on the ultrasound probe in the IVUS system.

[0065] Specifically, IVUS, or intravascular ultrasound system, uses an ultrasound probe to acquire ultrasound images of the area to be examined within a patient's blood vessels, thereby assisting doctors in diagnosing and treating the presence and type of lesions in the examined area. More specifically, an IVUS system has an ultrasound probe that can emit ultrasound beams. By using the ultrasound probe, for example, to emit ultrasound beams within human blood vessels, ultrasound images are obtained to display the tissue structure and geometry of the blood vessels.

[0066] Preferably, the ultrasound probe can rotate and / or move along the length of the blood vessel simultaneously or sequentially within the vessel. Simultaneously, while rotating or translating, the ultrasound probe can emit an ultrasound beam within the blood vessel and receive the reflected waves of the ultrasound beam within the vessel. Then, the image acquisition module 110 generates an ultrasound image based on the electrical signal formed by the conversion of the reflected waves, used to display the tissue structure and geometry of the blood vessel.

[0067] Preferably, when the catheter delivers the ultrasound probe to a suitable location distal to the target lesion, the catheter remains stationary, and the IVUS system uses cruise mode to acquire a continuous sequence of IVUS images 210 of the intravascular cavity, such as... Figure 4 The sequence includes several frames of images from the distal end to the proximal end of the target lesion. Optionally, the number of images in the sequence and the acquisition interval between adjacent frames can be manually set according to actual needs, and are not limited here. The frames of images acquired by the IVUS system in cruise mode are only used for image analysis and are not stored. Therefore, the system does not save the images acquired by IVUS in cruise mode, which can reduce the system's disk read and write operations and improve efficiency.

[0068] Preferably, the IVUS image acquired by the ultrasound probe is a cross-sectional view of the blood vessel. The information that the cross-sectional view can display includes the blood vessel wall structure, plaques and deposits, degree of stenosis, and other vascular abnormalities. The blood vessel wall structure includes the intima, media, and adventitia. Plaques refer to solid or soft deposits on the blood vessel wall, such as thrombi, cholesterol, calcification, etc. The degree of stenosis can be calculated and assessed based on the diameter of the blood vessel. Other vascular abnormalities include vascular damage or tearing, etc., which will not be listed here.

[0069] In a preferred embodiment, the patch load marking module 120 is used to calculate the patch load of each frame of IVUS image in the sequence and mark frames where patches may exist.

[0070] Preferably, the plaque load labeling module 120 is used to calculate the vascular lumen area and media area of ​​each frame of IVUS image in the sequence, and to calculate the plaque load.

[0071] Preferably, the patch load marking module 120 can determine and mark frames that may contain patches, including determining whether there are three or more consecutive images with a patch load > 25%, and marking them as frames that may contain patches.

[0072] In a preferred embodiment, after the plaque load marking module 120 obtains the IVUS sequence, it processes the single-frame image, removes the influencing image with the vascular lumen and external elastic membrane as the boundary, calculates the vascular lumen area and media area, and then calculates the plaque load. VH-IVUS defines TCFA as a plaque load >25%, necrotic core >10% and in contact with the lumen in ≥3 consecutive frames of images, which is defined as the value that the operator assesses as requiring interventional treatment.

[0073] Specifically, plaque burden refers to the number and total volume of plaques within a blood vessel. When calculating plaque burden, the plaque burden marking module 120 first measures the lumen area in the IVUS image; secondly, it measures the external elastic membrane (EEM) area. The plaque burden is then defined as EEM area - Lumen area, or expressed as a percentage: Plaque burden = (EEM area - Lumen area) / EEM area.

[0074] In a preferred embodiment, the patch load marking module 120 can also map images with a patch load >25% to the browsing sequence, from the first frame image to the last frame image, and this interval is marked as the interval where patches may exist.

[0075] In a preferred embodiment, the image segmentation module 130 is used to segment the IVUS image of each frame of the sequence into n equally divided sectors.

[0076] In another preferred embodiment, the image segmentation module 130 is used to segment the IVUS image of each frame in at least a portion of the sequence into n equally divided sectors, such as... Figure 5 More preferably, after the patch load marking module 120 marks the region where patches may exist, the image segmentation module 130 performs fan-shaped segmentation only on the far and near ends of the region, extending outwards for several frames of IVUS images.

[0077] In a preferred embodiment, the image segmentation module 130 is further configured to sequentially mark the n sector regions of each IVUS frame and correspond the sector regions obtained by segmenting each IVUS frame to their adjacent frames, including the correspondence of position and the correspondence of quantity.

[0078] Preferably, 2≤n≤360, corresponding to a 360° circle; those skilled in the art should understand that IVUS images display cross-sectional views of blood vessels, which are roughly circular in shape, and thus can be divided into several sectors. When n=360, each 1° is a sector area, and each frame of the image can be divided into 360 sectors; when n=2, each frame of the image is divided into two 180° sectors.

[0079] Specifically, the more sector regions each IVUS image is segmented into, the higher the accuracy when dynamically analyzing the corresponding regions of adjacent frames, but this also leads to problems such as excessive computation and low computational efficiency. The fewer sector regions each image is segmented into, the less computation is required and the faster the result response, but the corresponding accuracy will also decrease.

[0080] To balance the accuracy of the results and the speed of calculation, the sector area can be adjusted as needed, and no specific limitations are set here.

[0081] Preferably, in a single-frame IVUS image, the image can be divided into n equally divided sectors. Taking n=12 as an example, the single-frame image can be divided into 12 equally divided sectors, labeled as a, b, c...k, l in clockwise order. The next frame image is also decomposed into 12 sector regions, labeled as a1, b1, c1...k1, l1 in sequence.

[0082] In a preferred embodiment, the dynamic change calculation module 140 is used to calculate the dynamic changes of the corresponding sector regions of all adjacent frames in the sequence.

[0083] In another preferred embodiment, the dynamic change calculation module 140 is used to calculate the dynamic changes of the fan-shaped regions corresponding to adjacent frames in at least a portion of the sequence. That is, after the patch load marking module 120 marks the interval where patches may exist, the image segmentation module 130 only performs fan-shaped segmentation on several frames of IVUS images extending outward from the far end and near end of the interval. Corresponding to the image segmentation module 130, the dynamic change calculation module 140 only performs dynamic calculation on several frames of IVUS images extending outward from both ends of the interval where patches may exist, marked by the patch load marking module 120.

[0084] Preferably, the dynamic change calculation module 140 includes a feature extraction unit and a feature comparison unit.

[0085] In a preferred embodiment, the feature extraction unit is used to extract the image features of each sector region in each frame of IVUS image in the sequence, and the feature comparison unit is used to compare the image features of corresponding sector regions in adjacent frames in the sequence and calculate the difference value.

[0086] In another preferred embodiment, the feature extraction unit is used to extract image features of each sector region in each frame of IVUS image in at least a portion of the sequence; the feature comparison unit is used to compare the image features of corresponding sector regions in adjacent frames in at least a portion of the sequence and calculate the difference value; more specifically, the feature extraction unit and the feature comparison unit only perform feature extraction and processing on several frames of IVUS images extending outward from both ends of the interval where possible patches may exist, as marked by the patch load marking module 120.

[0087] In a preferred embodiment, the feature extraction unit can calculate the sum of gray values ​​in each sector region of each frame of IVUS image; the feature comparison unit can calculate the difference in the sum of gray values ​​of corresponding sector regions in adjacent frames of the sequence.

[0088] Specifically, because the intensity signals of the vector lines vary with depth in a single-frame IVUS image, the total grayscale values ​​within the sector of the image differ. The dynamic change calculation module 140 compares the previous and subsequent IVUS images (regions a, b, etc.) sequentially, comparing the total grayscale values ​​within their respective sector areas and calculating the percentage difference to obtain the difference value. A larger difference value indicates a greater difference within each sector area, meaning that one of the two images may have a lesion.

[0089] When the dynamic change calculation module 140 performs dynamic calculations only on a few frames of IVUS images extending outwards from both ends of the region where plaques may exist, the module compares the corresponding frames using the method described above. Based on the two endpoints of the lesion obtained from plaque load calculation, the module performs image recognition on the outward-extending areas from each endpoint to further refine the position of the endpoints. This is because plaque load is defined as abnormal when it is >25%, while when it is less than 25%, it has not entered the retraction segment. When placing a stent, the length of the stent or balloon or other medical device must be greater than the length of the lesion, so it is necessary to perform appropriate surgery on the retraction segment. Of course, the dynamic change calculation module 140 can also perform dynamic calculations directly on the images acquired by IVUS for the entire series. When the module performs dynamic calculations on all images in the entire sequence, it compares the entire sequence using the method described above.

[0090] Specifically, taking a single-frame image as an example, the feature extraction unit can first perform preprocessing operations on the image, including noise reduction and smoothing, to reduce interference information in the image and improve the accuracy of subsequent grayscale calculations; then, for each sector region of each frame image, the sum of the grayscale values ​​of all its pixels is calculated, and by traversing each pixel of the image and adding its grayscale values, the total grayscale value of the corresponding sector region can be obtained.

[0091] Specifically, the feature comparison unit can compare the sum of gray levels in a certain sector of the current frame image with the sum of gray levels in the corresponding sector of the previous and next frame images, and calculate the difference value of the sum of gray levels. In the calculation, simple difference calculation or other similarity calculation methods, such as absolute difference, mean square error, etc., can be used to measure the degree of gray level difference between the previous and next frames.

[0092] Specifically, when a frame of an image differs significantly from the previous frame, it can be considered that a patch exists.

[0093] In a more preferred embodiment, the feature comparison unit can calculate the rate of change of difference values ​​between adjacent frames based on the difference values. Preferably, the rate of change of difference values ​​= (current difference value - previous difference value) / image spacing.

[0094] Specifically, when the rate of change of the difference value of a certain frame image is significantly different from the rate of change of the difference value of the previous frame image, it can be considered that a patch exists.

[0095] Preferably, the patch marking module 150 is used to mark frames and their fan-shaped regions that may contain patches according to dynamic changes.

[0096] In a preferred embodiment, the patch marking module 150 is used to calculate frames and their fan-shaped regions that may contain patches based on the difference values.

[0097] In a preferred embodiment, when the percentage difference in grayscale between adjacent frames is within a certain range, that is, there is no obvious difference between the images of the preceding and following frames, and the percentage difference is above a certain range, that is, the images of the preceding and following frames are the boundary line between the normal image and the feature image, the frame or fan-shaped area with obvious differences is marked again as the area where there may be patches.

[0098] Preferably, when the grayscale difference between the previous and subsequent frames is ≥10%, it indicates that there may be patches in the frame or its fan-shaped area where there is a significant difference.

[0099] In a preferred embodiment, the patch marking module 150 is used to calculate frames and their fan-shaped regions that may contain patches based on the rate of change of difference values.

[0100] In a preferred embodiment, when the rate of change of the difference value between adjacent frames remains at a relatively stable value, it can be considered that there are no patches. When the rate of change of the difference value changes suddenly, it can be considered that patches have begun to exist in the frame where the sudden change occurred.

[0101] Preferably, when the rate of change of the difference value is ≥5%, that is, the frame or its fan-shaped region marked with obvious differences may have patches.

[0102] Preferably, the patch localization module 160 is used to perform fusion calculation on the frames marked with patches in the patch marking module 150 and the patch load marking module 120, and to locate the area where the patch is located.

[0103] In a preferred embodiment, the patch load marking module 120 maps IVUS images with a calculated patch load > 25% to the sequence. At this time, the patch load marking module 120 marks a range where patches may exist and sets it as the first range. The patch marking module 150 can mark another range where patches may exist based on dynamic changes and set it as the second range. The patch localization module 160 is used to determine the frames that are marked by both the patch load marking module 120 and the patch marking module 150, and to relocate the area where the patch is located based on the dual marking.

[0104] In a preferred embodiment, the patch load marking module 120 maps IVUS images with a calculated patch load > 30% to the sequence. At this time, the patch load marking module 120 marks a range where patches may exist and sets it as the first range. The patch marking module 150 can mark another range where patches may exist based on dynamic changes and set it as the second range. The patch localization module 160 is used to determine the frames that are marked by both the patch load marking module 120 and the patch marking module 150, and to relocate the area where the patch is located based on the dual marking.

[0105] In a preferred embodiment, the patch load marking module 120 maps IVUS images with a calculated patch load > 35% to the sequence. At this time, the patch load marking module 120 marks a range where patches may exist and sets it as the first range. The patch marking module 150 can mark another range where patches may exist based on dynamic changes and set it as the second range. The patch localization module 160 is used to determine the frames that are marked by both the patch load marking module 120 and the patch marking module 150, and to relocate the area where the patch is located based on the dual marking. In another preferred embodiment, the patch load marking module 120 maps the IVUS images with a calculated patch load > 25% to the sequence. At this time, the patch load marking module 120 marks an interval where patches may exist and sets it as the first interval. The image segmentation module 130 and the dynamic change calculation module 140 only perform calculations on several frames of IVUS images extending outward from both ends of the first interval. The patch localization module 160 is used to determine whether patches still exist. If they do, the length of the corresponding frames extending outward from both ends of the patch is repositioned to re-determine the region where the patch is located.

[0106] In another preferred embodiment, the patch load marking module 120 maps the IVUS images with a calculated patch load > 30% to the sequence. At this time, the patch load marking module 120 marks an interval where patches may exist and sets it as the first interval. The image segmentation module 130 and the dynamic change calculation module 140 only perform calculations on several frames of IVUS images extending outward from both ends of the first interval. The patch localization module 160 is used to determine whether patches still exist. If they do, the length of the corresponding frames extending outward from both ends of the patch is repositioned to re-determine the region where the patch is located.

[0107] In another preferred embodiment, the patch load marking module 120 maps the IVUS images with a calculated patch load > 30% to the sequence. At this time, the patch load marking module 120 marks an interval where patches may exist and sets it as the first interval. The image segmentation module 130 and the dynamic change calculation module 140 only perform calculations on several frames of IVUS images extending outward from both ends of the first interval. The patch localization module 160 is used to determine whether patches still exist. If they do, the length of the corresponding frames extending outward from both ends of the patch is repositioned to re-determine the region where the patch is located.

[0108] Specifically, after the patch load marking module 120 marks frames that may contain patches, the region of the patch may be inaccurate due to artifacts or noise. Therefore, the patch marking module 150 performs differentiated redundancy calculations to verify and determine the true range of the patch. After the patch location module 160 performs calculations according to the corresponding rules, it re-determines the obtained frame as the true range of the patch.

[0109] Preferably, the retraction position confirmation module 170 is used to determine the length redundancy to the distal and proximal ends according to the position of the patch, and use it as the retraction start point and retraction end point of the OCT system.

[0110] Specifically, the retraction position confirmation module 170 determines the retraction start point (patch start point - 10mm) and the retraction end point (patch end point + 10mm) based on the image layer thickness (retraction speed / frame rate), such as... Figure 6 .

[0111] Once the intravascular ultrasound cruise positioning device has identified the location of the plaque and marked the retraction start and end points, clinicians can perform contrast agent infusion and OCT system retraction imaging based on the structure. This not only reduces the use of contrast agent but also effectively shortens the retraction distance and operation time, reduces the patient's physical burden and pain, and improves surgical efficiency.

[0112] refer to Figure 2 In another preferred embodiment, the present invention provides an intravascular ultrasound cruise positioning device. This device is based on an IVUS system and includes an image acquisition module 110, an image segmentation module 130, a dynamic change calculation module 140, a plaque marking module 150, and a plaque positioning module 160. Through the synergistic effect of the above modules, the device can obtain the approximate location of intravascular lesions through images acquired by the IVUS system. Based on this, the starting point of OCT withdrawal can be determined, which can shorten the OCT withdrawal distance, reduce the amount of contrast agent used, and reduce withdrawal time, reduce patient discomfort, etc., and has many other advantages.

[0113] Specifically, in this preferred embodiment, since the patch load marking module 120 and the pullback position confirmation module 170 are no longer provided, it is no longer necessary to calculate the patch load on the acquired IVUS image, nor is it necessary to fuse the result calculated by the patch marking module 150 with the patch load, thus improving computational efficiency. Since the functions of each module in this embodiment are the same as in the above embodiments, they will not be described in detail again.

[0114] refer to Figure 3 In an optional embodiment of the present invention, another intravascular ultrasound cruise positioning device is provided, which includes: an image acquisition module 110, an image segmentation module 130, a dynamic change calculation module 140, a plaque load marking module 120, a plaque marking module 150, a plaque positioning module 160, and a retraction position confirmation module 170. In this embodiment, after the image acquisition module 110 obtains the IVUS image, the image segmentation module 130 and the dynamic change calculation module 140 first perform their functions sequentially, then the plaque load marking module 120 calculates the plaque load on the IVUS image, and finally the plaque marking module 150 fuses the calculations to obtain the retraction start point and end point. Since the functions performed by each module in this embodiment are the same as those in the above embodiments, they will not be described in detail again. For detailed functional implementation, please refer to the above preferred embodiments.

[0115] Corresponding to the intravascular ultrasound cruise positioning device provided in the above embodiments, an electronic device is provided in one embodiment of the present invention, such as... Figure 7 The electronic device includes a processor 310 and a memory 320. The memory 320 stores a computer program that, when run by the processor 310, performs the functions of the aforementioned intravascular ultrasound cruise positioning device.

[0116] In one embodiment of the present invention, the electronic device further includes a bus 340 and a communication interface 330, wherein the processor 310, the communication interface 330, and the memory 320 are connected via the bus 340. The processor 310 is used to execute executable modules, such as computer programs, stored in the memory 320.

[0117] The memory 320 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0118] The bus 340 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 340 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0119] The memory 320 is used to store programs. After receiving an execution instruction, the processor 310 executes the program. The method executed by the device for defining the flow process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 310 or implemented by the processor 310.

[0120] The processor 310 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 310 or by instructions in software form. The processor 310 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 320, and processor 310 reads the information from memory 320 and, in conjunction with its hardware, completes the steps of the above method.

[0121] In one embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, which, when executed by a processor, performs the functions implemented by the intravascular ultrasound cruise positioning device described in the above embodiment.

[0122] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system described above can be referred to the corresponding process in the foregoing embodiments, and will not be repeated here.

[0123] The intravascular ultrasound cruise positioning device, electronic device, and computer program product provided in the embodiments of the present invention include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0124] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0125] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0126] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0127] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature serving the same, equivalent, or similar purpose.

Claims

1. An intravascular ultrasound cruise positioning device, characterized in that, include: The image acquisition module is used to acquire a sequence of IVUS images inside the blood vessel; The patch load marking module is used to calculate the patch load of each frame of IVUS image in the sequence and mark the frames where patches may exist; An image segmentation module is used to segment each frame of IVUS image in at least a portion of the sequence into n equally divided sectors. A dynamic change calculation module is used to calculate the dynamic changes of the corresponding sector regions of adjacent frames in at least a portion of the sequence; A patch marking module is used to mark frames and their fan-shaped regions that may contain patches based on the dynamic changes. The patch localization module is used to perform fusion calculation on the frames marked with patches in the patch marking module and the patch load marking module, and to locate the area where the patch is located. The retraction position confirmation module is used to determine the retraction start point and retraction end point of the imaging system based on the location of the patch.

2. The intravascular ultrasound cruise positioning device according to claim 1, characterized in that, The image acquisition module is used to acquire a sequence of IVUS images in cruise mode when the IVUS system is at the distal end of the target lesion. The sequence includes several frames of IVUS images from the distal end to the proximal end of the target lesion.

3. The intravascular ultrasound cruise positioning device according to claim 1, characterized in that, The plaque burden labeling module is used to calculate the lumen area and media area of ​​the blood vessels in each frame of IVUS images in the sequence, and to calculate the plaque burden. The patch load marking module is also used to determine and mark frames that may contain patches, including determining whether there are ≥3 consecutive images with patch load >25% and marking them as frames that may contain patches.

4. The intravascular ultrasound cruise positioning device according to claim 1, characterized in that, The image segmentation module is further configured to sequentially label the n sector regions of each frame IVUS image in at least a portion of the sequence. Where 2≤n≤360; The image segmentation module is further configured to ensure that the sector regions obtained by segmenting each frame of IVUS image in at least a portion of the sequence correspond one-to-one.

5. The intravascular ultrasound cruise positioning device according to claim 1, characterized in that, The dynamic change calculation module also includes: The feature extraction unit is used to extract image features of each sector region in each frame of IVUS image in at least a partial interval of the sequence; The feature comparison unit is used to compare the image features of corresponding fan-shaped regions of adjacent frames in at least a portion of the sequence and calculate the difference value.

6. The intravascular ultrasound cruise positioning device according to claim 5, characterized in that, The feature extraction unit is capable of calculating the sum of gray values ​​in each sector region of each frame of IVUS image in at least a portion of the sequence; The feature comparison unit is capable of calculating the difference in the sum of gray values ​​of corresponding sector regions of adjacent frames in at least a portion of the sequence. The feature comparison unit can also calculate the rate of change of difference values ​​between adjacent frames in at least a portion of the sequence based on the difference values.

7. The intravascular ultrasound cruise positioning device according to claim 5 or 6, characterized in that, The image segmentation module is used to segment only a few frames of IVUS images extending outward from both ends of the patch marked by the patch load marking module; The dynamic change calculation module is used to perform dynamic calculations only on several frames of IVUS images extending outward from both ends of the patch marked by the patch load marking module.

8. The intravascular ultrasound cruise positioning device according to claim 7, characterized in that, The patch marking module is used to calculate frames and their fan-shaped regions that may contain patches based on the difference value and / or the rate of change of the difference value; The patch localization module is used to map IVUS images with patch load >25% to the sequence, and to perform fusion calculation with frames marked by the patch marking module that may contain patches to determine the region where the patch is located. The patch localization module is also used to determine whether there are still patches in several frames of IVUS images extending outward from both ends of the patch marked by the patch load marking module. If there are, the two ends of the patch are repositioned and the area where the patch is located is re-determined. The retraction position confirmation module is used to determine the length redundancy to the distal and proximal ends according to the position of the patch, and use it as the retraction start point and retraction end point of the imaging system.

9. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the functions that the intravascular ultrasound cruise positioning device as described in any one of claims 1-8 can achieve.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the functions of the intravascular ultrasound cruise positioning device as described in any one of claims 1-8.

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