Interventional operation data processing system, vascular vision reconstruction method and related device

Abstract

The embodiment of the invention provides an interventional operation data processing system, a blood vessel vision reconstruction method and a related device, and relates to the field of medical data processing. The system comprises a catheter tracking assembly, an ultrasonic data acquisition assembly, a multi-arm robot auxiliary assembly and data processing equipment comprising a graphic interaction interface, the multi-arm robot auxiliary assembly comprises a first mechanical arm, an electromagnetic coil is installed on the first mechanical arm and used for driving a magnetic control catheter to enter a blood vessel of a patient and move to a target spot along the blood vessel, and the catheter tracking assembly is used for obtaining first data representing the position and movement track of the magnetic control catheter in the blood vessel in real time and transmitting the first data to the data processing equipment; the ultrasonic data acquisition assembly is used for acquiring second data in real time and transmitting the second data to the data processing equipment; and the data processing equipment is used for generating a blood vessel-catheter three-dimensional model based on the first data and the second data and displaying the blood vessel-catheter three-dimensional model on a graphic interaction interface so as to assist a doctor in determining an operation path and further assist the doctor in judging the next operation.

Description

Technical Field

[0001] The present invention relates to the field of medical data processing, and in particular to an interventional surgery data processing system, a blood vessel visual reconstruction method and related devices. Background Art

[0002] In modern medical surgeries, especially minimally invasive cardiovascular interventions, doctors need to precisely control the position and shape of the catheter in the patient's body. Currently, doctors mainly rely on manual operation of the catheter and use X-ray angiography to observe the position of the catheter, but X-ray angiography can only provide two-dimensional images and cannot show the three-dimensional spatial relationship between the catheter and surrounding tissues. In addition, long-term X-ray exposure can cause radiation damage to doctors and patients. Summary of the invention

[0003] In view of this, an object of the present invention is to provide an interventional surgery data processing system, a blood vessel visual reconstruction method and related devices.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0005] In a first aspect, the present invention provides an interventional surgery data processing system, the system comprising a catheter tracking component, an ultrasound data acquisition component, a multi-arm robot-assisted component and a data processing device, the multi-arm robot-assisted component comprising a first mechanical arm, and the data processing device comprising a graphical interactive interface;

[0006] The end of the first mechanical arm is equipped with an electromagnetic coil for driving the magnetically controlled catheter to enter the patient's blood vessel and move along the blood vessel; the catheter tracking component is used to acquire first data in real time and transmit it to the data processing device, wherein the first data represents the position and movement trajectory of the magnetically controlled catheter in the blood vessel;

[0007] The ultrasound data acquisition component is used to acquire second data in real time and transmit the second data to the data processing device, wherein the second data includes a plurality of ultrasound images, each of which includes a blood vessel and a distal end of the magnetron catheter;

[0008] The data processing device is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on the graphical interactive interface to assist doctors in determining a surgical path.

[0009] Optionally, the multi-arm robot auxiliary component further includes a second mechanical arm, the catheter tracking component includes a flexible electromagnetic sensor and an electromagnetic transmitter, the flexible electromagnetic sensor is installed in the internal cavity of the magnetron catheter and can move back and forth in the internal cavity of the magnetron catheter, and the electromagnetic transmitter is installed at the end of the second mechanical arm; the first data includes a plurality of position information of the flexible electromagnetic sensor in the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter;

[0010] The electromagnetic transmitter is used to generate a tracking electromagnetic field covering the surgical area;

[0011] The flexible electromagnetic sensor is used to sense the tracking electromagnetic field, and transmit its position information in the electromagnetic field to the electromagnetic transmitter in real time during the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter;

[0012] The electromagnetic transmitter is also used to transmit the position information to the data processing device.

[0013] Optionally, the multi-arm robot auxiliary component further includes a third mechanical arm, the ultrasonic data acquisition component includes an ultrasonic probe and an ultrasonic scanner, and the ultrasonic probe is installed at the end of the third mechanical arm;

[0014] The ultrasound probe is used to move synchronously with the magnetron catheter above the magnetron catheter, acquire an ultrasound image including the blood vessel and the end of the magnetron catheter in real time, and transmit the ultrasound image to the ultrasound scanner;

[0015] The ultrasound scanner is used to transmit the ultrasound image to the data processing device.

[0016] In a second aspect, the present invention provides a method for visually reconstructing a blood vessel, which is applied to a data processing device in an interventional surgery auxiliary data acquisition system, wherein the interventional surgery auxiliary data acquisition system further comprises a catheter tracking component, an ultrasound data acquisition component, and a multi-arm robot auxiliary component, wherein the multi-arm robot auxiliary component comprises a first mechanical arm, and the data processing device comprises a graphical interactive interface, wherein the method comprises:

[0017] receiving first data transmitted by the catheter tracking component, wherein the first data represents the position and movement trajectory of the magnetically controlled catheter in the blood vessel, wherein the magnetically controlled catheter is driven by an electromagnetic coil installed at the end of the first mechanical arm to enter the patient's blood vessel and move along the blood vessel;

[0018] receiving second data transmitted by the ultrasound data acquisition component, wherein the second data includes a plurality of ultrasound images, each of which includes a blood vessel and a distal end of the magnetron catheter;

[0019] Based on the first data and the second data, a blood vessel-catheter three-dimensional model is generated and displayed on the graphical interactive interface to assist doctors in determining a surgical path.

[0020] Optionally, the step of generating a blood vessel-catheter three-dimensional model based on the first data and the second data includes:

[0021] Integrate the first data and the second data to obtain integrated data;

[0022] A blood vessel-conduit three-dimensional model is generated based on the integrated data.

[0023] Optionally, the step of integrating the first data and the second data to obtain integrated data includes:

[0024] The second data is converted into a preset coordinate system to obtain the second data after coordinate conversion, and the integrated data includes the first data and the second data after coordinate conversion.

[0025] Optionally, the catheter tracking component includes a flexible electromagnetic sensor, which is installed in the internal cavity of the magnetron catheter and can move back and forth in the internal cavity of the magnetron catheter, the first data includes a plurality of position information of the flexible electromagnetic sensor in the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter, the second data after coordinate transformation includes a plurality of ultrasound images after coordinate transformation, and the blood vessel-catheter three-dimensional model includes a blood vessel three-dimensional model and a catheter three-dimensional model;

[0026] The step of generating a blood vessel-catheter three-dimensional model according to the integrated data comprises:

[0027] Acquire a blood vessel contour from each ultrasound image after coordinate conversion, and generate a three-dimensional model of the blood vessel based on the blood vessel contour;

[0028] The three-dimensional model of the catheter is generated by using each position information contained in the first data.

[0029] Optionally, the step of generating the three-dimensional model of the blood vessel based on the blood vessel contour includes:

[0030] Converting the blood vessel contour into three-dimensional point cloud data;

[0031] The blood vessel three-dimensional model is generated based on the three-dimensional point cloud data.

[0032] In a third aspect, the present invention provides a vascular visual reconstruction device, which is applied to a data processing device in an interventional surgery data processing system, wherein the interventional surgery data processing system further includes a catheter tracking component, an ultrasound data acquisition component, and a multi-arm robot auxiliary component, wherein the multi-arm robot auxiliary component includes a first mechanical arm, and the data processing device includes a graphical interactive interface, and the device includes:

[0033] a receiving module, configured to receive first data transmitted by the catheter tracking component, wherein the first data represents the position and movement trajectory of the magnetron catheter in the blood vessel, wherein the magnetron catheter is driven by an electromagnetic coil installed at the end of the first mechanical arm to enter the patient's blood vessel and move along the blood vessel; and receive second data transmitted by the ultrasound data acquisition component, wherein the second data includes a plurality of ultrasound images, each of which includes the blood vessel and the end of the magnetron catheter;

[0034] A generation module is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on the graphical interactive interface to assist doctors in determining a surgical path.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor of a data processing device in an interventional surgery data processing system, implements the blood vessel visual reconstruction method as described in the second aspect above.

[0036] The interventional surgery data processing system provided by an embodiment of the present invention includes a catheter tracking component, a multi-arm robot-assisted component, an ultrasonic data acquisition component and a data processing device, wherein the data processing device includes a graphical interactive interface; the multi-arm robot-assisted component includes a first robotic arm, on which is mounted an electromagnetic coil for driving a magnetically controlled catheter to enter a patient's blood vessel and move along the blood vessel; the catheter tracking component is used to acquire first data in real time and transmit it to the data processing device, wherein the first data represents the position and movement trajectory of the magnetically controlled catheter in the blood vessel; the ultrasonic data acquisition component is used to acquire second data in real time and transmit it to the data processing device, wherein the second data includes multiple ultrasonic images, each of which includes a blood vessel and the end of the magnetically controlled catheter; the data processing device is used to generate a three-dimensional model of a blood vessel and a catheter based on the first data and the second data and display it on a graphical interactive interface to assist doctors in determining the surgical path. Since the embodiment of the present invention utilizes the electromagnetic coil installed at the end of the first robotic arm in the multi-arm robot auxiliary component to drive the magnetically controlled catheter to enter the patient's blood vessel and move along the blood vessel to the target point, the catheter tracking component obtains first data representing the position and motion trajectory of the magnetically controlled catheter in the blood vessel, and utilizes the ultrasonic data acquisition component to obtain second data including multiple ultrasonic images. The data processing device utilizes the first data and the second data to reconstruct a three-dimensional model of the catheter and the blood vessel, thereby assisting the doctor to better judge the current intervention situation and assisting the doctor to judge the next operation while avoiding radiation hazards.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic block diagram of the structure of an interventional surgery data processing system provided by an embodiment of the present invention;

[0040] Figure 2 A structural example diagram of an interventional surgery data processing system provided by an embodiment of the present invention;

[0041] Figure 3 A design diagram for installing a magnetically controlled catheter and a flexible electromagnetic sensor provided in an embodiment of the present invention;

[0042] Figure 4A two-dimensional B-Mode ultrasound blood vessel and catheter end display provided by an embodiment of the present invention;

[0043] Figure 5 A schematic block diagram of the structure of a data processing device provided by an embodiment of the present invention;

[0044] Figure 6 A schematic flow chart of a blood vessel visual reconstruction method provided by an embodiment of the present invention;

[0045] Figure 7 A block diagram of functional units of a blood vessel visual reconstruction device provided by an embodiment of the present invention.

[0046] Icons: 100-interventional surgery data processing system; 10-catheter tracking component; 11-electromagnetic transmitter; 12-flexible electromagnetic sensor; 20-ultrasound data acquisition component; 21-ultrasound probe; 22-ultrasound scanner; 30-data processing equipment; 31-memory; 32-processor; 33-communication module; 40-multi-arm robot auxiliary component; 41-first robotic arm; 42-second robotic arm; 43-third robotic arm; 44-electromagnetic coil; 200-magnetically controlled catheter; 201-permanent magnet; 300-vascular visual reconstruction device; 301-receiving module; 302-generation module. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0049] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] like Figure 1 As shown, an interventional surgery data processing system 100 provided by an embodiment of the present invention includes a catheter tracking component 10, an ultrasound data acquisition component 20, a data processing device 30 and a multi-arm robot assistance component 40, the data processing device 30 includes a graphical interaction interface, and the multi-arm robot assistance component 40 includes a first robotic arm 41, a second robotic arm 42, a third robotic arm 43 and an electromagnetic coil 44.

[0051] The electromagnetic coil 44 is installed at the end of the first mechanical arm 41 and is used to drive the magnetron catheter 200 to enter the patient's blood vessel and move along the blood vessel.

[0052] It can be understood that the movement of the magnetron catheter 200 in the patient's blood vessel can be controlled by controlling the first robotic arm 41 .

[0053] The catheter tracking component 10 is used to acquire first data in real time and transmit it to the data processing device 30 , where the first data represents the position and movement trajectory of the magnetically controlled catheter 200 in the blood vessel.

[0054] The catheter tracking assembly 10 includes an electromagnetic transmitter 11 and a flexible electromagnetic sensor 12 . The electromagnetic transmitter 11 is installed at the end of the second mechanical arm 42 .

[0055] like Figure 2 As shown, during minimally invasive vascular robotic interventional surgery, a magnetron catheter 200 driven by an electromagnetic coil 44 installed at the end of a first robotic arm 41 with six degrees of freedom enters the patient's blood vessels through the femoral artery. The end of the magnetron catheter 200 has a permanent magnet 201, which is used for the external electromagnetic coil 44 to drive the magnetron catheter, ensuring that the magnetron catheter 200 can be fed forward along the patient's aorta.

[0056] like Figure 3As shown, the flexible electromagnetic sensor 12 is installed in the inner cavity of the magnetron catheter 200 and can move back and forth along the inner cavity of the magnetron catheter 200 under the action of a feeding mechanism.

[0057] The electromagnetic transmitter 11 is used to generate a tracking electromagnetic field covering the surgical area.

[0058] The flexible electromagnetic sensor 12 is used to sense the tracking electromagnetic field generated by the electromagnetic transmitter 11, and transmits its own position information in the electromagnetic field generated by the electromagnetic transmitter 11 to the electromagnetic transmitter 11 in real time during the process of moving from the rear end of the magnetron catheter 200 to the end of the magnetron catheter 200.

[0059] The electromagnetic transmitter 11 is also used to transmit the position information to the data processing device 30 .

[0060] It can be understood that the first data includes a plurality of position and posture information of the flexible electromagnetic sensor 12 during the process of moving from the rear end of the magnetron catheter 200 to the distal end of the magnetron catheter 200 .

[0061] The ultrasound data acquisition component 20 is used to acquire the second data in real time and transmit it to the data processing device 30 . The second data includes a plurality of ultrasound images, each of which includes a blood vessel and the end of the magnetron catheter 200 .

[0062] The ultrasound data acquisition component 20 includes an ultrasound probe 21 and an ultrasound scanner 22 .

[0063] like Figure 2 As shown, while the magnetron catheter 200 enters the patient's blood vessel through the femoral artery, the ultrasound scanner 22 is placed on the surgical cart, and the ultrasound probe 21 is installed at the end of the third mechanical arm 43 with six degrees of freedom.

[0064] By controlling the third robotic arm 43, the ultrasound probe 21 comes into contact with the patient's body and moves above the magnetron catheter 200. The ultrasound probe 21 is used to move synchronously with the magnetron catheter 200 above the magnetron catheter 200, acquire an ultrasound image including the blood vessels and the end of the magnetron catheter 200 in real time, and transmit it to the ultrasound scanner 22.

[0065] It can be understood that during the operation, the ultrasonic probe 21 contacts the patient's skin and tracks the position of the end of the magnetron catheter 200 and the surrounding blood vessels in real time to obtain Figure 4 As shown in the two-dimensional B-Mode image, as the magnetron catheter 200 moves in the blood vessel, the ultrasound probe 21 and its third mechanical arm 43 with six degrees of freedom also move accordingly, so that the end of the magnetron catheter 200 always appears in the ultrasound image screen.

[0066] The ultrasound scanner 22 is used to transmit ultrasound images to the data processing device 30 .

[0067] The data processing device 30 is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on the graphical interactive interface to assist the doctor in determining the surgical path.

[0068] Please refer to Figure 5 , is a block diagram of a data processing device 30. The data processing device 30 includes a memory 31, a processor 32, and a communication module 33. The memory 31, the processor 32, and the communication module 33 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0069] The memory 31 is used to store programs or data. The memory 31 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0070] The processor 32 is used to read / write data or programs stored in the memory 31 and execute corresponding functions.

[0071] The communication module 33 is used to establish a communication connection between the data processing device 30 and other communication terminals through the network, and to send and receive data through the network.

[0072] It should be understood that Figure 5 The structure shown is only a schematic diagram of the structure of the data processing device, and the data processing device may also include Figure 5 More or fewer components as shown, or with Figure 5 Different configurations are shown. Figure 5 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0073] The embodiment of the present invention provides a method for Figure 1 A blood vessel visual reconstruction method of the data processing device 30 will be described in detail below.

[0074] Please refer to Figure 6 The blood vessel visual reconstruction method includes steps S101 to S103.

[0075] S101 , receiving first data transmitted by the catheter tracking component 10 .

[0076] The first data represents the position and movement trajectory of the magnetron catheter 200 in the blood vessel.

[0077] The magnetron catheter 200 is controlled by using a first robot arm 41 with an electromagnetic coil 44 installed at the end thereof to enter the patient's blood vessel and move along the blood vessel.

[0078] After the flexible electromagnetic sensor 12 is located at the rear end of the magnetron catheter 200 and collects its own posture information, the flexible electromagnetic sensor 12 moves forward at a uniform speed along the cavity of the magnetron catheter. During the movement, a series of posture information is collected in real time at a certain frequency. When the end of the flexible electromagnetic sensor 12 moves to be flush with the end of the magnetron catheter 200, the first data collection is completed.

[0079] The first data includes multiple posture information of the flexible electromagnetic sensor 12 in the process of moving from the rear end of the magnetron catheter 200 to the end of the magnetron catheter 200. These posture information can reflect the curvature of the magnetron catheter 200. The real-time shape of the catheter can be displayed on the graphical interactive interface through fitting.

[0080] S102 , receiving second data transmitted by the ultrasound data acquisition component 20 .

[0081] The second data includes a plurality of ultrasound images, each of which includes a blood vessel and a distal end of the magnetron catheter 200 .

[0082] The ultrasound scanner 22 and the ultrasound probe 21 obtain a two-dimensional B-Mode ultrasound image of ultrasound reflection and scattering inside the blood vessel. When the depth is set and the ultrasound probe 21 is moved above the blood vessel using the third mechanical arm 43, the ultrasound imaging can provide information on the blood vessel structure, i.e., the upper and lower blood vessel arms, such as Figure 4 shown.

[0083] At the same time, the end of the magnetron catheter 200 is also displayed in the two-dimensional ultrasound image, which ensures that the ultrasound probe 21 is in the correct sampling position. When the magnetron catheter 200 moves forward along the blood vessel, the third mechanical arm 43 also moves the ultrasound probe 21 forward to ensure that the end of the magnetron catheter 200 appears in the ultrasound image, and samples and records the ultrasound images on the way at a certain frequency, thereby obtaining a series of two-dimensional blood vessel ultrasound images.

[0084] S103, based on the first data and the second data, a blood vessel-catheter three-dimensional model is generated and displayed on a graphical interactive interface to assist the doctor in determining a surgical path.

[0085] In an embodiment of the present invention, Gaussian filtering and other image processing techniques are used to filter and enhance the acquired two-dimensional B-Mode ultrasound images to reduce noise and artifacts, optimize the images to display clearer vascular structures, and facilitate the construction of a vascular-catheter three-dimensional model.

[0086] In a possible implementation, step S103 includes sub-steps S103 - 1 to S103 - 2 .

[0087] S103-1, integrating the first data and the second data to obtain integrated data.

[0088] The implementation process of step S103 - 1 may be: converting the second data into a preset coordinate system to obtain the second data after coordinate conversion.

[0089] Among them, the preset coordinate system is a three-dimensional coordinate system established based on the ultrasound probe posture information.

[0090] It can be understood that the integrated data includes the first data and the second data after the coordinate transformation. The second data after the coordinate transformation includes a plurality of ultrasound images after the coordinate transformation.

[0091] S103-2, generating a blood vessel-catheter three-dimensional model based on the integrated data.

[0092] The blood vessel-catheter three-dimensional model includes a blood vessel three-dimensional model and a catheter three-dimensional model. The implementation process of step S103-2 can be: obtaining the blood vessel contour from each ultrasound image after coordinate conversion, then converting the blood vessel contour into three-dimensional point cloud data, and finally generating the blood vessel three-dimensional model based on the three-dimensional point cloud data. The catheter three-dimensional model can be generated using each posture information contained in the first data.

[0093] In an embodiment of the present invention, a vascular three-dimensional model can be generated by converting the vascular contour in the ultrasound image into three-dimensional point cloud data through a recognition algorithm, and applying a point cloud surface reconstruction algorithm (such as a Marching Cubes algorithm) to the three-dimensional point cloud data.

[0094] Each position information included in the first data is six-dimensional coordinate data, and the six-dimensional coordinate data can be used to reconstruct the three-dimensional shape of the catheter through a curve fitting algorithm (such as Bezier curve, spline interpolation, etc.).

[0095] By displaying the 3D model of blood vessels and catheters on a graphical interactive interface, doctors can view the 3D position and morphology of catheters and blood vessels in real time, thereby planning a surgical path.

[0096] like Figure 4As shown, on the graphical interactive interface, the shape of the magnetron catheter 200 is displayed inside the blood vessel point cloud, providing doctors with real-time feedback and position judgment of interventional surgery in the area, and can help doctors determine whether the magnetron catheter 200 has reached the lesion area.

[0097] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing the blood vessel visual reconstruction device 300 is provided below. Figure 7 , Figure 7 This is a functional module diagram of a blood vessel visual reconstruction device 300 provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the blood vessel visual reconstruction device 300 provided in this embodiment are the same as those of the above embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiments. The blood vessel visual reconstruction device 300 includes:

[0098] The receiving module 301 is used to receive first data transmitted by the catheter tracking component 10, the first data representing the position and movement trajectory of the magnetron catheter 200 in the blood vessel, the magnetron catheter 200 is driven by the electromagnetic coil 44 installed at the end of the first mechanical arm 41 to enter the patient's blood vessel and move along the blood vessel; receive second data transmitted by the ultrasound data acquisition component 20, the second data including multiple ultrasound images, each of which includes the blood vessel and the end of the magnetron catheter 200;

[0099] The generation module 302 is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on a graphical interactive interface to assist doctors in determining a surgical path.

[0100] Optionally, the above modules can be stored in the form of software or firmware. Figure 5 The memory shown in FIG. 1 or the operating system (OS) of the data processing device 30 may be fixed therein and may be Figure 5 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0101] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0102] In addition, the functional modules in the various embodiments of the present invention may be installed together to form an independent part, or each module may exist independently, or two or more modules may be installed to form an independent part.

[0103] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a data processing device, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An interventional surgery data processing system, characterized in that: The system includes a catheter tracking component, an ultrasound data acquisition component, a multi-arm robot-assisted component and a data processing device, wherein the multi-arm robot-assisted component includes a first mechanical arm, and the data processing device includes a graphical interactive interface; An electromagnetic coil is installed at the end of the first mechanical arm to drive the magnetic control catheter to enter the patient's blood vessel and move along the blood vessel; The catheter tracking component is used to acquire first data in real time and transmit it to the data processing device, wherein the first data represents the position and movement trajectory of the magnetically controlled catheter in the blood vessel; The ultrasound data acquisition component is used to acquire second data in real time and transmit the second data to the data processing device, wherein the second data includes a plurality of ultrasound images, each of which includes a blood vessel and a distal end of the magnetron catheter; The data processing device is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on the graphical interactive interface to assist doctors in determining a surgical path.

2. The interventional surgery data processing system according to claim 1, characterized in that: The multi-arm robot auxiliary component also includes a second mechanical arm, the catheter tracking component includes a flexible electromagnetic sensor and an electromagnetic transmitter, the flexible electromagnetic sensor is installed in the internal cavity of the magnetron catheter and can move back and forth in the internal cavity of the magnetron catheter, and the electromagnetic transmitter is installed at the end of the second mechanical arm; the first data includes a plurality of position information of the flexible electromagnetic sensor in the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter; The electromagnetic transmitter is used to generate a tracking electromagnetic field covering the surgical area; The flexible electromagnetic sensor is used to sense the tracking electromagnetic field, and transmit its position information in the electromagnetic field to the electromagnetic transmitter in real time during the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter; The electromagnetic transmitter is also used to transmit the position information to the data processing device.

3. The interventional surgery data processing system according to claim 1, characterized in that: The multi-arm robot auxiliary component further includes a third mechanical arm, and the ultrasonic data acquisition component includes an ultrasonic probe and an ultrasonic scanner, wherein the ultrasonic probe is mounted at the end of the third mechanical arm; The ultrasound probe is used to move synchronously with the magnetron catheter above the magnetron catheter, acquire an ultrasound image including the blood vessel and the end of the magnetron catheter in real time, and transmit the ultrasound image to the ultrasound scanner; The ultrasound scanner is used to transmit the ultrasound image to the data processing device.

4. A method for visual reconstruction of blood vessels, characterized in that: A data processing device applied to an interventional surgery auxiliary data acquisition system, wherein the interventional surgery auxiliary data acquisition system further comprises a catheter tracking component, an ultrasound data acquisition component, and a multi-arm robot auxiliary component, wherein the multi-arm robot auxiliary component comprises a first mechanical arm, and the data processing device comprises a graphical interactive interface, wherein the method comprises: receiving first data transmitted by the catheter tracking component, wherein the first data represents the position and movement trajectory of the magnetically controlled catheter in the blood vessel, wherein the magnetically controlled catheter is driven by an electromagnetic coil installed at the end of the first mechanical arm to enter the patient's blood vessel and move along the blood vessel; receiving second data transmitted by the ultrasound data acquisition component, wherein the second data includes a plurality of ultrasound images, each of which includes a blood vessel and a distal end of the magnetron catheter; Based on the first data and the second data, a blood vessel-catheter three-dimensional model is generated and displayed on the graphical interactive interface to assist doctors in determining a surgical path.

5. The blood vessel visual reconstruction method according to claim 4, characterized in that: The step of generating a blood vessel-catheter three-dimensional model based on the first data and the second data comprises: Integrate the first data and the second data to obtain integrated data; A blood vessel-conduit three-dimensional model is generated based on the integrated data.

6. The blood vessel visual reconstruction method according to claim 5, characterized in that: The step of integrating the first data and the second data to obtain integrated data comprises: The second data is converted into a preset coordinate system to obtain the second data after coordinate conversion, and the integrated data includes the first data and the second data after coordinate conversion.

7. The blood vessel visual reconstruction method according to claim 6, characterized in that: The catheter tracking component includes a flexible electromagnetic sensor, which is installed in the internal cavity of the magnetron catheter and can move back and forth in the internal cavity of the magnetron catheter. The first data includes a plurality of position information of the flexible electromagnetic sensor in the process of moving from the rear end of the magnetron catheter to the end of the magnetron catheter. The second data after coordinate transformation includes a plurality of ultrasound images after coordinate transformation. The blood vessel-catheter three-dimensional model includes a blood vessel three-dimensional model and a catheter three-dimensional model. The step of generating a blood vessel-catheter three-dimensional model according to the integrated data comprises: Acquire a blood vessel contour from each ultrasound image after coordinate conversion, and generate a three-dimensional model of the blood vessel based on the blood vessel contour; The three-dimensional model of the catheter is generated by using each position information contained in the first data.

8. The blood vessel visual reconstruction method according to claim 7, characterized in that: The step of generating the three-dimensional model of the blood vessel based on the blood vessel contour comprises: Converting the blood vessel contour into three-dimensional point cloud data; The blood vessel three-dimensional model is generated based on the three-dimensional point cloud data.

9. A blood vessel visual reconstruction device, characterized in that: A data processing device used in an interventional surgery data processing system, wherein the interventional surgery data processing system further comprises a catheter tracking component, an ultrasound data acquisition component, and a multi-arm robot-assisted component, wherein the multi-arm robot-assisted component comprises a first mechanical arm, and the data processing device comprises a graphical interactive interface. The device comprises: a receiving module, configured to receive first data transmitted by the catheter tracking component, wherein the first data represents the position and movement trajectory of the magnetron catheter in the blood vessel, wherein the magnetron catheter is driven by an electromagnetic coil installed at the end of the first mechanical arm to enter the patient's blood vessel and move along the blood vessel; and receive second data transmitted by the ultrasound data acquisition component, wherein the second data includes a plurality of ultrasound images, each of which includes the blood vessel and the end of the magnetron catheter; A generation module is used to generate a blood vessel-catheter three-dimensional model based on the first data and the second data and display it on the graphical interactive interface to assist doctors in determining a surgical path.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor of a data processing device in an interventional surgery data processing system, the blood vessel visual reconstruction method according to any one of claims 4 to 8 is implemented.

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