Intervention path planning method, storage medium and terminal device

Abstract

The present application proposes an interventional path planning method, storage medium and terminal device, which control the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path. When the simulated interventional instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulated interventional instrument model is detected in real time; a collision force is obtained based on the collision deformation, and the preset interventional path is corrected based on the collision force to form a corrected path; when the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model, and the collision between the simulated interventional instrument model and the three-dimensional blood vessel model is simulated, and the preset interventional path is modified using the collision force corresponding to the collision deformation to ensure that the modified interventional path is real and feasible, and to ensure the accuracy of the obtained target interventional path.

Description

Technical Field

[0001] The present application relates to a path planning technology for interventional surgery, and specifically to an intervention path planning method, storage medium, and terminal device. Background Art

[0002] Existing preoperative path planning typically utilizes CTA angiography data to perform 3D vascular reconstruction, identify lesions within the 3D vascular model, and generate the shortest interventional path for preoperative planning. However, during actual R&D, it was discovered that the preoperative planning path generated in this manner differed significantly from the movement path of the interventional device during the actual surgery, increasing the difficulty and risk of the procedure and providing limited reference value to the operator (i.e., physician). Summary of the Invention

[0003] First, the present application proposes an interventional path planning method to at least partially address the problem of errors and low reference value in existing preoperative path planning. The method includes:

[0004] Acquiring a simulated interventional instrument model, a three-dimensional blood vessel model of a specific object, and a preset interventional path, wherein the preset interventional path includes a lesion;

[0005] controlling the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path;

[0006] During the movement, when the simulated interventional instrument model collides with the three-dimensional blood vessel model, detecting the collision deformation of the simulated interventional instrument model in real time;

[0007] obtaining a collision force based on the collision deformation, and correcting the preset intervention path based on the collision force to form a corrected path;

[0008] When the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model.

[0009] Preferably, the real-time detection of the collision deformation of the simulated interventional instrument model includes:

[0010] Acquiring a collision feature region of the simulated interventional instrument model, and determining the collision feature region as a top-level bounding volume;

[0011] Dividing the collision characteristic area to form a plurality of sub-layer enclosures;

[0012] Recursively traverse the top-level bounding volume and several sub-level bounding volumes to determine a simulated collision area;

[0013] The simulated collision area is calculated to obtain a collision deformation corresponding to the simulated collision area.

[0014] Preferably, the simulated interventional instrument model includes a simulated catheter model and a simulated guidewire model inserted into the simulated catheter model;

[0015] The controlling the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset intervention path includes:

[0016] generating an operation instruction, wherein the operation instruction carries an operation identifier;

[0017] At least one of the simulated catheter model and the simulated guidewire model is controlled to move in the three-dimensional blood vessel model based on the operation identifier.

[0018] Preferably, the acquiring of the collision characteristic area of ​​the simulated interventional instrument includes:

[0019] Query the database to obtain and count the actual collision areas and collision times of the actual catheter and the actual guidewire, and obtain statistical results;

[0020] The real collision area in the statistical result where the number of collisions is greater than a preset number is determined as the collision feature area of ​​the simulated interventional instrument.

[0021] Preferably, obtaining the collision force based on the collision deformation includes:

[0022] Calculating the collision deformation using a force algorithm to obtain a normal force of the collision deformation;

[0023] Calculating the collision deformation using a friction model to obtain the friction force of the collision deformation;

[0024] The normal force and the friction force are calculated using a numerical solver to obtain the collision force.

[0025] Preferably, the modifying the preset intervention path based on the collision force includes:

[0026] Acquiring a collision blood vessel branch, where the collision blood vessel branch is a blood vessel branch deformed by collision between the simulated interventional instrument model and the three-dimensional blood vessel model;

[0027] Querying a database to obtain historical operations and historical collision forces corresponding to the collision blood vessel branch;

[0028] Filtering the historical operations based on the historical collision forces to obtain correction parameters, the correction parameters including correction parameters for blood vessel branches and correction parameters for motion of interventional instruments;

[0029] The preset intervention path is dynamically corrected based on at least one parameter of the corrected blood vessel branch and the corrected interventional instrument motion parameter.

[0030] Preferably, the filtering of the historical operations based on the historical collision force to obtain the correction parameter includes:

[0031] Traversing the historical collision forces, and taking the historical operation corresponding to the historical collision force with the smallest force value as the recommended operation;

[0032] Using a field matching algorithm, obtaining recommended blood vessel branches and recommended interventional device motion parameters in the recommended operation;

[0033] The recommended vascular branch is determined as a revised vascular branch, and the recommended interventional instrument motion parameter is determined as a revised interventional instrument motion parameter.

[0034] Preferably, after generating a target intervention path based on the motion trajectory of the simulated interventional instrument model, the method further comprises:

[0035] Classifying all the collision deformations to generate a collision level;

[0036] Collision deformations of the same collision level are marked with the same label and displayed on the preset intervention path.

[0037] In a second aspect, the present application provides a storage medium, which includes a stored program, and the above method is executed by a processor when the program is running.

[0038] In a third aspect, the present application provides a terminal device, comprising: a processor; and a memory, wherein the memory is connected to the processor, and the processor executes a program in the memory to implement the above method.

[0039] The technical solution provided by this application has at least the following technical effects or advantages:

[0040] In the interventional path planning method, storage medium and terminal device provided in the present application, the simulated interventional instrument model is controlled to move in the three-dimensional blood vessel model according to the preset interventional path. When the simulated interventional instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulated interventional instrument model is detected in real time; a collision force is obtained based on the collision deformation, and the preset interventional path is corrected based on the collision force to form a corrected path; when the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model, and the collision between the simulated interventional instrument model and the three-dimensional blood vessel model is simulated, and the preset interventional path is modified using the collision force corresponding to the collision deformation to ensure that the modified interventional path is real and feasible, and to ensure the accuracy of the target interventional path obtained by modifying the preset interventional path. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0042] Figure 1 A schematic flow chart showing a first embodiment of an interventional path planning method according to the present invention is shown;

[0043] Figure 2 A schematic flow chart showing a second embodiment of the interventional path planning method of the present invention is shown;

[0044] Figure 3 A schematic flow chart showing a third embodiment of the interventional path planning method of the present invention is shown;

[0045] Figure 4 A schematic flow chart showing a fourth embodiment of the interventional path planning method of the present invention is shown;

[0046] Figure 5 A schematic flow chart showing a fifth embodiment of the interventional path planning method of the present invention is shown;

[0047] Figure 6 A schematic flow chart showing a sixth embodiment of the interventional path planning method of the present invention is shown;

[0048] Figure 7 FIG2 is a flow chart showing a seventh embodiment of the intervention path planning method of the present invention;

[0049] Figure 8 FIG2 is a flow chart showing an eighth embodiment of the intervention path planning method of the present invention;

[0050] Figure 9 A schematic structural diagram of a terminal device provided in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0052] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this application belongs.

[0053] Please refer to Figure 1 , is a flow chart of the first embodiment of the interventional path planning method of the present invention.

[0054] The present invention provides an intervention path planning method, comprising the following steps:

[0055] S10: Acquire a simulated interventional instrument model, a three-dimensional blood vessel model of a specific object, and a preset interventional path, wherein the preset interventional path includes a lesion.

[0056] Among them, the specific object is the patient. The simulated interventional instrument model includes a simulated catheter model and a simulated guidewire model. Specifically, the three-dimensional vascular model is a digital three-dimensional blood vessel reconstructed through the CTA data of the specific object, and the digital three-dimensional blood vessel is physically modeled using a plug-in of the physical simulation platform to generate a physical model with elastic force, that is, the three-dimensional vascular model of this embodiment. Similarly, the length, diameter, and material parameters of the catheter are input into the physical simulation platform, and a physical model with elastic force is automatically generated using the plug-in of the physical simulation platform, that is, the simulated catheter model. The length, diameter, and material parameters of the guidewire are input into the physical simulation platform, and a physical model with elastic force is automatically generated using the plug-in of the physical simulation platform, that is, the simulated guidewire model. Exemplarily, the physical simulation platform is the Sofa platform.

[0057] The preset interventional path is the shortest path from the blood vessel entrance to the lesion obtained by processing the DSA angiography image of a specific object.

[0058] In this embodiment, the type of interventional surgery is obtained through the case data of a specific subject, and the real catheter and real guidewire required for the surgery are determined based on the interventional surgery type and the preset interventional path. The length, diameter, manufacturing material, etc. of the real catheter and real guidewire are used for simulation to obtain a simulated catheter model and a simulated guidewire model, thereby ensuring that the generated simulated interventional instrument model is compatible with the surgery of the specific subject and improving the accuracy of path planning.

[0059] S20: Controlling the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset intervention path.

[0060] In one embodiment, please refer to Figure 2 , which is a flow chart of a second embodiment of the interventional path planning method of the present invention. The simulated interventional instrument model includes a simulated catheter model and a simulated guidewire model. In step S20, controlling the simulated interventional instrument model to move within the three-dimensional vascular model according to the preset interventional path includes:

[0061] S21: Generate an operation instruction, where the operation instruction carries an operation identifier.

[0062] The operation instruction is an instruction for manipulating the simulated interventional instrument model. In this embodiment, the operation instruction is an instruction generated by the operator operating the master end operator. For example, the operation instruction can be at least one of instructions to instruct the simulated interventional instrument model to move forward, backward, or rotate.

[0063] It can be understood that the operator moves the simulated interventional instrument model by operating the main-end manipulator, thereby realizing a realistic interventional robotic surgery simulation operation, which is beneficial to improving the operator's surgical skills and experience.

[0064] In other embodiments, the operation instructions may also be instructions automatically generated by the robot based on a preset intervention path, which is not limited here.

[0065] S22: Control at least one of the simulated catheter model and the simulated guidewire model to move in the three-dimensional blood vessel model based on the operation identifier.

[0066] Specifically, the simulated interventional instrument model includes a simulated catheter model and a simulated guidewire model. The operation instruction carries an operation identifier, which is at least one of a catheter identifier and a guidewire identifier. When the operation identifier is a catheter identifier, the simulated catheter model is controlled to move within the three-dimensional blood vessel model; when the operation identifier is a guidewire identifier, the simulated guidewire model is controlled to move within the three-dimensional blood vessel model; when the operation identifier is a catheter identifier and a guidewire identifier, the simulated catheter model and the simulated guidewire model are controlled to move within the three-dimensional blood vessel model. This allows for controlling the movement of a single instrument model, as well as collaboratively controlling the movement of multiple instrument models, to meet the needs of real surgeries.

[0067] In steps S21-S22, the operation identifiers of the operation instructions are used to simulate the catheter model and the guidewire model individually or collaboratively to achieve individual instrument control and collaborative instrument control that simulates real surgery, thereby improving the authenticity of the simulated surgical operation, integrating the real surgical operation into the path planning, and ensuring that the modified target interventional path is authentic and feasible.

[0068] S30: During the movement process, when the simulated interventional instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulated interventional instrument model is detected in real time.

[0069] Understandably, real blood vessels are three-dimensional and highly complex in distribution. Preoperative interventional pathways derived from imaging data are prone to errors and offer limited reference value to physicians. In this embodiment, in a simulated interactive environment, an operator uses a master-side manipulator to manipulate a simulated interventional instrument model within a three-dimensional vascular model. This detects collision deformation of the simulated interventional instrument model and provides technical support for correcting the pre-set interventional pathway. This ensures that the generated target interventional pathway more closely matches the actual surgical situation, improving the accuracy of the interventional pathway.

[0070] Please refer to Figure 3 , is a flow chart of the third embodiment of the interventional path planning method of the present invention. In step S30, the real-time detection of the collision deformation of the simulated interventional instrument model includes:

[0071] S31: Acquire a collision feature region of the simulated interventional instrument model, and determine the collision feature region as a top-level bounding volume.

[0072] The collision feature area is the area where the simulated interventional device model collides with the three-dimensional blood vessel model.

[0073] Since the simulated interventional instrument is slender, if the collision detection is performed on the entire simulated interventional instrument, the detection time will be long and the detection effect will not meet the requirements of fast and accurate surgery.

[0074] In this embodiment, a local collision feature area is screened out from the simulated interventional instrument model. During collision detection, only the local collision feature area needs to be detected, which reduces the detection workload and can effectively improve detection efficiency and detection accuracy.

[0075] Please refer to Figure 4 , is a flow chart of the fourth embodiment of the interventional path planning method of the present invention. In step S31, i.e., obtaining the collision feature area of ​​the simulated interventional instrument, the steps include:

[0076] S311: Query the database to obtain and count the actual collision areas and collision times of the actual catheter and the actual guidewire, and obtain statistical results.

[0077] The real collision area refers to the collision area between the real catheter and the real guidewire and the real blood vessel during a real surgery. It should be noted that the real collision area is a local area of ​​the real catheter and the real guidewire. During surgery, the real catheter and the real guidewire need to be controlled individually and coordinated multiple times alternately. During these two processes, the collision area of ​​the real catheter and the real guidewire differs. To ensure the accuracy of the real collision area, the real collision area in this embodiment includes the collision area when the real guidewire moves, the collision area when the real catheter moves, and the collision area when the real guidewire and the real catheter move in coordination.

[0078] The number of collisions refers to the number of times the real guidewire and real catheter collide with the real blood vessel during the procedure.

[0079] S312: Determine the real collision area in which the number of collisions in the statistical results is greater than a preset number as the collision feature area of ​​the simulated interventional instrument.

[0080] The preset number of times is a pre-set number and is not limited here. The preset number of times is to exclude the possibility that the real catheter and guidewire collide with the real blood vessel due to accidents, thereby improving the accuracy of the collision feature area.

[0081] Understandably, the collision feature area is associated with the actual collision area, i.e., the collision feature area includes the mapping of the collision area during real guidewire movement on the simulated guidewire model, the mapping of the collision area during real catheter movement on the simulated catheter model, and the mapping of the collision area during coordinated movement of the real guidewire and real catheter on the simulated guidewire model and the simulated catheter model. Therefore, it can be ensured that the collision feature areas of the simulated catheter model and the simulated guidewire model have the collision characteristics of the real interventional instrument, both individually controlled and coordinated. The correct division of the collision feature area helps to improve the accuracy of the target interventional path, ensure the feasibility of the target interventional path, and conform to the actual surgical situation.

[0082] In steps S311-S312, by screening the real collision areas and collision times of the real catheter and the real guidewire in the real surgery, the instrument feature area of ​​the simulated interventional instrument model is obtained, which helps to improve the accuracy of the target interventional path.

[0083] S32: Divide the collision feature area to form a plurality of sub-layer bounding volumes.

[0084] S33: Recursively traverse the top-level bounding volume and several sub-level bounding volumes to determine a simulated collision area.

[0085] In this embodiment, the top-level bounding volume is first traversed. If a collision exists within the top-level bounding volume, the multiple sub-level bounding volumes are traversed, and simulated collision areas are detected within these sub-level bounding volumes. If no collision exists within the top-level bounding volume, indicating no collision between the simulated interventional device model and the 3D vascular model, the simulated interventional device model is controlled to move within the 3D vascular model according to a preset interventional path.

[0086] S34: Calculating the simulated collision area to obtain a collision deformation corresponding to the simulated collision area.

[0087] In steps S31-S34, when detecting the collision deformation of a slender simulated interventional device model, the device's collision signature region is first identified. This reduces the detection workload and improves the processing speed of collision deformation determination. By dividing the collision signature region into top-level and sub-level bounding volumes, it is easier to quickly eliminate non-collision motions and ensure the simulated interventional device model's motion response speed.

[0088] S40: Obtaining a collision force based on the collision deformation, and correcting the preset intervention path based on the collision force to form a corrected path.

[0089] The collision force is the force applied when the simulated interventional device model collides with the three-dimensional blood vessel model.

[0090] Please refer to Figure 5 , is a flowchart of the fifth embodiment of the intervention path planning method of the present invention. In step S40, the collision force is obtained based on the collision deformation, including

[0091] S41: Calculating the collision deformation using a force algorithm to obtain a normal force of the collision deformation.

[0092] In this embodiment, the force algorithm is a penalty method (Penalty Method) or a Lagrange Multipliers Method (Lagrange Multipliers Method).

[0093] Among them, the penalty function method (Penalty Method), also known as the multiplier method, refers to converting a constrained optimization problem into a solution to an unconstrained optimization problem. F(x,M) is called the penalty function, and M is a sufficiently large positive number that acts as a penalty, which is called the penalty factor.

[0094] The Lagrange Multipliers Method is a mathematical method used to solve constrained optimization problems. By introducing Lagrange multipliers, the optimization problem with constraints is transformed into an unconstrained problem.

[0095] S42: Calculating the collision deformation using a friction model to obtain the friction force of the collision deformation.

[0096] In this embodiment, the Coulomb friction model is used to calculate the friction force of collision deformation.

[0097] S43: Calculate the normal force and the friction force using a numerical solver to obtain the collision force.

[0098] In this embodiment, a numerical solver (EulerImplicitSolver) is used to construct a function, and the normal force and friction force are calculated to obtain the collision force.

[0099] In steps S41-S43, the collision deformation is calculated to obtain the collision force, which provides technical support for subsequent path correction.

[0100] Please refer to Figure 6 , is a flow chart of the sixth embodiment of the intervention path planning method of the present invention. In step S40, namely, the correction of the preset intervention path based on the collision force, comprising:

[0101] S44: Acquire a collision blood vessel branch, where the collision blood vessel branch is a blood vessel branch deformed by collision between the simulated interventional instrument model and the three-dimensional blood vessel model.

[0102] In this embodiment, the coordinate position of the simulated interventional device model in the three-dimensional blood vessel model is monitored in real time. When a collision occurs, the database is queried with the current coordinate position of the simulated interventional device model to obtain the blood vessel branch in the three-dimensional blood vessel model where the current coordinate position of the simulated interventional device model is located, thereby determining the blood vessel branch as the collision blood vessel branch where the simulated interventional device model collides with the three-dimensional blood vessel model.

[0103] S45: Querying a database to obtain historical operations and historical collision forces corresponding to the collision blood vessel branch.

[0104] The historical operations are the operator's manipulation of the real catheter and guidewire during the procedure. For example, operator D's corresponding historical operations are: in vascular branch A, rotating the real guidewire, moving it backward so that it enters vascular branch B, and moving the real catheter into vascular branch B. The real guidewire and vascular branch A generated a historical collision force of y millinewtons. For example, operator E's historical operations are: in vascular branch C, moving the real catheter and guidewire at equal or unequal speeds. The real guidewire and catheter generated a historical collision force of x millinewtons with vascular branch C.

[0105] The historical collision force is the force exerted on the real catheter and real guidewire when they collide with the real blood vessel during the operation performed by the operator.

[0106] Specifically, the database stores the operation data of other operators performing real interventional surgeries. By matching the collision vessel branches with the operation data in the database using a character matching algorithm, the historical operation history and collision force of the collision vessel branches can be quickly obtained. Character matching algorithms include but are not limited to the KMP algorithm (string matching algorithm), brute force matching algorithm, and Rabin-Karp algorithm.

[0107] S46: Filtering the historical operations based on the historical collision forces to obtain correction parameters, where the correction parameters include correction parameters for blood vessel branches and correction parameters for motion of interventional instruments.

[0108] Among them, the correction of vascular branches is used to correct the vascular branches that the simulated interventional instrument model enters. The correction of interventional instrument motion parameters is the parameters used to correct the motion of the simulated interventional instrument model. Example 1: The simulated interventional instrument model collides with vascular branch A of the three-dimensional vascular model. The vascular branch is corrected to vascular branch B. The correction of interventional instrument motion parameters is that the simulated interventional instrument model retreats x mm along vascular branch A, rotates y degrees, and enters vascular branch B. Example 2: The simulated interventional instrument model is in vascular branch A of the three-dimensional vascular model. The vascular branch is corrected to vascular branch A. The correction of interventional instrument motion parameters is that the simulated interventional instrument model rotates y degrees on vascular branch A, retreats x mm, and advances z mm along vascular branch A.

[0109] Please refer to Figure 7 , is a flow chart of the seventh embodiment of the intervention path planning method of the present invention. In step S46, the process of filtering the historical operations based on the historical collision force to obtain correction parameters includes:

[0110] S461: Traverse the historical collision forces, and take the historical operation corresponding to the historical collision force with the smallest force value as the recommended operation.

[0111] In the same vascular branch, the historical collision force with the smallest force value corresponds to the historical operation that has the best treatment effect on a specific patient. In this embodiment, all historical collision forces in the vascular branch are traversed to quickly retrieve the historical collision force with the smallest force value, so as to modify the intervention path based on the corresponding historical operation.

[0112] S462: Obtain the recommended blood vessel branches and recommended interventional instrument motion parameters in the recommended operation.

[0113] S463: Determine the recommended vascular branch as a revised vascular branch, and determine the recommended interventional device motion parameter as a revised interventional device motion parameter.

[0114] Steps S461-S463, through the historical operations corresponding to the historical collision force with the minimum force value, obtain the corrected blood vessel branches and corrected interventional instrument motion parameters to ensure that the modified interventional path has high feasibility and assist in real surgical operations.

[0115] S47: Dynamically correct the preset intervention path based on at least one parameter of the corrected blood vessel branch and the corrected interventional instrument motion parameter.

[0116] Steps S44-S47 screen out all historical operations and historical collision forces during actual surgical operations on the collision vessel branches to generate corrected vessel branches and corrected interventional instrument motion parameters as the basis for path modification, ensuring that the modified interventional path is real and feasible, and ensuring the accuracy of the target interventional path obtained by modifying the preset interventional path.

[0117] S50: When the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model.

[0118] In steps S10-S50, the simulated interventional instrument model is controlled to move in the three-dimensional blood vessel model according to the preset interventional path. When the simulated interventional instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulated interventional instrument model is detected in real time. A collision force is obtained based on the collision deformation, and the preset interventional path is corrected based on the collision force to form a corrected path. When the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model. The collision between the simulated interventional instrument model and the three-dimensional blood vessel model is simulated, and the preset interventional path is modified using the collision force corresponding to the collision deformation to ensure that the modified interventional path is real and feasible, and to ensure that the obtained target interventional path is highly accurate.

[0119] Please refer to Figure 8 , is a flow chart of an eighth embodiment of the interventional path planning method of the present invention. After S50, that is, after generating the target interventional path based on the motion trajectory of the simulated interventional instrument model, the method further includes:

[0120] S60: Classifying all the collision deformations to generate collision levels.

[0121] The collision level is used to indicate the degree of collision deformation. The collision level can be expressed quantitatively. For example, the collision level can be divided into level one collision, level two collision and level three collision. The higher the level, the more severe the collision deformation.

[0122] S70: Collision deformations of the same collision level are marked with the same label and displayed on the preset intervention path.

[0123] In this embodiment, labels are used to remind users, including but not limited to color labels, image labels, and numerical labels. For example, slight deformation is displayed with a yellow label, light deformation is displayed with an orange label, and severe deformation is displayed with a red label.

[0124] Steps S60-S70 grade all collision deformations caused by the simulated interventional instrument model moving in the three-dimensional blood vessel model, use the same label to identify collision deformations of the same collision level, and display them on the preset intervention path. This allows the operator to clearly understand all collision deformations on the path and the degree of deformation during collision, providing data reference for real surgery.

[0125] This embodiment provides a computer-readable storage medium, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the intervention path planning method in Example 1 is implemented. To avoid repetition, it is not described here.

[0126] Figure 9 is a schematic diagram of the terminal device in this embodiment. Figure 9 As shown, the terminal includes a processor, a memory, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, each step of the intervention path planning method in the first embodiment is implemented, such as Figure 1 Steps S10-S50 are shown.

[0127] Exemplarily, the computer-readable instructions may be divided into one or more modules / units, and one or more modules / units may be stored in a memory and executed by a processor to complete the present application.

[0128] The terminal device can be a computing device such as a desktop computer, a notebook computer, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that Figure 9 It is only an example of a terminal device and does not constitute a limitation of the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0129] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0130] Memory can be an internal storage unit of a terminal device, such as a hard drive or memory. It can also be an external storage device, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, or a flash memory card. Furthermore, memory can include both internal and external storage units. Memory is used to store computer-readable instructions and other programs and data required by the terminal device. Memory can also be used to temporarily store data that has been output or is about to be output.

[0131] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a computer-readable storage medium. When the computer-readable instructions are executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Wherein, the computer-readable instructions include operation instructions, and the operation instructions can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer code to be tested, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0134] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. An interventional path planning method, characterized in that: include: Acquiring a simulated interventional instrument model, a three-dimensional blood vessel model of a specific object, and a preset interventional path, wherein the preset interventional path includes a lesion; controlling the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path; During the movement, when the simulated interventional instrument model collides with the three-dimensional blood vessel model, detecting the collision deformation of the simulated interventional instrument model in real time; obtaining a collision force based on the collision deformation, and correcting the preset intervention path based on the collision force to form a corrected path; When the simulated interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulated interventional instrument model.

2. The interventional path planning method according to claim 1, characterized in that: The real-time detection of the collision deformation of the simulated interventional instrument model includes: Acquiring a collision feature region of the simulated interventional instrument model, and determining the collision feature region as a top-level bounding volume; Dividing the collision characteristic area to form a plurality of sub-layer enclosures; Recursively traverse the top-level bounding volume and several sub-level bounding volumes to determine a simulated collision area; The simulated collision area is calculated to obtain a collision deformation corresponding to the simulated collision area.

3. The interventional path planning method according to claim 2, characterized in that: The simulated interventional instrument model includes a simulated catheter model and a simulated guidewire model inserted into the simulated catheter model; The controlling the simulated interventional instrument model to move in the three-dimensional blood vessel model according to the preset intervention path includes: generating an operation instruction, wherein the operation instruction carries an operation identifier; At least one of the simulated catheter model and the simulated guidewire model is controlled to move in the three-dimensional blood vessel model based on the operation identifier.

4. The interventional path planning method according to claim 2 or 3, characterized in that: The obtaining of the collision characteristic area of ​​the simulated interventional instrument includes: Query the database to obtain and count the actual collision areas and collision times of the actual catheter and the actual guidewire, and obtain statistical results; The real collision area in the statistical result where the number of collisions is greater than a preset number is determined as the collision feature area of ​​the simulated interventional instrument.

5. The interventional path planning method according to claim 1, characterized in that: The obtaining of the collision force based on the collision deformation includes: Calculating the collision deformation using a force algorithm to obtain a normal force of the collision deformation; Calculating the collision deformation using a friction model to obtain the friction force of the collision deformation; The normal force and the friction force are calculated using a numerical solver to obtain the collision force.

6. The interventional path planning method according to claim 1, characterized in that: The modifying the preset intervention path based on the collision force includes: Acquiring a collision blood vessel branch, where the collision blood vessel branch is a blood vessel branch deformed by collision between the simulated interventional instrument model and the three-dimensional blood vessel model; Querying a database to obtain historical operations and historical collision forces corresponding to the collision blood vessel branch; Filtering the historical operations based on the historical collision forces to obtain correction parameters, the correction parameters including correction parameters for blood vessel branches and correction parameters for motion of interventional instruments; The preset intervention path is dynamically corrected based on at least one parameter of the corrected blood vessel branch and the corrected interventional instrument motion parameter.

7. The interventional path planning method according to claim 6, characterized in that: The filtering of the historical operations based on the historical collision force to obtain the correction parameter includes: Traversing the historical collision forces, and taking the historical operation corresponding to the historical collision force with the smallest force value as the recommended operation; Using a field matching algorithm, obtaining recommended blood vessel branches and recommended interventional device motion parameters in the recommended operation; The recommended vascular branch is determined as a revised vascular branch, and the recommended interventional instrument motion parameter is determined as a revised interventional instrument motion parameter.

8. The interventional path planning method according to claim 1, characterized in that: After generating a target intervention path based on the motion trajectory of the simulated interventional instrument model, the method further includes: Classifying all the collision deformations to generate a collision level; Collision deformations of the same collision level are marked with the same label and displayed on the preset intervention path.

9. A storage medium comprising a stored program, characterized in that: When the program is running, the processor executes the method according to any one of claims 1 to 8.

10. A terminal device comprising: processor; and a memory connected to a processor, wherein the processor executes a program in the memory to implement the method according to any one of claims 1 to 8.

Images