Method and apparatus for guided advancement of an interventional instrument
Patent Information
- Application Number
- CN202210878025.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-07-25
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2042-07-25
AI Technical Summary
In current interventional procedures, doctors need to frequently use X-rays to determine the location of interventional instruments, resulting in patients being exposed to severe radiation and affecting their health.
By pre-acquiring three-dimensional images of the patient's blood vessels, a three-dimensional image from a virtual endoscopic perspective is constructed, the position of the interventional device is updated in real time, and the advancement of the interventional device is guided, reducing the number of X-ray image acquisitions.
It improves the efficiency of interventional device delivery and reduces the X-ray radiation dose received by patients and physicians.
Smart Images
Figure CN117481807B_ABST
Abstract
Description
Technical Field
[0001] This manual relates to the field of minimally invasive vascular interventional surgery technology, and in particular to a method and device for guiding and advancing an interventional device. Background Technology
[0002] Currently, when performing interventional procedures, physicians typically need to accurately deliver interventional devices to the lesion site within the patient's body for subsequent treatment. Common interventional devices include venous catheters and guidewires.
[0003] Because the morphology, location, and diameter of blood vessels vary from patient to patient, physicians typically need to obtain X-ray images to accurately deliver interventional devices to the lesion site within the patient's body. These images are then used to determine the device's position and advance it. In existing technologies, physicians can observe X-ray images around the patient and manually advance the device, or they can observe X-ray images behind an isolation screen and remotely advance the device using a mechanical device.
[0004] However, regardless of the method used by the physician to advance the interventional device, the patient needs to be exposed to multiple X-rays during the interventional procedure, resulting in significant radiation exposure and causing substantial adverse effects on the patient's health. Therefore, this specification provides a method and apparatus for guiding and advancing an interventional device. Summary of the Invention
[0005] This specification provides a method and apparatus for guiding and advancing interventional devices, thereby partially solving the aforementioned problems existing in the prior art.
[0006] The following technical solution is adopted in this specification:
[0007] This manual provides a method for guiding and advancing an interventional device, including:
[0008] Based on the pre-acquired three-dimensional images of the patient's blood vessels, the target path from the interventional initiation point to the lesion site is determined;
[0009] Based on the 3D image of the blood vessel and the starting position of the intervention, a 3D image of the virtual endoscopic view of the starting position of the interventional device in the blood vessel is constructed and displayed;
[0010] In response to the user's operation of the interventional device, the positional change of the interventional device is determined;
[0011] Based on the positional changes and the 3D image of the blood vessel, the 3D image of the virtual endoscope is updated to guide the user in operating the interventional device.
[0012] Optionally, before determining the target path from the intervention initiation location to the lesion site based on pre-acquired three-dimensional images of the patient's blood vessels, the method further includes:
[0013] Acquire and display three-dimensional images of the patient's blood vessels to prompt the user to select the starting point of the intervention and the affected area;
[0014] In response to the user's operation, the intervention initiation location and the affected area are determined;
[0015] Based on the three-dimensional image of the blood vessel, each candidate path from the intervention initiation position to the diseased site is determined;
[0016] Determine the path parameters corresponding to each candidate path, and display each candidate path and the path parameters corresponding to each candidate path. The path parameters include at least the size parameters of the blood vessels from the starting position to the diseased site.
[0017] In response to the user's selection, a target path is determined from the candidate paths.
[0018] Optionally, determine the path parameters corresponding to each candidate path, specifically including:
[0019] For each candidate path, a three-dimensional image of each blood vessel constituting the candidate path is determined based on the three-dimensional image of the blood vessel.
[0020] Based on the determined 3D images of each blood vessel, the center line of each blood vessel is determined, and the center line of the candidate path is determined based on the center line of each blood vessel.
[0021] Along the centerline of the candidate path, cross-sectional sampling is performed on each blood vessel corresponding to the candidate path according to a preset step size to determine the cross-sectional image;
[0022] Based on the determined cross-sectional images, the size parameters of each blood vessel from the starting position to the diseased site are determined as the path parameters of the candidate path.
[0023] Optionally, the path parameters corresponding to each candidate path are determined, specifically including:
[0024] For each candidate path, a three-dimensional image of each blood vessel constituting the candidate path is determined based on the three-dimensional image of the blood vessel.
[0025] Perform surface reconstruction on the 3D images of each identified blood vessel to determine the reconstructed image of the candidate path;
[0026] Based on the reconstructed image, determine each vascular branch in the candidate path;
[0027] Based on the number of identified vascular branches, the path parameters of the candidate path are determined.
[0028] Optionally, based on the determined 3D images of each blood vessel, the centerline of each blood vessel is determined, specifically including:
[0029] For each identified blood vessel, its outline is determined based on the 3D image of that vessel.
[0030] Based on the contour, a sampling curve is determined, and the blood vessel is sampled along the sampling curve according to a preset sampling step size to determine each sampling surface;
[0031] The center point of each sampling surface is determined, and the center line of the blood vessel is determined based on the center point.
[0032] Optionally, the virtual endoscope viewpoint in the stereoscopic image is updated based on the position change and the stereoscopic image of the blood vessel, specifically including:
[0033] The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes.
[0034] The stereoscopic image of the virtual endoscope perspective in the stereoscopic image is updated based on the position of the interventional device in the stereoscopic image of the blood vessel.
[0035] Optionally, the method further includes:
[0036] The centerline of the target path is determined based on the centerlines of each blood vessel in the target path;
[0037] The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes.
[0038] Based on the 3D image of the blood vessel, the position of the interventional device in the 3D image of the blood vessel, and the centerline of the target path, the centerline of the target path is displayed in real time in the 3D image, and the 3D image is used to show the deviation between the centerline of the target path and the orientation of the virtual endoscope.
[0039] Optionally, the method further includes:
[0040] The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes.
[0041] Based on the 3D image of the blood vessel and the position of the interventional device in the 3D image of the blood vessel, a real-time updated panoramic view of the blood vessel, marked with the position of the interventional device, is determined and displayed.
[0042] Optionally, the method further includes:
[0043] The centerline of the target path is determined based on the centerlines of each blood vessel in the target path;
[0044] The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes.
[0045] Based on the 3D image of the blood vessel, the centerline of the target path, and the position of the interventional device in the target path, a cross-sectional view of the blood vessel marked with the centerline of the target path and updated in real time is determined and displayed.
[0046] Optionally, the method further includes:
[0047] Based on the three-dimensional image of the blood vessels, several two-dimensional perspective images are determined;
[0048] In response to the user's operation, the orientation of the image acquisition device is adjusted to acquire a scanned image;
[0049] The matching degree between the plurality of two-dimensional perspective images and the scanned image is determined respectively, and the maximum value of the plurality of matching degrees is determined to be the maximum matching degree;
[0050] Determine whether the maximum matching degree is greater than a preset matching threshold;
[0051] If so, then based on the deviation between the position of the interventional device in the scanned image and the position of the interventional device in the two-dimensional fluoroscopic image corresponding to the maximum matching degree, the virtual endoscope angle corresponding to the stereoscopic image is calibrated.
[0052] If not, then a number of two-dimensional fluoroscopic images are re-determined based on the three-dimensional vascular image, and the maximum matching degree between the number of two-dimensional fluoroscopic images and the scanned image is re-determined. The maximum matching degree is then re-evaluated to see if it is greater than a preset matching threshold until the result is yes.
[0053] This specification provides a guiding and advancing device for interventional instruments, comprising:
[0054] The acquisition module determines the target path from the intervention initiation position to the lesion site based on the pre-acquired three-dimensional images of the patient's blood vessels;
[0055] The construction module constructs and displays a virtual endoscopic view of the interventional device at its starting position in the blood vessel, based on the 3D image of the blood vessel and the interventional initiation position.
[0056] The determination module, in response to the user's operation on the interventional device, determines the positional change of the interventional device;
[0057] The update module updates the stereoscopic image of the virtual endoscope viewpoint based on the position change and the stereoscopic image of the blood vessel, so as to guide the user in operating the interventional device.
[0058] The computer-readable storage medium provided in this specification stores a computer program that, when executed by a processor, implements the above-described method for guiding and advancing interventional devices.
[0059] This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the aforementioned method for guiding and advancing an interventional device.
[0060] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:
[0061] In the interventional device guidance and advancement method provided in this specification, a target path from the intervention initiation position to the diseased site can be determined based on a pre-acquired three-dimensional image of the patient's blood vessels. A three-dimensional image of the interventional device from a virtual endoscopic perspective at its initial position within the blood vessel is constructed and displayed based on the blood vessel image and the intervention initiation position. In response to user operations on the interventional device, the change in the device's position is determined. Finally, based on the position change and the blood vessel image, the three-dimensional image of the virtual endoscopic perspective is updated to guide the user in operating the interventional device.
[0062] As can be seen from the above method, this method can determine the advancement path of the interventional device and display a real-time updated stereoscopic image of the virtual endoscope perspective, guiding the user to operate the interventional device, improving efficiency, reducing the number of times the user needs to obtain X-ray images, and reducing the dose of X-ray radiation received by the patient. Attached Figure Description
[0063] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:
[0064] Figure 1 This is a flowchart illustrating a method for guiding and advancing an interventional device, as provided in this specification.
[0065] Figure 2 This is a schematic diagram of a candidate path selection provided in this specification;
[0066] Figure 3 This is a schematic diagram of an angle deviation provided in this specification;
[0067] Figure 4This is a schematic diagram of the advancement of an interventional device provided in this specification;
[0068] Figure 5 This is a schematic diagram of the centerline provided in this specification;
[0069] Figure 6 This is a schematic diagram of a guiding and propulsion device for an interventional device provided in this specification;
[0070] Figure 7 The corresponding information provided in this specification Figure 1 A schematic diagram of an electronic device. Detailed Implementation
[0071] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without creative effort are within the scope of protection of this application.
[0072] Typically, when performing interventional procedures, physicians need to obtain three-dimensional images of the blood vessels at the lesion site using digital subtraction angiography (DSA) and curved planar reconstruction (CPR) techniques. X-ray images obtained through X-ray irradiation are then used to determine the real-time position of the interventional device. Finally, based on the three-dimensional vascular image and the determined real-time position of the interventional device, it is advanced to accurately deliver the device to the lesion site within the patient's body for subsequent interventional treatment.
[0073] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.
[0074] Figure 1 This is a flowchart illustrating a method for guiding and advancing an interventional device as described in this specification, which specifically includes the following steps:
[0075] S100: Based on the pre-acquired three-dimensional images of the patient's blood vessels, determine the target path from the intervention initiation position to the lesion site.
[0076] In one or more embodiments of this specification, the method for guiding and advancing the interventional device can be executed by an electronic device or a server. Of course, the server may be a single device or a distributed server system composed of multiple devices; this specification does not limit this and it can be configured as needed. Similarly, this specification does not limit the specific type of electronic device; it can be configured as needed. For ease of understanding, this specification uses the execution of the method for guiding and advancing the interventional device by an electronic device as an example.
[0077] Specifically, firstly, the electronic device can acquire three-dimensional images of blood vessels through an image acquisition device. This image acquisition device can be an angiography machine, a CT scanner, or similar equipment. The three-dimensional images of the blood vessels can be acquired by the image acquisition device using DSA and CPR techniques, or through other technologies, such as 16-slice spiral CT or 64-slice spiral CT. This manual does not limit the specific type of equipment or technology used to acquire the three-dimensional images of the blood vessels; it can be configured as needed.
[0078] Of course, the electronic device can communicate with the image acquisition device. For example, the electronic device and the image acquisition device can be connected via cable, wireless LAN, or Bluetooth technology. This manual does not limit how the electronic device and the image acquisition device communicate; the specific configuration can be set as needed.
[0079] Since the electronic device may interact with physicians and patients during interventional procedures, for ease of explanation, in one or more embodiments of this specification, "user" refers to physicians, nurses, or other personnel who can operate the electronic device and perform interventional procedures.
[0080] Typically, when performing interventional procedures, the user needs to advance the interventional device to the lesion. During this process, the user needs to observe the X-ray image obtained by irradiating the patient to determine the current position of the interventional device and proceed accordingly. However, because the patient's blood vessels have numerous branches of varying sizes, the user may find that the branch to which the interventional device needs to be advanced is too narrow, making it impossible to advance the device, and requiring a replanning of the target path. For example, if the user selects a target path of vessel A, vessel B, and vessel C, and just before advancing the interventional device into vessel C, the user finds that vessel C is too narrow, with a cross-sectional area smaller than the cross-sectional area of the catheter, making further advancement impossible, and a replanning of the target path is necessary. Furthermore, because some blood vessels may have thrombosis, if the user finds that a portion of the preceding blood vessel is blocked by a thrombus, a replanning of the target path is often required. Obviously, replanning the target path increases the time required to advance the interventional device and also increases the X-ray radiation dose received by both the user and the patient.
[0081] Secondly, in one or more embodiments of this specification, since the electronic device can analyze the three-dimensional image of the blood vessel and determine the cross-sectional area of each blood vessel in the three-dimensional image, the electronic device can plan several candidate paths for the interventional device and label the cross-sectional area of each blood vessel in the candidate paths. The user can then select the target path after knowing the cross-sectional areas of the blood vessels that make up each candidate path. This avoids the possibility of needing to replan the target path when the user plans it. Therefore, in order to plan the target path of the interventional device, the electronic device needs to determine the intervention starting position and the diseased site.
[0082] The electronic device can then display a 3D image of the blood vessel to prompt the user to select the intervention starting point and the affected area. Furthermore, based on the 3D image, the electronic device can determine and display an adjustable-angle three-dimensional blood vessel model. When selecting the intervention starting point and the affected area, the user can adjust the angle of the three-dimensional blood vessel model for a more accurate selection.
[0083] Of course, when displaying the 3D image of the blood vessel, the electronic device can also display prompts to guide the user in selecting the interventional starting point and the affected area. For example, it may display the message, "Please select the interventional device's starting point and the affected area."
[0084] Finally, the electronic device can determine any route that can connect the intervention starting point and the diseased site based on the three-dimensional image of the blood vessel, the intervention starting point, and the diseased site, as the target path from the intervention starting point to the diseased site.
[0085] Using the above method, a three-dimensional image of the blood vessel can be obtained, and the starting point and affected area of the interventional device can be determined, allowing for the planning of the target path for the interventional device. This avoids the situation where, during the user-planned target path recommendation process, the interventional device cannot be advanced due to partial obstruction of the target vessel, necessitating replanning of the target path. It also improves advancement efficiency and reduces the X-ray radiation dose to both the user and the patient.
[0086] S102: Based on the three-dimensional image of the blood vessel and the starting position of the intervention, construct and display a three-dimensional image of the virtual endoscopic view of the starting position of the interventional device in the blood vessel.
[0087] Typically, during interventional procedures, users frequently expose patients to X-rays to obtain images and observe the X-rays to determine the device's position. This is to prevent the actual advancement of the device from deviating from the planned path, necessitating re-advancement. Clearly, frequent X-ray exposure results in the patient receiving a high dose of X-ray radiation, which can seriously harm their health.
[0088] Therefore, after determining the target path, the electronic device constructs and displays a virtual endoscopic view of the starting position of the interventional device in the blood vessel based on the 3D image of the blood vessel and the starting position of the intervention, in order to guide the user to advance the interventional device.
[0089] Specifically, firstly, the electronic device can construct a virtual endoscope based on the 3D image of the blood vessel and the starting position, and display a 3D image from the perspective of the virtual endoscope. The method for constructing this virtual endoscope is already well-established in the prior art, and will not be elaborated upon here.
[0090] Furthermore, the position of the virtual endoscope can be the same as the interventional device, or it can be adjusted according to preset displacement parameters. For example, when the displacement parameter is 1mm, the virtual endoscope is located 1mm in front of the interventional device; when the displacement parameter is -2mm, the virtual endoscope is located 2mm behind the interventional device.
[0091] Using the above method, the electronic device can construct a virtual endoscope based on the three-dimensional image of the blood vessel and the starting position of the intervention, and display a three-dimensional image from the perspective of the virtual endoscope to guide the user to advance the interventional device.
[0092] S104: In response to the user's operation on the interventional device, determine the position change of the interventional device.
[0093] Typically, during interventional procedures, the user needs to advance the interventional device. Therefore, the position of the device changes in real time. Consequently, the electronic device can respond to the user's actions on the device, determine its position label, and update the stereoscopic image from the virtual endoscope's perspective.
[0094] Specifically, the electronic device can determine the length of the portion of the interventional device outside the patient's body when the tip of the interventional device is at the intervention initiation position, and use this as a standard length. It then acquires the length of the portion of the interventional device outside the patient's body in real time, using this as the real-time length. The electronic device can use the difference between the standard length and the real-time length as the positional change of the interventional device.
[0095] The change in position refers to the change in position of the advancement end of the interventional device. For example, when the interventional device is a venous catheter and a guidewire, the advancement end is the tip of the guidewire, or the tip of the venous catheter, or a combination of the tip of the guidewire and the tip of the venous catheter.
[0096] Of course, the electronic device can also determine the positional change of the interventional device in other ways. For example, when the user remotely advances the interventional device via a mechanical device, the electronic device can establish a communication connection with the mechanical device and acquire the advancement data of the mechanical device in real time. This advancement data includes the advancement length and direction of the interventional device. The electronic device can determine the positional change of the interventional device based on this advancement data. This specification does not limit how the electronic device determines the positional change of the interventional device; it can be configured as needed.
[0097] It should be noted that this positional change can be the current position of the interventional device relative to the initial interventional position. Alternatively, the electronic device can determine several position nodes along the target path; after the interventional device passes any of these nodes, the electronic device can determine that the positional change represents the current position of the interventional device relative to that node. It is understandable that when this positional change represents the current position of the interventional device relative to the initial interventional position, the greater the distance the interventional device travels, the greater the error in this positional change.
[0098] Using the above method, the electronic device can determine the positional changes of the interventional instrument in real time, so as to update the stereoscopic image of the virtual endoscope view in real time and guide the user to operate the interventional instrument.
[0099] S106: Update the stereoscopic image of the virtual endoscope view based on the position change and the stereoscopic image of the blood vessel to guide the user in operating the interventional device.
[0100] In one or more embodiments of this specification, the electronic device can update the stereoscopic image of the virtual endoscope view after determining the positional change of the interventional device, thereby guiding the user to operate the interventional device.
[0101] Specifically, the electronic device can determine the position of the advancement tip of the interventional device in the three-dimensional image of the blood vessel in real time based on the real-time positional changes of the interventional device. Then, based on the real-time determined position of the advancement tip in the three-dimensional image of the blood vessel, the three-dimensional image of the virtual endoscope view is updated to guide the user in operating the interventional device.
[0102] Using the above method, the electronic device can update the three-dimensional image of the virtual endoscope in real time based on the three-dimensional image of the blood vessel and the real-time determined position change of the interventional device, guiding the user to advance the interventional device.
[0103] In the interventional device guidance and advancement method provided in this specification, a target path from the intervention initiation position to the diseased site can be determined based on a pre-acquired three-dimensional image of the patient's blood vessels. A three-dimensional image of the interventional device from a virtual endoscopic perspective at its initial position within the blood vessel is constructed and displayed based on the blood vessel image and the intervention initiation position. In response to user operations on the interventional device, the change in the device's position is determined. Finally, based on the position change and the blood vessel image, the three-dimensional image of the virtual endoscopic perspective is updated to guide the user in operating the interventional device.
[0104] As can be seen from the above method, this method can determine the advancement path of the interventional device and display a real-time updated stereoscopic image of the virtual endoscope perspective, guiding the user to operate the interventional device, improving efficiency, reducing the number of times the user needs to obtain X-ray images, and reducing the dose of X-ray radiation received by the patient.
[0105] Additionally, in one or more embodiments of this specification, a schematic diagram of the interventional device being advanced is provided, such as... Figure 4 As shown. When user 404 performs interventional surgery on patient 406, he can observe the stereoscopic image of the virtual endoscope perspective displayed by electronic device 400, which is determined based on the image acquired by image acquisition device 402, in order to advance the interventional device 408.
[0106] Furthermore, in one or more embodiments of this specification, when the user is planning the target path and advancing the interventional device, the device may be unable to continue advancing due to partial blockage or excessive narrowing of the blood vessel, requiring a replanning of the target path. Therefore, the electronic device can analyze the 3D image of the blood vessel, determine the cross-sectional area of each blood vessel in the 3D image, and plan several candidate paths with labeled cross-sectional areas of each blood vessel for the user to choose from.
[0107] Specifically, firstly, the electronic device can determine all routes that can connect the intervention starting point and the diseased site based on the three-dimensional image of the blood vessel, the intervention starting point, and the diseased site, and take each route that can connect the intervention starting point and the diseased site as a candidate path.
[0108] Secondly, the electronic device can, for each candidate path, determine the blood vessels constituting that candidate path based on the 3D image of the blood vessels, and determine the 3D images of each blood vessel constituting the candidate path based on the 3D image of the blood vessels.
[0109] For each blood vessel constituting the candidate path, its contour is determined based on the 3D image of the vessel. Then, a sampling curve is determined based on this contour, and the blood vessel is sampled along this curve according to a preset sampling step size to determine each sampling surface. The center point of each sampling surface is then determined, and connecting these center points forms the centerline of the blood vessel.
[0110] like Figure 5 As shown, Figure 5 This is a schematic diagram of a centerline provided in this specification. The electronic device can define several sampling surfaces within the blood vessel 500, and determine the centerline 502 of the blood vessel 500 based on the center points of each defined sampling surface.
[0111] Of course, when sampling the blood vessel, the electronic device can also determine the direction from the starting point to the ending point of the blood vessel as the sampling direction based on the starting and ending points of the blood vessel. The blood vessel is sampled along this sampling direction according to a preset sampling step size, determining several sampling surfaces and calculating the average area of these sampling surfaces. It is then determined whether any sampling surface has an area greater than the average value. If so, the sampling angle corresponding to that sampling surface is determined, a resampling angle is determined based on this sampling angle, and the sampling surface is deleted. Finally, sampling is performed again at the location of the deleted sampling surface according to the resampling angle, and a new sampling surface is determined.
[0112] Furthermore, the electronic device can also determine the centerline of the blood vessel using technologies such as the Steger algorithm, the ridge-based tracking algorithm, and the motion model-based tracking algorithm. This manual does not restrict how the centerline of the blood vessel is determined; it can be set as needed.
[0113] The electronic device can sample the cross-section of the blood vessel along the centerline according to a preset step size to determine each cross-sectional image. Then, based on the cross-sectional area of each cross-sectional image of each blood vessel in the determined candidate path, the size parameter of the candidate path is determined. This size parameter can be the minimum cross-sectional area of each cross-sectional image of each blood vessel in the candidate path, or it can be the minimum cross-sectional area of each cross-sectional image of each blood vessel in the candidate path. This specification does not limit how the size parameter of the candidate path is determined; it can be set as needed.
[0114] Understandably, when there are many vascular branches along the target path, it is not conducive to the user advancing the interventional device. That is, during the advancement of the interventional device, the user may advance the device into a vascular branch that is not part of the target path, reducing the advancement efficiency.
[0115] Furthermore, for each candidate path, the electronic device can determine the three-dimensional images of each blood vessel constituting the candidate path, and based on the three-dimensional images of each blood vessel, perform surface reconstruction using CPR technology to determine the reconstructed image of the candidate path. The CPR technology is a relatively mature technology, and its details will not be elaborated upon in this specification. Based on the reconstructed image, the electronic device can determine each blood vessel branch in the candidate path and use the number of each blood vessel branch in the candidate path as the quantity parameter of the candidate path. Of course, the electronic device can also use other data as path parameters, such as the number of bends in the candidate path, the total length of the candidate path, etc. This specification does not limit which data the electronic device uses as path parameters; it can be set as needed.
[0116] Then, the electronic device can use the size and quantity parameters of each candidate path as the path parameters of that candidate path. Based on the determined candidate paths and their corresponding path parameters, it then displays several candidate paths labeled with the path parameters to prompt the user to select the target path from these candidate paths.
[0117] like Figure 2 As shown, Figure 2This diagram illustrates a candidate path selection method provided in this specification. Candidate paths 304, 306, and 308 exist between the intervention initiation position 300 and the diseased site 302. Candidate path 304 is labeled "3.12," indicating its size is 3.12 square millimeters. Candidate path 306 is labeled "4.00," indicating its size is 4.00 square millimeters. Candidate path 308 is labeled "1.06," indicating its size is 1.06 square millimeters.
[0118] Of course, while displaying several candidate paths labeled with path parameters, the electronic device also displays a prompt message to guide the user to select the target path from these candidate paths. For example, it may display the message, "Please select the target path for the interventional device from the candidate paths."
[0119] Finally, the electronic device can respond to the user's operation and determine the candidate path selected by the user as the target path.
[0120] Using the above method, the electronic device can identify several candidate paths for the user to choose from, and determine the candidate path selected by the user as the target path. This avoids the need to replan the target path when the user plans it, and reduces the radiation dose from X-rays to the user and the patient.
[0121] Furthermore, in one or more embodiments of this specification, when the electronic device determines candidate paths, there may be situations where the blood vessels constituting part of the target path are too narrow, preventing the catheter from entering. To improve the efficiency of the user selecting a target path from several candidate paths, the electronic device can filter the determined candidate paths.
[0122] Specifically, for each candidate path, the electronic device can determine whether any blood vessel's cross-sectional area is smaller than a preset area threshold based on the determined cross-sectional areas of several blood vessels constituting the candidate path. If so, the candidate path is deleted, meaning it will not be displayed when the user selects a target path. If not, the candidate path is retained, meaning it will be displayed when the user selects a target path.
[0123] By using the above method, the candidate paths selected by the user can be filtered, thereby improving the efficiency of the user in selecting the target path.
[0124] Additionally, in one or more embodiments of this specification, in step S102, the electronic device may also determine the starting orientation of the virtual endoscope.
[0125] Specifically, the electronic device can determine the direction of the blood vessel adjacent to the intervention start position in the target path, and use this as the starting direction of the virtual endoscope. The electronic device can also acquire the intervention start position and, based on the target path, determine a position on the target path at a preset distance from the intervention start position, as a direction point. The starting direction of the virtual endoscope is determined based on the intervention start position and the direction point. This specification does not limit the specific method used by the electronic device to determine the starting direction of the virtual endoscope; it can be set as needed.
[0126] Using the above method, the electronic device can determine the starting direction of the virtual endoscope. This avoids situations where the starting direction of the endoscope is inconsistent with the starting direction of the interventional instrument, requiring the user to make adjustments manually, and improves the advancement efficiency of the interventional instrument.
[0127] Additionally, in one or more embodiments of this specification, the electronic device can display and update the centerline of the target path in real time within a virtual endoscope to guide the user in advancing the interventional instrument.
[0128] Specifically, the electronic device can determine the centerline of the target path by sequentially connecting the centerlines of several blood vessels corresponding to the target path. Then, based on the positional changes of the interventional device and the 3D image of the blood vessel, the position of the interventional device in the 3D image of the blood vessel is determined. Based on the position of the interventional device in the 3D image of the blood vessel and the centerline of the target path, the position of the interventional device relative to the centerline of the target path at the current moment is determined. Based on the position of the interventional device relative to the centerline of the target path at the current moment and the position of the interventional device in the 3D image of the blood vessel, the real-time updated centerline of the target path is displayed in the 3D image from the perspective of the virtual endoscope. This 3D image is used to show the deviation between the centerline of the target path and the orientation of the virtual endoscope. Of course, this deviation can be represented in image form, and the electronic device can also determine the angle of deviation between the centerline of the target path and the orientation of the virtual endoscope and display it as data in the 3D image. This specification does not limit how the deviation is specifically displayed; it can be set as needed.
[0129] like Figure 3 As shown, Figure 3 This is a schematic diagram of an angle deviation provided in this specification, wherein the stereoscopic image 310 displays the current orientation 312 of the virtual endoscope and the center line 314 of the target path. Clearly, there is a deviation between the center line 314 of the target path and the orientation 312 of the virtual endoscope.
[0130] Using the above method, the electronic device can display the centerline of the target path in real time in a stereoscopic image from the perspective of the virtual endoscope, so as to guide the user to advance the interventional device.
[0131] Additionally, in one or more embodiments of this specification, the electronic device may display a panoramic view of the blood vessels to guide the user in advancing the interventional device.
[0132] Specifically, the electronic device can determine the position of the interventional device in the 3D image of the blood vessel based on the positional changes of the interventional device and the 3D image of the blood vessel. Based on the position of the interventional device in the 3D image of the blood vessel and the 3D image of the blood vessel, a panoramic view of the blood vessel marked with the position of the interventional device is determined and displayed.
[0133] Using the above method, the electronic device can display a panoramic view of the blood vessels to guide the user in advancing the interventional device.
[0134] Additionally, in one or more embodiments of this specification, the electronic device may determine and display real-time updated cross-sectional images of blood vessels to guide the user in advancing the interventional device.
[0135] Specifically, the electronic device can determine the position of the interventional device in the 3D image of the blood vessel based on the positional changes of the interventional device and the 3D image of the blood vessel. Based on the position of the interventional device in the 3D image of the blood vessel, the 3D image of the blood vessel, and a preset central axis, it determines the cross-section perpendicular to the central axis corresponding to the position of the interventional device in the 3D image of the blood vessel, and determines and displays a blood vessel cross-section diagram marked with the central line and updated in real time based on the cross-section and the center line of the target path.
[0136] Using the above method, the electronic device can determine and display real-time updated cross-sectional images of blood vessels to guide the user in advancing the interventional device.
[0137] Furthermore, since the position of the virtual endoscope is calculated based on data such as the advancement length of the interventional device and the length of the blood vessel, errors may occur. This could lead to the user advancing the interventional device into a blood vessel unrelated to the target path when guided by the virtual endoscope, reducing advancement efficiency. Therefore, in one or more embodiments of this specification, the electronic device can calibrate the current position of the virtual endoscope.
[0138] Specifically, firstly, the electronic device can determine several two-dimensional fluoroscopic images based on the three-dimensional image of the blood vessel. Responding to the user's operation, it adjusts the orientation of the image acquisition device to acquire scanned images, determines the matching degree between each two-dimensional fluoroscopic image and the scanned image, and identifies the maximum value of each matching degree as the maximum matching degree. The scanned image is obtained in real-time by irradiating the patient with radiation, which can be X-rays, gamma rays, etc. This manual does not limit the specific type of radiation and it can be set as needed.
[0139] Secondly, the electronic device can determine whether the maximum matching degree is greater than a preset matching threshold. If so, the electronic device can determine the position of the interventional instrument from the scanned image using an entity recognition model, and calibrate the virtual endoscope viewing angle based on the determined position of the interventional instrument. Of course, the electronic device can also calibrate the virtual endoscope viewing angle corresponding to the stereoscopic image based on the deviation between the position of the interventional instrument in the scanned image and the position of the interventional instrument in the two-dimensional fluoroscopic image corresponding to the maximum matching degree. This specification does not limit how the virtual endoscope viewing angle corresponding to the stereoscopic image is calibrated; it can be set as needed.
[0140] If not, the electronic device can re-determine several two-dimensional fluoroscopic images based on the three-dimensional image of the blood vessel, and re-determine the matching degree between each two-dimensional fluoroscopic image and the scanned image. Based on each matching degree, the maximum matching degree is determined, and the maximum matching degree is re-determined to see if it is greater than the preset matching threshold, until the determination result is yes.
[0141] Using the above method, the electronic device can determine the real scan image by irradiating the patient with X-rays, thereby calibrating the virtual endoscope's perspective and more accurately guiding the user to advance the interventional device.
[0142] Furthermore, in one or more embodiments of this specification, the user may be in close proximity to the patient during the interventional procedure. This means the user will also be exposed to X-ray radiation. Therefore, the method provided in this specification can also reduce the radiation dose received by the user.
[0143] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.
[0144] The above describes one or more embodiments of interventional device guidance and advancement methods provided in this specification. Based on the same concept, this specification also provides corresponding interventional device guidance and advancement devices, such as... Figure 6 As shown.
[0145] Figure 6 This specification provides a schematic diagram of a guiding and advancing device for an interventional instrument, specifically including:
[0146] The acquisition module 200 determines the target path from the intervention start position to the lesion site based on the pre-acquired three-dimensional image of the patient's blood vessels;
[0147] The construction module 202 constructs and displays a virtual endoscopic view of the interventional device at the starting position in the blood vessel based on the 3D image of the blood vessel and the interventional starting position;
[0148] The determination module 204, in response to the user's operation on the interventional device, determines the positional change of the interventional device;
[0149] The update module 206 updates the stereoscopic image of the virtual endoscope view based on the position change and the stereoscopic image of the blood vessel, so as to guide the user to operate the interventional device.
[0150] Optionally, the acquisition module 200 acquires and displays a three-dimensional image of the patient's blood vessels to prompt the user to select the intervention starting position and the affected area. In response to the user's operation, it determines the intervention starting position and the affected area, determines each candidate path from the intervention starting position to the affected area based on the three-dimensional image of the blood vessels, determines the path parameters corresponding to each candidate path, displays each candidate path and the path parameters corresponding to each candidate path, and the path parameters include at least the size parameters of the blood vessels from the starting position to the affected area. In response to the user's selection, it determines the target path from each candidate path.
[0151] Optionally, the acquisition module 200, for each candidate path, determines the three-dimensional image of each blood vessel constituting the candidate path based on the three-dimensional image of the blood vessel, determines the centerline of each blood vessel based on the determined three-dimensional image of each blood vessel, determines the centerline of the candidate path based on the centerline of each blood vessel, performs cross-sectional sampling along the centerline of the candidate path according to a preset step size for each blood vessel corresponding to the candidate path, determines each cross-sectional image, and determines the size parameters of each blood vessel from the starting position to the diseased site based on the determined cross-sectional images, as the path parameters of the candidate path.
[0152] Optionally, the acquisition module 200, for each candidate path, determines the three-dimensional images of each blood vessel constituting the candidate path based on the three-dimensional image of the blood vessel, performs surface reconstruction on the determined three-dimensional images of each blood vessel, determines the reconstructed image of the candidate path, determines each blood vessel branch in the candidate path based on the reconstructed image, and determines the path parameters of the candidate path based on the number of determined blood vessel branches.
[0153] Optionally, the acquisition module 200, for each identified blood vessel, determines the outline of the blood vessel based on the three-dimensional image of the blood vessel, determines a sampling curve based on the outline, samples the blood vessel along the sampling curve according to a preset sampling step size, determines each sampling surface, determines the center point of each sampling surface, and determines the centerline of the blood vessel based on each center point.
[0154] Optionally, the update module 206 determines the position of the interventional device in the vascular stereoscopic image based on the vascular stereoscopic image and the position change, and updates the stereoscopic image of the virtual endoscope perspective in the stereoscopic image based on the position of the interventional device in the vascular stereoscopic image.
[0155] Optionally, the updating module 206 determines the centerline of the target path based on the centerlines of each blood vessel in the target path, determines the position of the interventional device in the three-dimensional image of the blood vessel based on the three-dimensional image of the blood vessel and the position change, and displays the centerline of the target path updated in real time in the three-dimensional image based on the three-dimensional image of the blood vessel, the position of the interventional device in the three-dimensional image of the blood vessel and the centerline of the target path. The three-dimensional image is used to show the deviation between the centerline of the target path and the orientation of the virtual endoscope.
[0156] Optionally, the update module 206 determines the position of the interventional device in the vascular 3D image based on the vascular 3D image and the position change, and determines and displays a real-time updated panoramic vascular image marked with the position of the interventional device based on the vascular 3D image and the position of the interventional device in the vascular 3D image.
[0157] Optionally, the updating module 206 determines the centerline of the target path based on the centerlines of each blood vessel in the target path, determines the position of the interventional device in the three-dimensional image of the blood vessel based on the three-dimensional image of the blood vessel and the position change, and determines and displays a blood vessel cross-section image marked with the centerline of the target path and updated in real time based on the three-dimensional image of the blood vessel, the centerline of the target path and the position of the interventional device in the target path.
[0158] Optionally, the update module 206 determines several two-dimensional fluoroscopic images based on the vascular stereoscopic image, adjusts the orientation of the image acquisition device in response to the user's operation, acquires a scanned image, determines the matching degree between the several two-dimensional fluoroscopic images and the scanned image, and determines the maximum value of the several matching degrees as the maximum matching degree. It then determines whether the maximum matching degree is greater than a preset matching threshold. If so, it calibrates the virtual endoscope angle corresponding to the stereoscopic image based on the deviation between the position of the interventional device in the scanned image and the position of the interventional device in the two-dimensional fluoroscopic image corresponding to the maximum matching degree. If not, it re-determines several two-dimensional fluoroscopic images based on the vascular stereoscopic image, re-determines the maximum matching degree between the several two-dimensional fluoroscopic images and the scanned image, and re-determines whether the maximum matching degree is greater than the preset matching threshold, until the determination result is yes.
[0159] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 The method for guiding and advancing the interventional device provided.
[0160] This instruction manual also provides Figure 7 The diagram shows a schematic structural representation of the electronic device. Figure 7 At the hardware level, the electronic device includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for the business operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then runs it to achieve the above-mentioned functions. Figure 1 The described method for guiding and advancing the interventional device. Of course, besides software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. That is to say, the execution entity of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.
[0161] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.
[0162] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.
[0163] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.
[0164] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware.
[0165] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0166] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0167] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0168] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0169] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0170] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0171] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0172] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0173] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0174] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.
[0175] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.
[0176] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this application.
Claims
1. A guiding and propulsion device for an interventional instrument, characterized in that, include: The acquisition module determines candidate paths from the intervention initiation position to the affected area based on pre-acquired 3D images of the patient's blood vessels. For each candidate path, it determines 3D images of the blood vessels constituting the candidate path based on the 3D images. For each determined blood vessel, it determines the contour of the blood vessel based on the 3D images. Based on the contour, it determines a sampling curve and samples the blood vessel along the sampling curve at a preset sampling step size to determine each sampling surface. It determines the center point of each sampling surface and determines the centerline of the blood vessel based on each center point. It determines the centerline of the candidate path based on the centerline of each blood vessel. It samples the cross-sections of each blood vessel corresponding to the candidate path along the centerline of the candidate path at a preset step size to determine each cross-sectional image. Based on the determined cross-sectional images, it determines the size parameters of each blood vessel from the initiation position to the affected area, which are used as path parameters for the candidate path. It displays each candidate path and its corresponding path parameters. In response to the user's selection, it determines the target path from the candidate paths. The construction module constructs and displays a virtual endoscopic view of the interventional device at its starting position in the blood vessel, based on the 3D image of the blood vessel and the interventional initiation position. The determination module, in response to the user's operation on the interventional device, determines the positional change of the interventional device; The update module updates the stereoscopic image of the virtual endoscope viewpoint based on the position change and the stereoscopic image of the blood vessel, so as to guide the user in operating the interventional device.
2. The apparatus according to claim 1, characterized in that, The acquisition module is also used for: Acquire and display three-dimensional images of the patient's blood vessels to prompt the user to select the starting point of the intervention and the affected area; In response to the user's operation, the starting point of the intervention and the affected area are determined.
3. The apparatus according to claim 1, characterized in that, The acquisition module is also used for: For each candidate path, a three-dimensional image of each blood vessel constituting the candidate path is determined based on the three-dimensional image of the blood vessel. Perform surface reconstruction on the three-dimensional images of each identified blood vessel to determine the reconstructed image of the candidate path; determine each blood vessel branch in the candidate path based on the reconstructed image. Based on the number of identified vascular branches, the path parameters of the candidate path are determined.
4. The apparatus according to claim 1, characterized in that, The update module is also used for: The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes. The stereoscopic image of the virtual endoscope perspective in the stereoscopic image is updated based on the position of the interventional device in the stereoscopic image of the blood vessel.
5. The apparatus according to claim 1, characterized in that, The update module is also used for: The centerline of the target path is determined based on the centerlines of each blood vessel in the target path; The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes. Based on the 3D image of the blood vessel, the position of the interventional device in the 3D image of the blood vessel, and the centerline of the target path, the centerline of the target path is displayed in real time in the 3D image, and the 3D image is used to show the deviation between the centerline of the target path and the orientation of the virtual endoscope.
6. The apparatus according to claim 1, characterized in that, The update module is also used for: The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes. Based on the 3D image of the blood vessel and the position of the interventional device in the 3D image of the blood vessel, a real-time updated panoramic view of the blood vessel, marked with the position of the interventional device, is determined and displayed.
7. The apparatus according to claim 1, characterized in that, The update module is also used for: The centerline of the target path is determined based on the centerlines of each blood vessel in the target path; The position of the interventional device in the three-dimensional image of the blood vessel is determined based on the positional changes. Based on the 3D image of the blood vessel, the centerline of the target path, and the position of the interventional device in the target path, a cross-sectional view of the blood vessel marked with the centerline of the target path and updated in real time is determined and displayed.
8. The apparatus according to claim 1, characterized in that, The update module is also used for: Based on the three-dimensional image of the blood vessels, several two-dimensional perspective images are determined; In response to the user's operation, the orientation of the image acquisition device is adjusted to acquire a scanned image; The matching degree between the plurality of two-dimensional perspective images and the scanned image is determined respectively, and the maximum value of the plurality of matching degrees is determined to be the maximum matching degree; Determine whether the maximum matching degree is greater than a preset matching threshold; If so, then based on the deviation between the position of the interventional device in the scanned image and the position of the interventional device in the two-dimensional fluoroscopic image corresponding to the maximum matching degree, the virtual endoscope angle corresponding to the stereoscopic image is calibrated. If not, then a number of two-dimensional fluoroscopic images are re-determined based on the three-dimensional vascular image, and the maximum matching degree between the number of two-dimensional fluoroscopic images and the scanned image is re-determined. The maximum matching degree is then re-judged to see if it is greater than a preset matching threshold until the judgment result is yes.
9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, performs the following steps: Based on pre-acquired 3D images of the patient's blood vessels, candidate paths from the intervention initiation position to the affected area are determined. For each candidate path, 3D images of the blood vessels constituting the candidate path are determined based on the 3D images. For each determined blood vessel, its outline is determined based on the 3D images. Based on the outline, a sampling curve is determined, and the blood vessel is sampled along the sampling curve at a preset sampling step size to determine each sampling surface. The center point of each sampling surface is determined, and the centerline of the blood vessel is determined based on each center point. The centerline of the candidate path is determined based on the centerline of each blood vessel. Cross-sectional sampling is performed along the centerline of the candidate path for each blood vessel corresponding to the candidate path at a preset step size to determine each cross-sectional image. Based on the determined cross-sectional images, the size parameters of each blood vessel from the initiation position to the affected area are determined as path parameters for the candidate path. The candidate paths and their corresponding path parameters are displayed. In response to the user's selection, a target path is determined from the candidate paths. Based on the 3D image of the blood vessel and the starting position of the intervention, a 3D image of the virtual endoscopic view of the starting position of the interventional device in the blood vessel is constructed and displayed; In response to the user's operation of the interventional device, the positional change of the interventional device is determined; Based on the positional changes and the 3D image of the blood vessel, the 3D image of the virtual endoscope is updated to guide the user in operating the interventional device.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it performs the following steps: Based on pre-acquired 3D images of the patient's blood vessels, candidate paths from the intervention initiation position to the affected area are determined. For each candidate path, 3D images of the blood vessels constituting the candidate path are determined based on the 3D images. For each determined blood vessel, its outline is determined based on the 3D images. Based on the outline, a sampling curve is determined, and the blood vessel is sampled along the sampling curve at a preset sampling step size to determine each sampling surface. The center point of each sampling surface is determined, and the centerline of the blood vessel is determined based on each center point. The centerline of the candidate path is determined based on the centerline of each blood vessel. Cross-sectional sampling is performed along the centerline of the candidate path for each blood vessel corresponding to the candidate path at a preset step size to determine each cross-sectional image. Based on the determined cross-sectional images, the size parameters of each blood vessel from the initiation position to the affected area are determined as path parameters for the candidate path. The candidate paths and their corresponding path parameters are displayed. In response to the user's selection, a target path is determined from the candidate paths. Based on the 3D image of the blood vessel and the starting position of the intervention, a 3D image of the virtual endoscopic view of the starting position of the interventional device in the blood vessel is constructed and displayed; In response to the user's operation of the interventional device, the positional change of the interventional device is determined; Based on the positional changes and the 3D image of the blood vessel, the 3D image of the virtual endoscope is updated to guide the user in operating the interventional device.
Citation Information
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