In-vivo device implantation simulation method and device

Abstract

The embodiment of the invention is suitable for the technical field of medicine, and provides an in-vivo device implantation simulation method and device.The method comprises the steps that a structural model of a blood flow guiding device is determined, and the blood flow guiding device is formed by winding a plurality of metal wires; establishing a mass point model of the blood flow guiding device according to mass point pairs formed by intersection of the metal wires in the structure model; the mass point pair comprises two mass points which respectively represent stress points of two metal wires with different winding directions; compressing the structural model to obtain a first simulation result that the blood flow guiding device is in a contraction state; under the condition that the first simulation result of the contraction state is implanted into the three-dimensional model of the tumor-carrying artery, a second simulation result of at least one unfolding state of the blood flow guiding device is obtained according to the mass point model. By adopting the method, the release process after the blood flow guiding device is implanted can be accurately evaluated.

Description

Technical Field

[0001] The present application belongs to the field of medical technology, and in particular, relates to a method and device for simulating implantation of an in vivo device. Background Art

[0002] Intracranial aneurysm refers to an abnormal bulge in the wall of an intracranial artery and is the most common cause of spontaneous subarachnoid hemorrhage.

[0003] At present, the treatment of intracranial aneurysms mainly relies on the implantation of blood flow guiding devices. Among them, different models and implantation locations of blood flow guiding devices will lead to different release processes and effects of blood flow guiding devices after implantation in blood vessels, affecting patient recovery. Therefore, it is of great significance to evaluate the model, implantation location, release process and effect of blood flow guiding devices after implantation in blood vessels.

[0004] However, the above factors usually rely on the doctor's experience. For example, the doctor estimates the model and implantation location of the blood flow guide device to be placed in the patient through images. However, this method cannot accurately evaluate the release process and effect of the blood flow guide device after implantation. Summary of the invention

[0005] The embodiments of the present application provide an in vivo device implantation simulation method and device, which can solve the problem that the prior art cannot accurately evaluate the release process of the blood flow guiding device after implantation.

[0006] In a first aspect, an embodiment of the present application provides a method for simulating implantation of an in vivo device, the method comprising:

[0007] Determine a structural model of a blood flow guiding device, wherein the blood flow guiding device is formed by a plurality of metal wires being wound around each other; establish a mass point model of the blood flow guiding device according to a mass point pair formed by the intersection of the metal wires in the structural model; the mass point pair includes two mass points, which respectively represent the force points of two metal wires with different winding directions;

[0008] Compressing the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state;

[0009] When the first simulation result of the contracted state is implanted in the three-dimensional model of the parent artery, a second simulation result of at least one expanded state of the blood flow guiding device is obtained according to the particle model.

[0010] In a second aspect, an embodiment of the present application provides an in vivo device implantation simulation device, the device comprising:

[0011] A determination module is used to determine a structural model of a blood flow guiding device, where the blood flow guiding device is formed by a plurality of metal wires intertwined with each other;

[0012] A module is established, for establishing a particle model of the blood flow guiding device according to a particle pair formed by the intersection of the metal wires in the structural model; the particle pair includes two particles, which respectively represent the force points of two metal wires with different winding directions;

[0013] A compression module, used for compressing the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state;

[0014] The simulation module is used to obtain a second simulation result of at least one expanded state of the blood flow guiding device according to the particle model when the first simulation result of the contracted state is implanted into the three-dimensional model of the tumor-bearing artery.

[0015] In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method of the first aspect described above is implemented.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method of the first aspect.

[0018] In a sixth aspect, an embodiment of the present application provides a chip system, which includes at least one processor, and the processor is used to read and execute a computer program stored in a memory to perform the method of the first aspect.

[0019] Optionally, the chip system may be a single chip, or a chip module consisting of multiple chips.

[0020] Optionally, the chip system also includes a memory, and the memory is connected to the processor via a circuit or wire.

[0021] Further optionally, the chip system also includes a communication interface, and the communication interface is used to communicate with other modules outside the chip.

[0022] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the terminal device can first determine the structural model of the blood flow guiding device and the three-dimensional model of the tumor-bearing artery where the blood flow guiding device is to be implanted. Among them, because the blood flow guiding device is formed by a plurality of metal wires intertwined with each other, the mass point model of the blood flow guiding device can be established according to the mass point pairs formed by the intersection of the metal wires in the structural model. In this way, the intersection of the metal wires is abstracted as a mass point pair to establish a mass point model, which can accurately characterize the force between each mass point to simulate the compression and release process of the structural model. Furthermore, when the first simulation result of the contraction state is implanted into the three-dimensional model, the second simulation result of at least one expanded state of the blood flow guiding device can be obtained according to the release process of the first simulation result of the contraction state simulated by the mass point model in the three-dimensional model, so that the doctor can accurately determine the release process of the blood flow guiding device after implantation. In addition, because the mass point pair includes two mass points, they respectively characterize the force points of the two metal wires with different winding directions. Therefore, when the mass point model simulates the release process of the first simulation result of the contraction state, it can simulate the movement process of the intersecting metal wires corresponding to each mass point in the mass point pair in the corresponding winding direction. That is, it is possible to simulate the slippage between the metal wires. In this way, the problem of the structure being locked between the intersecting metal wires is solved, and the particles at the intersection of the metal wires can avoid being able to simulate the movement process of the metal wires in a certain winding direction. Furthermore, by adopting the above method, a particle pair is used at the intersection of the metal wires, and the two particles in the particle pair respectively represent the force points of the two metal wires with different winding directions to establish a particle model, which can make the release process of the first simulation result of the contraction state simulated by the particle model (the second simulation result obtained) closer to the actual situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a flow chart of an implementation of an in vivo device implantation simulation method provided by an embodiment of the present application;

[0025] Figure 2 It is a schematic diagram of a structural model of a blood flow guiding device provided in one embodiment of the present application;

[0026] Figure 3 It is a partial schematic diagram of a structural model of a blood flow guiding device provided in one embodiment of the present application;

[0027] Figure 4is a first simulation result of a blood flow guiding device in a contracted state provided by an embodiment of the present application;

[0028] Figure 5 It is a schematic structural diagram of a three-dimensional model of a tumor-bearing artery provided in one embodiment of the present application;

[0029] Figure 6 It is a schematic structural diagram of a three-dimensional model of a first simulation result in a contracted state implanted into a tumor-bearing artery provided by an embodiment of the present application;

[0030] Figure 7 It is a schematic diagram of an implementation method of establishing a mass point model in an in vivo device implantation simulation method provided by an embodiment of the present application;

[0031] Figure 8 is a partial schematic diagram of a structural model of a blood flow guiding device provided in another embodiment of the present application;

[0032] Fig. 9 It is a schematic diagram of an implementation method of simulating a release process of a first simulation result in an in vivo device implantation simulation method provided in an embodiment of the present application;

[0033] Fig.10 It is a structural schematic diagram of an in vivo device implantation simulation device provided by an embodiment of the present application;

[0034] Fig.11 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0036] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0037] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0038] At present, the treatment of intracranial aneurysms mainly relies on the implantation of blood flow guiding devices. Among them, different models and implantation locations of blood flow guiding devices will lead to different release processes and effects of blood flow guiding devices after implantation in blood vessels, affecting patient recovery. Therefore, it is of great significance to evaluate the model, implantation location, release process and effect of blood flow guiding devices after implantation in blood vessels.

[0039] However, the above factors usually rely on the doctor's experience. For example, the doctor estimates the model and implantation location of the blood flow guide device that needs to be placed in the patient through images. However, after the blood flow guide device is implanted into the tumor-bearing artery, the release process of the blood flow guide device and the three-dimensional structure after release are difficult to restore from the image. Therefore, it is difficult to evaluate the patient's treatment effect through the image of the implantation process of the blood flow guide device.

[0040] Based on this, in order to accurately evaluate the release process and effect of the blood flow guidance device after implantation, an embodiment of the present application provides an in vivo device implantation simulation method, which can be applied to terminal devices such as tablet computers, laptop computers, and ultra-mobile personal computers (UMPC). The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0041] The in-vivo device includes but is not limited to a blood flow guiding device, a cochlear implant and other medical devices, which are not limited thereto. For ease of explanation, in the embodiments of the present application, the in-vivo device is taken as an example of a blood flow guiding device.

[0042] See also Figure 1 , Figure 1 The following is a flowchart of a method for simulating implantation of an in vivo device provided in an embodiment of the present application. The method comprises the following steps:

[0043] S101. Determine a structural model of a blood flow guiding device, where the blood flow guiding device is formed by a plurality of metal wires intertwined with each other.

[0044] In one embodiment, the blood flow guiding device is a device formed by winding a plurality of metal wires. Exemplarily, the blood flow guiding device can be a cylindrical hollow structure formed by winding a plurality of metal wires. The hollow structure can be a diamond structure or a rectangular structure, which is not limited.

[0045] Specifically, refer to Figure 2 , Figure 2 Schematic diagram of a structural model of a blood flow guiding device provided in one embodiment of the present application. Figure 2It can be seen that the blood flow guiding device is a cylindrical hollow structure formed by a plurality of metal wires intertwined with each other, and the hollow structure is a diamond structure.

[0046] In one embodiment, the structural model can be simulated in advance according to structural parameters of the blood flow guiding device, wherein the structural parameters are used to describe the structure of the blood flow guiding device.

[0047] Exemplarily, the above structural parameters include, but are not limited to, the length of the stent of the blood flow guiding device, the diameter and length of the metal wire, the direction and angle of the metal wire winding, the porosity of the blood flow guiding device, and the metal coverage, etc., which are not limited thereto. For example, a preset modeling software is running in the terminal device, and the user can use the terminal device to input the structural parameters into the preset modeling software, thereby generating a structural model of the blood flow guiding device.

[0048] It should be noted that the structural parameters of different types of blood flow guiding devices are usually different. Therefore, the structural model corresponding to each type of blood flow guiding device can also be pre-established and stored so that the terminal device can directly obtain the above structural model. That is, for the terminal device, the terminal device can also obtain the structural model corresponding to the blood flow guiding device of the specified model from the server storing the structural model corresponding to each type of blood flow guiding device according to the type of the blood flow guiding device, and the embodiment of the present application does not limit this. For example, the established structural model corresponding to each type of blood flow guiding device can be stored in the server in advance.

[0049] The material of the metal wire may be an elastic material, for example, a platinum-tungsten alloy. Based on this, the structural model established according to the structural parameters of the blood flow guiding device should have the same structural characteristics as the blood flow guiding device, for example, the characteristics of being compressible and releaseable.

[0050] S102. Establish a particle model of the blood flow guiding device based on the particle pairs formed by the intersection of the metal wires in the structural model.

[0051] The structural model may include at least one set of mass point pairs, and any mass point pair includes two mass points, which respectively represent the force points of two metal wires with different winding directions.

[0052] In one embodiment, the intersection of the metal wires can be represented by a particle pair. The particle pair includes two particles, which respectively represent the force points of two metal wires with different winding directions. Furthermore, the particle model established based on the two particles in the particle pair can be used to simulate the movement process between the intersecting metal wires.

[0053] It is understandable that if the intersection is represented by only one particle, the structure between the two intersecting wires will be considered as a locked structure. At this time, the particle can only simulate the movement of the wire in a certain winding direction, but cannot simulate the slippage between two wires in different winding directions.

[0054] For example, refer to Figure 3 , Figure 3 : is a partial schematic diagram of a structural model of a blood flow guiding device provided in one embodiment of the present application. Figure 3 The intersection of the triangle represented by Y1 can be considered as the above-mentioned point pair, which includes two points d1 and d2, and is used to represent the force points of two metal wires with different winding directions. Figure 3 The direction of the arrow.

[0055] S103. Compress the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state.

[0056] In one embodiment, compressing the structural model may be radially compressing the structural model so that its compressed size is smaller than the size corresponding to the microcatheter. Specifically, in an actual scenario, the doctor may operate the terminal device to compress the structural model, or compress the structural model according to a preset compression program. Then, the terminal device may first place the blood flow guiding device in a contracted state into the microcatheter. At this time, the doctor may operate the terminal device to control the microcatheter into the patient's tumor-bearing artery, push the blood flow guiding device outward, and retract the microcatheter. Finally, the first simulation result in a contracted state is gradually released in the tumor-bearing artery.

[0057] Based on this, during the simulation process, the size of the normal-sized structural model needs to be radially compressed to a size smaller than that of the microcatheter, so as to obtain the first simulation result of the blood flow guiding device in a contracted state. Figure 4 , Figure 4 This is a first simulation result of a blood flow guiding device in a contracted state provided by an embodiment of the present application.

[0058] It should be noted that, in the process of compressing the structural model, it needs to conform to the structural characteristics (elastic deformation characteristics) of the blood flow guiding device. Therefore, in the compression process, the structural model needs to be compressed according to the mass parameters of the mass model and the structural parameters of the structural model to obtain the first simulation result of the contraction state. That is, in the compression process, the structural parameters of the structural model and the mass parameters that can characterize the force between two adjacent mass pairs need to be considered so that the first simulation result of the contraction state is consistent with the actual situation.

[0059] S104. When the first simulation result of the contracted state is implanted in the three-dimensional model of the tumor-bearing artery, a second simulation result of at least one expanded state of the blood flow guiding device is obtained according to the particle model.

[0060] In one embodiment, the three-dimensional model of the tumor-bearing artery is a model that is simulated in advance based on an image of the patient's tumor-bearing artery. Figure 5 , Figure 5 It is a schematic structural diagram of a three-dimensional model of a tumor-bearing artery provided in one embodiment of the present application.

[0061] For example, before performing surgery on a patient, it can be established based on three-dimensional digital subtraction angiography (DSA), computerized tomography angiography (CTA), or magnetic resonance angiography (MRA), etc., without limitation.

[0062] As an example, the three-dimensional model of the tumor-bearing artery can be obtained by gray-processing the medical image data based on a predetermined threshold segmentation algorithm, wherein after obtaining the medical image data, the pixel value of the medical image data whose gray value is greater than or equal to the preset gray value threshold can be marked as a first preset value, and the pixel value of the medical image data whose gray value is less than the preset gray value threshold can be marked as a second preset value.

[0063] In one embodiment, the above-mentioned predetermined threshold segmentation algorithm may include any one of the Otsu threshold segmentation algorithm, the adaptive threshold segmentation algorithm, the maximum entropy threshold segmentation algorithm, the Roberts threshold segmentation algorithm, the Prewitt threshold segmentation algorithm, the Sobel threshold segmentation algorithm, the Marr-Hilderth threshold segmentation algorithm, and the Canny threshold segmentation algorithm, or a combination of multiple algorithms, without limitation.

[0064] Among them, the above-mentioned preset grayscale threshold, the first preset value and the second preset value can all be set according to actual conditions and are not limited to this.

[0065] In a specific embodiment, after obtaining the three-dimensional model of the tumor-bearing artery, the centerline of the tumor-bearing artery can be determined in the three-dimensional model. Then, the first simulation result of the contraction state is placed along the centerline of the tumor-bearing artery in the three-dimensional model.

[0066] Specifically, refer to Figure 6 , Figure 61 is a schematic structural diagram of a three-dimensional model of a first simulation result in a contracted state implanted into a tumor-bearing artery provided by an embodiment of the present application. Figure 6 A in FIG. 1 is the first simulation result of the three-dimensional model implanted into the tumor-bearing artery.

[0067] In one embodiment, since the particle model can characterize the force between two adjacent pairs of particles, the force between the two adjacent pairs of particles can be determined as the force between each intersecting metal wire, so as to simulate the movement process of the forces between each intersecting metal wire tending to balance. That is, the release process of the first simulation result of the simulated contraction state in the three-dimensional model.

[0068] In one embodiment, the above-mentioned expanded state may be a partially expanded state or a fully expanded state. In this case, the second simulation result may be considered as a simulation result corresponding to any expanded state during the release process of the first simulation result of the contracted state in the three-dimensional model.

[0069] In this embodiment, the terminal device can first determine the structural model of the blood flow guiding device and the three-dimensional model of the tumor-bearing artery where the blood flow guiding device is to be implanted. Among them, because the blood flow guiding device is formed by a plurality of metal wires intertwined with each other, the mass point model of the blood flow guiding device can be established according to the mass point pairs formed by the intersection of the metal wires in the structural model. In this way, the intersection of the metal wires is abstracted as a mass point pair to establish a mass point model, which can accurately characterize the force between each mass point to simulate the compression and release process of the structural model. Furthermore, when the first simulation result of the contraction state is implanted into the three-dimensional model, the second simulation result of at least one unfolding state of the blood flow guiding device can be obtained according to the release process of the first simulation result of the contraction state simulated by the mass point model in the three-dimensional model, so that the doctor can accurately determine the release process of the blood flow guiding device after implantation. In addition, because the mass point pair includes two mass points, they respectively characterize the force points of two metal wires with different winding directions. Therefore, when the mass point model simulates the release process of the first simulation result of the contraction state, it can simulate the movement process of the intersecting metal wires corresponding to each mass point in the mass point pair in the corresponding winding direction. That is, the slip between the metal wires can be simulated. In this way, the problem of the structure between the intersecting wires being locked is solved, and the particle at the intersection of the wires can be prevented from only simulating the movement process of the wires in a certain winding direction. Furthermore, by adopting the above method, a particle pair is used at the intersection of the wires, and the two particles in the particle pair respectively represent the force points of the two wires with different winding directions to establish a particle model, which can make the release process of the first simulation result of the contraction state simulated by the particle model (the second simulation result obtained) closer to the actual situation.

[0070] As an example, the terminal device may Figure 7S701-S703 shown establish a mass point model, which is described in detail as follows:

[0071] S701. For any two adjacent pairs of particles, determine two target particles representing the same winding direction from the two pairs of particles.

[0072] In one embodiment, two adjacent pairs of particles include the adjacent pairs of particles directly connected by the metal wire, and also include the adjacent pairs of particles not directly connected by the metal wire. Wherein, determining whether two pairs of particles are adjacent can be directly determined based on the established structural model, which is not described in detail.

[0073] Specifically, refer to Figure 8 , Figure 8 : is a partial schematic diagram of a structural model of a blood flow guiding device provided by another embodiment of the present application. Figure 8 The triangle intersection represented by Y2 can be considered as the above-mentioned particle pair. Figure 8 It can be seen that there are 8 particle pairs adjacent to the particle pair Y2, including 4 particle pairs covered by rectangles and 4 particle pairs covered by ellipses.

[0074] In one embodiment, since it has been described above that each particle in a particle pair represents a force point of two metal wires with different winding directions, after determining two adjacent particle pairs, two target particles with the same winding direction can be determined directly based on the winding direction corresponding to each particle.

[0075] S702. Determine the particle parameters between the two target particles according to the relative position relationship between the two target particles. The particle parameters at least include the distance between the two target particles.

[0076] In one embodiment, the above relative position relationship includes the adjacent relationship of two target particles located on the same metal wire (ie, the metal wires are directly connected), and the adjacent relationship of two target particles not located on the same metal wire (ie, non-metal wires are directly connected).

[0077] Specifically, refer to Figure 8 For the particle pair Y2, since the four rectangular-covered particle pairs and the particle pair Y2 are located on the same metal wire, the relative position relationship between the four rectangular-covered particle pairs and the particle pair Y2 can be considered as a metal wire-directed adjacent relationship. Also, since the four elliptical-covered particle pairs and the particle pair Y2 are not located on the same metal wire, the relative position relationship between the four elliptical-covered particle pairs and the particle pair Y2 can be considered as a non-metal wire-directed adjacent relationship.

[0078] In one embodiment, the types of the above-mentioned particle parameters include, but are not limited to, the distance and angle force between the two target particles, which are not limited thereto. Among them, the types of particle parameters determined for different relative position relationships may be the same or different. Moreover, in different relative position relationships, the determination methods of the same type of particle parameters may also be the same or different, which are not limited thereto. In this embodiment, the particle parameters at least include the distance between the two target particles.

[0079] Specifically, when the relative position relationship is that the two target particles are located on the same metal wire, the terminal device can determine the distance between the two target particles and the angular force between the two target particles as the particle parameters.

[0080] It should be noted that the above-mentioned angle force is the force of the metal wire acting between the two target particles, and the angle of the force. Among them, the above-mentioned structural model should have the same structural characteristics of the blood flow guidance device (the characteristic of being compressible and released). Therefore, the force of the metal wire acting between the two target particles may include but is not limited to the elastic force, tension and pulling force between the metal wires, and there is no limitation on this. Based on this, under the combined action of various forces, the metal wire in the fully released structural model will be in a stable state (force balance state). Therefore, the angle of the above-mentioned force can be characterized by the angle between the winding direction of the metal wire and the horizontal direction.

[0081] In another embodiment, when the relative position relationship is that the two target particles are not located on the same metal wire, the terminal device may determine the distance between the two target particles as the target distance.

[0082] The target distance is the distance between two target particles when the structural model is fully released.

[0083] Specifically, after establishing the structural model of the blood flow guiding device, the preset three-dimensional coordinate axes can be used to determine the coordinates corresponding to each particle in the structural model. The coordinates of the two particles in the same particle pair are consistent. Therefore, the terminal device can calculate the target distance according to the coordinates corresponding to each particle.

[0084] S703: Establish a particle model based on the particle parameters between two target particles in all two adjacent pairs of particles.

[0085] In one embodiment, the method of establishing the above-mentioned mass model is similar to the method of establishing the existing spring-mass model, the difference being that the mass parameters used to establish the mass model in the embodiment of the present application are different from the mass parameters used in the existing spring-mass model.

[0086] Specifically, when the existing spring-mass model is established, the intersection of the metal wires is represented by only one mass point, that is, the structure between the intersecting metal wires is locked, and the slippage between the intersecting metal wires cannot be simulated.

[0087] However, in the embodiment of the present application, the two particles in the particle pair can respectively represent the force points of two metal wires with different winding directions, so that the particle model established according to the particle parameters corresponding to the above-mentioned adjacent particle pairs can represent the force between the two adjacent particle pairs to simulate the compression and release process of the structural model.

[0088] It should be noted that in order to make the compression and release process of the structural model closer to the actual situation, the distance and angular force between the two target particles on the same metal wire must remain unchanged during the compression and release process of the simulated structural model. That is, the distance remains unchanged, so that the length of the metal wire is always consistent with the actual length of the metal wire during the compression and release process of the structural model. And, the angular force remains unchanged, so that the stiffness of the metal wire can be maintained during the compression and release process of the structural model. Among them, stiffness refers to the ability of the metal wire to resist elastic deformation when subjected to force. That is, the metal wire will not undergo irreversible plastic deformation during the compression and release process of the structural model, so that it meets the structural characteristics of the blood flow guidance device (elastic deformation characteristics).

[0089] Among them, when establishing a particle model according to the above-mentioned particle parameters, since the coordinates of the two particles in the same particle pair are consistent, it can be considered that the distance between the two particles in the same particle pair is 0, so as to participate in the establishment of the particle model.

[0090] It can be understood that one particle in each particle pair only establishes a connection relationship with one particle in the adjacent particle pair in one winding direction (for example, a clockwise winding direction), and the other particle also only establishes a connection relationship with another particle in the adjacent particle pair in another winding direction (for example, a counterclockwise winding direction). Based on this, the problem of using only one particle to characterize the intersection of the metal wires, thereby locking the structure between the intersecting metal wires, can be solved. Furthermore, when the particle model simulates the release process of the first simulation result of the contraction state, it can simulate the movement process of the intersecting metal wires corresponding to each particle in the corresponding winding direction. That is, it can simulate the slippage between the metal wires.

[0091] It should be added that using distance, angle force and target distance as particle parameters to establish a particle model is only an example. In other embodiments, a particle model can also be established based on other particle parameters at the same time, and this is not limited.

[0092] As an example, the terminal device may Fig. 9S901-S903 shown simulate the above release process, which is described in detail as follows:

[0093] S901. For any particle pair, if the particle pair is not in contact with the vessel wall of the tumor-bearing artery, simulate the first movement process of the particle pair expanding inside the three-dimensional model to the structural model before compression according to the particle model.

[0094] In one embodiment, when the particle pair is not in contact with the vessel wall of the tumor-bearing artery, it can be considered that the movement of the particle pair will not be affected by the external force (the force of the vessel wall). Therefore, according to the particle parameters of the first simulation result in the contraction state at this time and the preset Hooke's law (which describes the mechanical behavior of elastic objects when the deformation is small), the particle parameters of each particle pair in the particle model of the blood flow guiding device before compression can be gradually solved, so that each particle pair in the first simulation result can be gradually released.

[0095] In one embodiment, the terminal device can continuously perform wall contact detection on each particle pair in the first simulation result. When it is detected that the particle pair contacts the blood vessel wall, it can be considered that the particle pair will be constrained by the blood vessel wall and will not expand outside the three-dimensional model. At this time, the particle pair will be subject to the force of the blood vessel wall, so it is necessary to simulate the movement process of the particle pair after contacting the wall by other means.

[0096] The wall contact detection method may be: for any particle pair in the first simulation result in the release process, the terminal device may determine the coordinates of each particle pair when gradually solving the particle model of the blood flow guiding device before compression. Then, based on the coordinates and the coverage of the three-dimensional model, it is determined whether the particle pair touches the wall.

[0097] S902: If the particle pair contacts the vessel wall of the tumor-bearing artery, simulate the second movement process of the particle pair in the three-dimensional model according to the particle model and the friction model between the vessel wall of the tumor-bearing artery and the metal wire.

[0098] In one embodiment, when the particle pair contacts the vessel wall of the tumor-bearing artery, the particle pair will be affected by the force of the vessel wall. At this time, the force will limit the movement of the metal wire. That is, the movement process needs to consider the friction between the metal wire and the vessel wall.

[0099] The friction force model may be pre-set. For example, when establishing the friction force model, parameters such as the mass point parameters, the damping coefficient of the metal wire, and the bending curvature may be considered, and the model may be established based on Hooke's law, which will not be described in detail.

[0100] In one embodiment, the terminal device may first determine the friction coefficient between the particle pair and the blood vessel wall during the motion process according to the friction force model and the particle model, and then simulate the second motion process based on the friction coefficient until the force between any particle pair and the blood vessel wall in the unfolded three-dimensional model is balanced.

[0101] The friction coefficient is used to constrain the movement of the particle pair when it contacts the blood vessel wall, that is, to constrain the particle pair from moving outside the blood vessel wall.

[0102] In a specific embodiment, the terminal device can solve the force of each particle pair in the first simulation result acting on the blood vessel wall according to the preset Hooke's law and particle model. Then, the force is input into the friction model to determine the friction coefficient of the blood vessel wall to each particle pair touching the wall. Finally, based on the friction coefficient, the particle model of the blood flow guiding device before compression is gradually solved again, so that each particle pair in the first simulation result is gradually released to simulate the second movement process of the particle pair in the three-dimensional model until the force between each particle pair is balanced.

[0103] In a specific embodiment, in order to constrain the particle pair from moving outside the blood vessel wall, when establishing the friction model, it is necessary to cancel the force of the particle pair acting normal to the blood vessel wall to constrain the movement of the particle pair in the direction normal to the blood vessel wall. At this time, in order to achieve force balance of the particle pair, it is necessary to convert the force of the particle pair acting normal to the blood vessel wall into other forces (friction between the particle pair and the blood vessel wall) to constrain and control the movement of the particle pair. Therefore, the above friction coefficient is mainly determined based on the normal force of the particle pair acting normal to the blood vessel wall.

[0104] Specifically, the terminal device can first determine the normal force of the particle acting on the normal direction of the blood vessel wall during the movement of the particle based on the particle model, and then determine the friction coefficient according to the normal force and friction force model.

[0105] For example, after solving the force between each pair of particles in the particle model acting on the blood vessel wall, the terminal device can calculate the normal force according to the force and the angle between the direction of the force and the normal of the blood vessel wall. Then, the normal force is input into the friction force model to obtain the friction coefficient.

[0106] It can be understood that, according to whether the particle pair is in contact with the blood vessel wall, the motion process of the particle pair is simulated in sections, and when the particle pair is in contact with the blood vessel wall, the factor that the particle pair cannot move outside the blood vessel wall is taken into consideration, the force acting normal to the blood vessel wall of the particle pair is cancelled, and the friction coefficient is determined based only on the normal force acting normal to the blood vessel wall during the motion of the particle pair, so as to simulate the second motion process of the particle pair. Thus, the simulated second motion process can be made closer to the real situation.

[0107] S903. Determine at least one deployment state of the blood flow guiding device in the first movement process and the second movement process as a second simulation result.

[0108] The first motion process is the motion process when the particle pair of the first simulation result in the contracted state is not in contact with the blood vessel wall, and the second motion process is the motion process after the particle pair in the first simulation result in the contracted state is in contact with the blood vessel wall. Therefore, both the first motion process and the second motion process are the release process of the first simulation result in the three-dimensional model. Furthermore, at least one deployment state of the blood flow guiding device in the release process can be determined as the second simulation result.

[0109] As an example, when obtaining the second simulation result of at least one deployment state of the blood flow guiding device, the terminal device may also generate recommendation information to recommend an adapted blood flow guiding device to the doctor.

[0110] The recommended information may include the model of the blood flow guiding device or the intervention strategy. For example, the model of the blood flow guiding device may be the material, inner diameter, outer diameter, length, wall thickness and other model parameters of the blood flow guiding device. The intervention strategy may be the location of the blood flow guiding device, the type of carrier, the bending angle of the blood flow guiding device, and the intervention pathway, etc., which are not limited.

[0111] See also Fig.10 , Fig.10 1 is a structural block diagram of a device implant simulation device provided in an embodiment of the present application. The device implant simulation device in this embodiment includes modules for executing Figure 1 , Figure 7 as well as Fig. 9 For details, please refer to the steps in the corresponding embodiment. Figure 1 , Figure 7 as well as Fig. 9 as well as Figure 1 , Figure 7 as well as Fig. 9 For the convenience of explanation, only the parts related to this embodiment are shown. Fig.10 The in vivo device implantation simulation device 1000 may include: a determination module 1010, an establishment module 1020, a compression module 1030 and a simulation module 1040, wherein:

[0112] The determination module 1010 is used to determine the structural model of the blood flow guiding device, where the blood flow guiding device is formed by a plurality of metal wires intertwined with each other.

[0113] Establishing module 1020 is used to establish a particle model of the blood flow guiding device according to the particle pairs formed by the intersection of the metal wires in the structural model; the particle pair includes two particles, which respectively represent the force points of two metal wires with different winding directions.

[0114] The compression module 1030 is used to compress the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state.

[0115] The simulation module 1040 is used to obtain a second simulation result of at least one expanded state of the blood flow guiding device according to the particle model when the first simulation result of the contracted state is implanted into the three-dimensional model of the tumor-bearing artery.

[0116] In one embodiment, the establishing module 1020 is further configured to:

[0117] For any two adjacent particle pairs, two target particles representing the same winding direction are determined from the two particle pairs; according to the relative position relationship between the two target particles, the particle parameters between the two target particles are determined, and the particle parameters at least include the distance between the two target particles; and a particle model is established based on the particle parameters between the two target particles in all two adjacent particle pairs.

[0118] In one embodiment, the establishing module 1020 is further configured to:

[0119] If the relative position relationship is that the two target mass points are located on the same metal wire, the distance between the two target mass points and the angular force between the two target mass points are determined as mass point parameters.

[0120] In one embodiment, the establishing module 1020 is further configured to:

[0121] If the relative position relationship is that the two target mass points are not located on the same metal wire, the distance between the two target mass points is determined as the target distance; the target distance is the interval distance between the two target mass points when the structural model is fully released; the target distance is determined as the mass point parameter.

[0122] In one embodiment, the in vivo device implantation simulation device 1000 further includes:

[0123] The implantation module is used to place the first simulation result of the contraction state along the center line of the tumor-bearing artery in the three-dimensional model.

[0124] In one embodiment, the simulation module 1040 is further configured to:

[0125] For any particle pair, if the particle pair does not contact the vascular wall of the tumor-bearing artery, then based on the particle model, the first movement process of the particle pair in which it is expanded inside the three-dimensional model to the structural model before compression is simulated; if the particle pair is in contact with the vascular wall of the tumor-bearing artery, then based on the particle model and the friction model between the vascular wall of the tumor-bearing artery and the metal wire, the second movement process of the particle pair in the three-dimensional model is simulated; at least one expansion state of the blood flow guide device in the first movement process and the second movement process is determined as the second simulation result.

[0126] The structural parameters of the blood flow guiding device are obtained, where the structural parameters are used to describe the structure of the blood flow guiding device; and a structural model of the blood flow guiding device is established according to the structural parameters of the blood flow guiding device.

[0127] In one embodiment, the compression module 1030 is further configured to:

[0128] The structural model is compressed according to the mass parameters of the mass model and the structural parameters of the structural model to obtain a first simulation result of a contracted state.

[0129] In one embodiment, the in vivo device implantation simulation device 1000 further includes:

[0130] The recommendation module is used to generate recommendation information based on a second simulation result of at least one deployment state of the blood flow guiding device, wherein the recommendation information includes a model or an intervention strategy of the blood flow guiding device.

[0131] When it is understood that Fig.10 In the structural block diagram of the in vivo device implantation simulation device shown, each module is used to execute Figure 1 , Figure 7 as well as Fig. 9 The steps in the corresponding embodiments, and for Figure 1 , Figure 7 as well as Fig. 9 Each step in the corresponding embodiment has been explained in detail in the above embodiment. Figure 1 , Figure 7 as well as Fig. 9 as well as Figure 1 , Figure 7 as well as Fig. 9 The relevant descriptions in the corresponding embodiments are not repeated here.

[0132] Fig.11 1 is a block diagram of a terminal device provided by an embodiment of the present application. Fig.11As shown, the terminal device 1100 of this embodiment includes: a processor 1110, a memory 1120, and a computer program 1130 stored in the memory 1120 and executable by the processor 1110, such as a program of the in vivo device implantation simulation method. When the processor 1110 executes the computer program 1130, the steps in each embodiment of the in vivo device implantation simulation method described above are implemented, such as Figure 1 Alternatively, the processor 1110 implements the above when executing the computer program 1130 Fig.10 The functions of each module in the corresponding embodiment are, for example, Fig.10 For details on the functions of the determination module 1010, the establishment module 1020, the compression module 1030 and the simulation module 1040, please refer to Fig.10 Related description in the corresponding embodiment.

[0133] Exemplarily, the computer program 1130 may be divided into one or more modules, one or more modules are stored in the memory 1120, and are executed by the processor 1110 to implement the in vivo device implantation simulation method provided in the embodiment of the present application. One or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 1130 in the terminal device 1100. For example, the computer program 1130 may implement the in vivo device implantation simulation method provided in the embodiment of the present application.

[0134] The terminal device 1100 may include, but is not limited to, a processor 1110 and a memory 1120. Those skilled in the art will appreciate that Fig.11 It is only an example of the terminal device 1100 and does not constitute a limitation of the terminal device 1100. 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.

[0135] The processor 1110 may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or 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, etc.

[0136] The memory 1120 may be an internal storage unit of the terminal device 1100, such as a hard disk or memory of the terminal device 1100. The memory 1120 may also be an external storage device of the terminal device 1100, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the terminal device 1100. Further, the memory 1120 may also include both an internal storage unit of the terminal device 1100 and an external storage device.

[0137] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to perform the in vivo device implantation simulation method in each of the above embodiments.

[0138] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the in vivo device implantation simulation method in each of the above embodiments.

[0139] An embodiment of the present application provides a chip system, which includes at least one processor, and the processor is used to read and execute a computer program stored in a memory to perform the in vivo device implantation simulation method in the above-mentioned embodiments.

[0140] Optionally, the chip system may be a single chip, or a chip module consisting of multiple chips.

[0141] Optionally, the chip system also includes a memory, and the memory is connected to the processor via a circuit or wire.

[0142] Optionally, the chip system also includes a communication interface, and the communication interface is used to communicate with other modules outside the chip.

[0143] 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 embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for simulating implantation of an in vivo device, characterized in that: The method comprises: determining a structural model of a blood flow guiding device, wherein the blood flow guiding device is formed by a plurality of metal wires being wound around each other; A particle model of the blood flow guiding device is established according to a particle pair formed by the intersection of the metal wires in the structural model; the particle pair includes two particles, which respectively represent the force points of two metal wires with different winding directions; compressing the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state; When the first simulation result of the contracted state is implanted in the three-dimensional model of the parent artery, a second simulation result of at least one expanded state of the blood flow guiding device is obtained according to the particle model.

2. The method according to claim 1, characterized in that The step of establishing a particle model of the blood flow guiding device according to the particle pairs formed by the intersection of the metal wires in the structural model comprises: For any two adjacent pairs of the particle points, two target particle points representing the same winding direction are determined from the two pairs of the particle points; Determine the mass point parameters between the two target mass points according to the relative position relationship between the two target mass points, wherein the mass point parameters at least include the distance between the two target mass points; The particle model is established based on the particle parameters between the two target particle points in all two adjacent particle pairs.

3. The method according to claim 2, characterized in that Determining the mass point parameters between the two target mass points according to the relative position relationship between the two target mass points includes: If the relative position relationship is that the two target particles are located on the same metal wire, the distance between the two target particles and the angular force between the two target particles are determined as the particle parameters.

4. The method according to claim 2, characterized in that: Determining the mass point parameters between the two target mass points according to the relative position relationship between the two target mass points includes: If the relative position relationship is that the two target mass points are not located on the same metal wire, the distance between the two target mass points is determined as the target distance; the target distance is the interval distance between the two target mass points when the structural model is fully released; The target distance is determined as the particle parameter.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The first simulation result of the contraction state is placed along the centerline of the tumor-bearing artery in the three-dimensional model.

6. The method according to any one of claims 1 to 4, characterized in that: In the case where the first simulation result of the contracted state is implanted in the three-dimensional model of the tumor-bearing artery, obtaining a second simulation result of at least one expanded state of the blood flow guiding device according to the particle model includes: For any of the particle pairs, if the particle pair is not in contact with the vessel wall of the tumor-bearing artery, then simulating, according to the particle model, a first movement process of the particle pair expanding inside the three-dimensional model to the structural model before compression; If the particle pair contacts the vessel wall of the tumor-bearing artery, simulating a second movement process of the particle pair in the three-dimensional model according to the particle model and the friction model between the vessel wall of the tumor-bearing artery and the metal wire; At least one deployment state of the blood flow guiding device during the first movement process and the second movement process is determined as the second simulation result.

7. The method according to any one of claims 1 to 4, characterized in that: The step of determining the structural model of the blood flow guiding device comprises: Acquiring structural parameters of the blood flow guiding device, where the structural parameters are used to describe the structure of the blood flow guiding device; A structural model of the blood flow guiding device is established according to the structural parameters of the blood flow guiding device.

8. The method according to any one of claims 1 to 4, characterized in that: The compressing the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state includes: The structural model is compressed according to the mass parameters of the mass model and the structural parameters of the structural model to obtain a first simulation result of the contraction state.

9. An in vivo device implantation simulation device, characterized in that: The device comprises: A determination module, used to determine a structural model of a blood flow guiding device, wherein the blood flow guiding device is formed by a plurality of metal wires wound around each other; An establishment module, used to establish a mass point model of the blood flow guiding device according to a mass point pair formed by the intersection of the metal wires in the structural model; the mass point pair includes two mass points, which respectively represent the force points of two metal wires with different winding directions; A compression module, used for compressing the structural model to obtain a first simulation result of the blood flow guiding device being in a contracted state; The simulation module is used to obtain a second simulation result of at least one expanded state of the blood flow guiding device according to the particle model when the first simulation result of the contracted state is implanted in the three-dimensional model of the tumor-bearing artery.

10. The device according to claim 9, characterized in that Also includes: The recommendation module is used to generate recommendation information based on a second simulation result of at least one deployment state of the blood flow guide device, wherein the recommendation information includes a model or an intervention strategy of the blood flow guide device.

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