Operation method and device based on OCT image navigation

Abstract

The invention provides a surgical method and device based on OCT image navigation, relates to the technical field of surgical medical treatment, is applied to a surgical robot, and is characterized in that a preoperative OCT image of a blood vessel is acquired by using the surgical robot based on a preoperative angiography image, preoperative examination is performed on the blood vessel based on the preoperative OCT image, and a surgical strategy of a vascular interventional surgery is determined. The catheter for the vascular interventional operation is determined through the operation strategy, the diseased region of the blood vessel is determined through the catheter, the vascular interventional operation is carried out on the diseased region, positioning and operation of the diseased region are carried out more accurately, and the operation precision is improved; and the problem of fatigue of doctors caused by poor precision and overlong operation time in the traditional operation is solved.

Description

Technical Field

[0001] The present invention relates to the field of surgical medical technology, and in particular to a surgical method and device based on OCT image navigation. Background Art

[0002] Vascular interventional surgery is a minimally invasive surgery aimed at treating vascular diseases or cancer. It is an emerging treatment method that has developed rapidly in recent years and integrates imaging diagnosis. It has the advantages of being minimally invasive, repeatable, accurate in positioning, highly effective, rapid in effect, and with few complications. It is an important treatment method that is becoming increasingly popular.

[0003] With the increasing popularity of vascular interventional surgery, the shortage of doctors for this type of surgery is gradually increasing. However, vascular interventional surgery has high requirements on the operator and is highly dependent on experience. Inexperienced doctors will lead to poor surgical accuracy, and long operations will also cause doctors to be overly tired. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a surgical method and device based on OCT image navigation, to assist vascular interventional surgery through a surgical robot, so as to solve the problems of poor surgical accuracy in traditional surgery and doctor fatigue caused by long operation time.

[0005] In a first aspect, an embodiment of the present invention provides a surgical method based on OCT image navigation, which is applied to a surgical robot, including: obtaining a preoperative angiography image; based on the preoperative angiography image, collecting a preoperative OCT image of a blood vessel; based on the preoperative OCT image, performing a preoperative examination of the blood vessel to determine the surgical strategy for the vascular interventional surgery; based on the surgical strategy, determining a catheter for the vascular interventional surgery; determining the lesion site of the blood vessel based on the catheter, and performing vascular interventional surgery on the lesion site.

[0006] In a preferred embodiment of the present invention, the above-mentioned acquisition of preoperative OCT images of blood vessels based on preoperative angiography images includes: determining a path from outside the blood vessel to the lesion site based on the preoperative angiography image; transporting a first catheter to the lesion site along the path, and acquiring a preoperative OCT image of the path through the first catheter.

[0007] In a preferred embodiment of the present invention, the above-mentioned preoperative examination of blood vessels based on preoperative OCT images to determine the surgical strategy for vascular interventional surgery includes: determining the lesion area based on the preoperative OCT images; wherein the lesion area characterizes the lesion range of the lesion site; determining the lesion type based on the lesion area; and determining the surgical strategy for vascular interventional surgery based on the lesion type.

[0008] In a preferred embodiment of the present invention, the above-mentioned determination of the lesion type based on the lesion area includes: determining the minimum distance between the lesion area and the inner wall of the blood vessel; determining the lesion type based on the minimum distance and a pre-set distance threshold; wherein the lesion types include: vascular stenosis, severe vascular stenosis and vascular blockage.

[0009] In a preferred embodiment of the present invention, the above-mentioned surgical strategy for vascular interventional surgery determined based on the lesion type includes: if the lesion type is vascular stenosis, the surgical strategy is to perform rotational resection of the lesion site; if the lesion type is severe vascular stenosis or vascular blockage, the surgical strategy is to perform rotational grinding and rotational resection of the lesion site.

[0010] In a preferred embodiment of the present invention, the above-mentioned determination of the catheter for performing the vascular interventional surgery based on the surgical strategy includes: if the surgical strategy is to perform rotary excision on the lesion site, then the catheter for performing the vascular interventional surgery is determined to be the second catheter; if the surgical strategy is to perform rotational grinding and rotational excision on the lesion site, then the catheter for performing the vascular interventional surgery is determined to be the second catheter and the third catheter; wherein the second catheter is used to collect OCT images and rotational excision of the lesion site, and the third catheter is used to collect OCT images and rotational grinding of the lesion site.

[0011] In a preferred embodiment of the present invention, the above-mentioned determining the lesion site of the blood vessel based on the catheter and performing a vascular interventional surgery on the lesion site includes: acquiring a current OCT image based on the catheter;

[0012] The lesion site of the blood vessel is determined based on the current OCT image; and a vascular interventional surgery is performed on the lesion site based on the catheter.

[0013] In a preferred embodiment of the present invention, the method also includes: acquiring a current angiography image and a preoperative OCT image; determining a path from outside the blood vessel to the lesion site based on the current angiography image and the preoperative OCT image; transporting a catheter to the lesion site along the path, and acquiring a current OCT image through the catheter.

[0014] In a preferred embodiment of the present invention, the above-mentioned catheter-based acquisition of the current OCT image includes: acquiring an optical signal based on the catheter; converting the optical signal into an electrical signal; processing the electrical signal to obtain a frame image; and displaying the frame image using a display screen to obtain the current OCT image.

[0015] In a second aspect, an embodiment of the present invention further provides a surgical device based on OCT image navigation, which is applied to a surgical robot, including: a preoperative angiography image acquisition module, used to acquire preoperative angiography images; a preoperative OCT image acquisition module, used to acquire preoperative OCT images of blood vessels based on preoperative angiography images; a surgical strategy determination module, used to perform a preoperative examination of the blood vessels based on the preoperative OCT images, and determine the surgical strategy for vascular interventional surgery; a catheter determination module, used to determine a catheter for vascular interventional surgery based on the surgical strategy; and a vascular interventional surgery module, used to determine the lesion site of the blood vessel based on the catheter, and perform vascular interventional surgery on the lesion site.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] The embodiment of the present invention provides a surgical method and device based on OCT image navigation, which uses a surgical robot to collect preoperative OCT images of blood vessels based on preoperative angiography images, performs a preoperative examination of the blood vessels based on the preoperative OCT images, determines the surgical strategy for the vascular interventional surgery, and then determines the catheter for the vascular interventional surgery based on the surgical strategy, and uses the catheter to determine the lesion site of the blood vessel, and performs vascular interventional surgery on the lesion site, thereby more accurately positioning and operating on the lesion site, improving the accuracy of the surgery, and overcoming the problems of poor accuracy in traditional surgery and doctor fatigue caused by excessive surgery time.

[0018] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0019] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A flowchart of a surgical method based on OCT image navigation provided by an embodiment of the present invention;

[0022] Figure 2 A flowchart of another surgical method based on OCT image navigation provided by an embodiment of the present invention;

[0023] Figure 3 A flowchart of another surgical method based on OCT image navigation provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the structure of a surgical device based on OCT image navigation provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of an application scenario provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Vascular interventional surgery is a minimally invasive surgery aimed at treating vascular diseases or cancer. It is an emerging treatment method that has developed rapidly in recent years and integrates imaging diagnosis. It has the advantages of being minimally invasive, repeatable, accurate in positioning, highly effective, rapid in effect, and with few complications. It is an important treatment method that is becoming increasingly popular.

[0029] As this type of surgery becomes more and more popular, the shortage of doctors for this type of surgery is gradually increasing. However, vascular intervention surgery has high requirements for operators and is highly dependent on experience. Inexperienced doctors will lead to poor surgical accuracy, and long-term surgery will also cause doctors to be too tired. In addition, during the operation, some radiation light will be involved, causing doctors to receive ionizing radiation damage from the radiation light.

[0030] Based on this, an embodiment of the present invention provides a surgical method and device based on OCT image navigation, which utilizes a surgical robot to collect preoperative OCT images of blood vessels based on preoperative angiography images, performs a preoperative examination of the blood vessels based on the preoperative OCT images, determines the surgical strategy for the vascular interventional surgery, and then determines the catheter for the vascular interventional surgery based on the surgical strategy, and uses the catheter to determine the lesion site of the blood vessel, performs vascular interventional surgery on the lesion site, and more accurately locates and operates on the lesion site, thereby improving the accuracy of the surgery and overcoming the problems of poor accuracy and doctor fatigue caused by long operation time in traditional surgery.

[0031] To facilitate understanding of this embodiment, a surgical method based on OCT image navigation disclosed in an embodiment of the present invention is first introduced in detail.

[0032] Example 1

[0033] The embodiment of the present invention provides a surgical method based on OCT image navigation, which is applied to a surgical robot. Figure 1 The flowchart of a surgical method based on OCT image navigation is shown, and the surgical method based on OCT image navigation may include the following steps:

[0034] Step S101, obtaining a preoperative angiography image.

[0035] Preoperative angiography images are obtained by injecting contrast agents into blood vessels before vascular interventional surgery and then scanning using imaging equipment that emits radiation or can visualize blood vessels, such as X-ray machines, CT (Computed Tomography), MRI, etc. After obtaining the preoperative angiography images, they can be input into the surgical robot for preoperative inspection and analysis of the blood vessels.

[0036] Step S102: acquiring a preoperative OCT image of the blood vessel based on the preoperative angiography image.

[0037] For example, based on the preoperative angiography image, the path from outside the blood vessel to the lesion site can be determined; then the first catheter is transported along the path to the lesion site, and the preoperative OCT image of the path is collected through the first catheter.

[0038] There may be multiple lesions in a blood vessel, and the severity of the lesion at each lesion is different. Some lesions may not require surgery, while others may require surgery. The surgical robot can automatically analyze the detected lesions based on the preoperative angiography images, and plan the path for the catheter to reach the lesion from outside the blood vessel in order to perform surgery on the lesion.

[0039] Of course, there can be many paths to reach the lesion. Before the surgical robot performs surgery, the doctor can pre-set the weight of the planned path. The surgical robot will use the path corresponding to the condition with the highest weight as the path for the catheter to reach the lesion from outside the blood vessel. If the weight is not set, after the surgical robot plans multiple paths, the doctor can choose one of the multiple paths based on his or her own experience.

[0040] The first catheter may be an imaging catheter for collecting preoperative OCT images. After the surgical robot transports the first catheter along the path to the lesion site determined after the analysis of the preoperative angiography images, it can be determined through the preoperative OCT images collected by the first catheter whether the lesion site has been reached, and the lesion area can be determined in the preoperative OCT images.

[0041] During the process of transporting the first catheter along the path to the lesion site determined after analysis, the preoperative OCT image acquired in real time by the first catheter can further verify the feasibility of the path planned using the preoperative angiography image. If the path is not feasible, the path can be changed according to the actual situation in the blood vessel.

[0042] Step S103, performing a preoperative examination on the blood vessels based on the preoperative OCT images to determine the surgical strategy for the vascular interventional surgery.

[0043] The surgical robot can use OCT images as navigation to scan and identify preoperative OCT images in real time during the preoperative examination, so as to determine whether there are lesions in the blood vessels, the location of the lesions in the blood vessels, and the degree of impact of the lesions on the vascular patency, thereby completing the preoperative examination and determining the surgical strategy for vascular interventional surgery through a rough judgment of the degree of impact of the lesions on the vascular patency during the preoperative examination.

[0044] Of course, after obtaining the preoperative angiography images, the doctor can also directly analyze the preoperative angiography images to determine whether there are lesions in the blood vessels, the location of the lesions in the blood vessels, and roughly judge the degree of impact of the lesions on the patency of the blood vessels, and determine the surgical strategy for vascular interventional surgery.

[0045] Among them, the surgical strategy of vascular interventional surgery can be to perform rotary excision on the lesion site, or to perform both rotary grinding and rotary excision on the lesion site.

[0046] Step S104, determining a catheter for performing a vascular interventional surgery based on the surgical strategy.

[0047] Different surgical strategies require the use of different catheters. When the surgical strategy is to perform excision on the lesion, a catheter that can perform excision is required. For example, the catheter may include a blade. When the surgical strategy is to perform both atherectomy and excision on the lesion, two catheters that can perform atherectomy and excision respectively are required. For example, the catheter may include a atherectomy head or a blade.

[0048] Step S105, determining the diseased site of the blood vessel based on the catheter, and performing a vascular interventional surgery on the diseased site.

[0049] The catheter may also include an optical imaging device, which can be used to collect OCT (Optical Coherence Tomography) images of blood vessels, and use the OCT images as navigation to determine the lesion site of the blood vessel. After the lesion site of the blood vessel is determined, vascular intervention surgery is performed on the lesion site.

[0050] In actual applications, after the surgical strategy is determined, the corresponding catheter can be automatically input into the lesion site based on the surgical robot's analysis of the preoperative angiography image. In the process of inputting the catheter into the lesion site, the doctor can use the collected OCT image as navigation to observe the situation inside the blood vessel in real time. After the tip of the catheter reaches the lesion site determined by the surgical robot, the doctor can observe whether the OCT image is the lesion site. After confirmation by the doctor, vascular intervention surgery can be performed on the lesion site, further ensuring the accuracy and safety of the operation.

[0051] The surgical method based on OCT image navigation provided in the embodiment of the present invention utilizes a surgical robot to collect preoperative OCT images of blood vessels based on preoperative angiography images, performs a preoperative examination of the blood vessels based on the preoperative OCT images, determines the surgical strategy for the vascular interventional surgery, and then determines the catheter for the vascular interventional surgery based on the surgical strategy, and uses the catheter to determine the lesion site of the blood vessel, performs vascular interventional surgery on the lesion site, and more accurately locates and operates on the lesion site, thereby improving the accuracy of the surgery and overcoming the problems of poor accuracy in traditional surgery and doctor fatigue caused by excessive surgery time.

[0052] Example 2

[0053] An embodiment of the present invention also provides another surgical method based on OCT image navigation; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of performing preoperative examination of blood vessels based on preoperative OCT images to determine the surgical strategy for vascular interventional surgery.

[0054] like Figure 2 The flowchart of another surgical method based on OCT image navigation is shown, and the surgical method based on OCT image navigation may include the following steps:

[0055] Step S201, determining the lesion area based on the preoperative OCT image.

[0056] The lesion area represents the lesion range of the lesion site. The lesion range of the lesion site, i.e., the lesion area, can be directly observed in the preoperative OCT image.

[0057] Step S202, determining the lesion type based on the lesion area.

[0058] Specifically, the step of determining the lesion type based on the lesion area can be implemented through step B1-step B2:

[0059] Step B1, determining the minimum distance between the lesion area and the inner wall of the blood vessel.

[0060] The minimum distance between the lesion area and the inner wall of the blood vessel can be observed through preoperative OCT images. The lesion area may be irregular, and the position in the lesion area that is closest to the inner wall of the blood vessel is the key to the patency of the blood vessel. Therefore, it is necessary to determine the minimum distance between the lesion area and the inner wall of the blood vessel to determine the degree of lesion at the lesion site.

[0061] Step B2: determining the lesion type based on the minimum distance and a preset distance threshold.

[0062] The lesion types include: vascular stenosis, severe vascular stenosis and vascular occlusion. The preset distance thresholds include a first distance threshold and a second distance threshold.

[0063] When the minimum distance is greater than the first distance threshold, the lesion type can be considered as vascular stenosis; when the minimum distance is less than or equal to the first distance threshold and greater than the second distance threshold, the lesion type can be considered as severe vascular stenosis; when the minimum distance is less than or equal to the second distance threshold, the lesion type can be considered as vascular blockage.

[0064] Step S203, determining the surgical strategy for vascular intervention surgery based on the lesion type.

[0065] For different types of lesions, the degree of smoothness of blood vessels is also different. When the lesion type is vascular stenosis, the surgical strategy can be to perform rotary cutting on the lesion site. When the lesion type is severe vascular stenosis or vascular blockage, the surgical strategy is to perform rotary grinding and rotary cutting on the lesion site.

[0066] Furthermore, when the surgical strategy is to perform rotary excision on the lesion site, the catheter used for the vascular intervention surgery can be determined to be the second catheter.

[0067] The second catheter can be a two-in-one imaging and excision catheter, which is used to collect OCT images and excise the lesion. Since the minimum distance between the inner wall of the blood vessel and the lesion area can support the passage of the second catheter when the blood vessel is narrowed, the second catheter can be directly used for excision to remove the lesion.

[0068] Furthermore, when the surgical strategy is to perform rotational grinding and excision on the lesion site, the catheters used for the vascular intervention surgery can be determined to be the second catheter and the third catheter.

[0069] The third catheter can be a two-in-one imaging atherectomy catheter, which is used to collect OCT images and atherectomize the lesion. When the blood vessels are severely narrowed or blocked, the minimum distance between the inner wall of the blood vessels and the lesion area cannot support the passage of the second catheter, so the third catheter needs to be used for atherectomy first to widen the channel for the second catheter to pass through and atherectomize the lesion.

[0070] The surgical method based on OCT image navigation provided in the embodiment of the present invention can first use preoperative angiography images to plan a path from outside the blood vessel to the lesion site, and then confirm the feasibility of the path by inputting the first catheter into the lesion site along the path, and judge the lesion type through the preoperative OCT image collected by the first catheter, so as to determine the corresponding surgical strategy, thereby improving the accuracy of vascular interventional surgery.

[0071] Example 3

[0072] The embodiment of the present invention also provides another surgical method based on OCT image navigation; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing a specific implementation method of determining the lesion site of a blood vessel based on a catheter and performing a vascular interventional surgery on the lesion site:

[0073] like Figure 3 A flowchart of another surgical method based on OCT image navigation is shown, and the surgical method based on OCT image navigation may include the following steps:

[0074] Step S301, acquiring a current OCT image based on a catheter.

[0075] Specifically, the optical signal can be collected based on the catheter, converted into an electrical signal, and then the electrical signal is processed to obtain a frame image, and then the frame image is displayed on a display screen to obtain a current OCT image.

[0076] Step S302: determining the lesion site of the blood vessel based on the current OCT image.

[0077] During vascular intervention surgery, while the catheter is being inserted into the blood vessel, the situation in the blood vessel can be monitored in real time in the current OCT image, and the lesion site can be determined when the catheter moves to the lesion site.

[0078] Step S303: performing a vascular interventional surgery on the lesion site based on the catheter.

[0079] During the operation, different surgical strategies can be determined according to the type of lesion. Each surgical strategy corresponds to the use of different catheters. Taking the lesion type of severe vascular stenosis as an example, the surgical strategy at this time is to perform grinding and excision on the lesion site. The second catheter and the third catheter are required. The lesion site is first grinded with the third catheter to widen the channel to assist the passage of the second catheter, and then the lesion site is excised with the second catheter to complete the vascular intervention surgery.

[0080] Preferably, before the step of acquiring the current OCT image based on the catheter, the surgical method based on OCT image navigation may further include steps D1 to D3:

[0081] Step D1: Acquire the current angiography image and the preoperative OCT image.

[0082] Since there is a long interval between the patient's preoperative examination and subsequent surgery, the current angiography image can be obtained during the surgery to assist the surgery. The method for obtaining the current angiography image is the same as the method for obtaining the preoperative angiography image, which will not be repeated here.

[0083] Preoperative OCT images are stored during preoperative examination and can be directly obtained during surgery.

[0084] Step D2: Based on the current angiography image and the preoperative OCT image, determine the path from outside the blood vessel to the lesion site.

[0085] The current angiography image can be compared with the preoperative OCT image to determine whether there has been a significant change in the lesion site, thereby determining whether the path planned during the preoperative examination is available. Usually, the path during surgery is the same as the path determined during the preoperative examination. If there has been a significant change in the lesion site, the path from outside the blood vessel to the lesion site will be replanned.

[0086] Step D3: The catheter is transported along the path to the lesion site, and the current OCT image is acquired through the catheter.

[0087] The catheter has the function of collecting OCT images. During the process of transporting the catheter along the path to the lesion site, the current OCT image can be collected through the catheter to assist in understanding the situation within the blood vessels.

[0088] The OCT image navigation-based surgical method provided in an embodiment of the present invention can compare the current angiography image with the preoperative OCT image during surgery, thereby verifying and applying the path from the blood vessel to the lesion site planned during the preoperative examination, thereby further improving the accuracy of vascular interventional surgery.

[0089] Example 4

[0090] Corresponding to the above method embodiment, the present invention provides a surgical device based on OCT image navigation, such as Figure 4 The schematic diagram of the structure of a surgical device based on OCT image navigation is shown, and the surgical device based on OCT image navigation may include:

[0091] The preoperative angiography image acquisition module 401 is used to acquire preoperative angiography images.

[0092] The preoperative OCT image acquisition module 402 is used to acquire a preoperative OCT image of a blood vessel based on the preoperative angiography image.

[0093] The surgical strategy determination module 403 is used to perform a preoperative examination of the blood vessels based on the preoperative OCT images to determine the surgical strategy for the vascular interventional surgery.

[0094] The catheter determination module 404 is used to determine the catheter for performing the vascular intervention surgery based on the surgery strategy.

[0095] The vascular interventional surgery module 405 is used to determine the diseased site of the blood vessel based on the catheter and perform vascular interventional surgery on the diseased site.

[0096] The OCT image-navigated surgical device provided in the embodiment of the present invention acquires preoperative OCT images of blood vessels based on preoperative angiography images, performs preoperative examination of the blood vessels based on the preoperative OCT images, determines the surgical strategy for the vascular interventional surgery, and then determines the catheter for the vascular interventional surgery based on the surgical strategy, and uses the catheter to determine the lesion site of the blood vessel, performs vascular interventional surgery on the lesion site, and more accurately locates and operates on the lesion site, thereby improving the accuracy of the surgery and overcoming the problems of poor accuracy in traditional surgery and doctor fatigue caused by excessive surgery time.

[0097] In some embodiments, the preoperative OCT image acquisition module is also used to determine the path from outside the blood vessel to the lesion site based on the preoperative angiography image; transport the first catheter to the lesion site along the path, and acquire the preoperative OCT image of the path through the first catheter.

[0098] In some embodiments, the surgical strategy determination module is also used to determine the lesion area based on the preoperative OCT image; wherein the lesion area characterizes the lesion range of the lesion site; determine the lesion type based on the lesion area; and determine the surgical strategy of the vascular interventional surgery based on the lesion type.

[0099] In some embodiments, the surgical strategy determination module is also used to determine the minimum distance between the lesion area and the inner wall of the blood vessel; based on the minimum distance and a pre-set distance threshold, determine the lesion type; wherein the lesion types include: vascular stenosis, severe vascular stenosis and vascular blockage.

[0100] In some embodiments, the surgical strategy determination module is also used to determine that if the lesion type is vascular stenosis, the surgical strategy is to perform rotary excision on the lesion site; if the lesion type is severe vascular stenosis or vascular blockage, the surgical strategy is to perform grinding and excision on the lesion site.

[0101] In some embodiments, the catheter determination module is also used to determine that the catheter for performing the vascular intervention surgery is the second catheter if the surgical strategy is to perform rotary excision on the lesion site; if the surgical strategy is to perform atherectomy and rotary excision on the lesion site, then determine that the catheter for performing the vascular intervention surgery is the second catheter and the third catheter; wherein the second catheter is used to acquire OCT images and atherectomy of the lesion site, and the third catheter is used to acquire OCT images and atherectomy of the lesion site.

[0102] In some embodiments, the vascular interventional surgery module is further used to acquire the current OCT image based on the catheter; determine the diseased site of the blood vessel based on the current OCT image; and perform vascular interventional surgery on the diseased site based on the catheter.

[0103] In some embodiments, the vascular interventional surgery module is also used to obtain the current angiography image and the preoperative OCT image; based on the current angiography image and the preoperative OCT image, determine the path from outside the blood vessel to the lesion site; transport the catheter to the lesion site along the path, and collect the current OCT image through the catheter.

[0104] In some embodiments, the vascular interventional surgery module is also used to collect optical signals based on the catheter; convert the optical signals into electrical signals; process the electrical signals to obtain frame images; and display the frame images using a display screen to obtain a current OCT image.

[0105] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0106] Example 5

[0107] The embodiment of the present invention provides an application scenario of vascular intervention surgery, see Figure 5 The schematic diagram of the application scenario shown includes: a surgical robot, a display and an operating table.

[0108] Exemplarily, the surgical robot may include: a main unit, a manipulator, an actuator A, an actuator B, and consumables.

[0109] The host may include an optical module, an acquisition module, and an image processing module. The optical module provides near-infrared laser and indicator light, receives coherent optical signals and converts them into electrical signals, and then the acquisition module acquires the electrical signals output by the optical module and transmits them to the image processing module. Finally, the image processing module acquires the electrical signals, processes them, transforms them into frame images, and transmits them to the display, so that the display displays the OCT image.

[0110] The operating mechanism can switch between full-automatic mode and manual mode. In full-automatic mode, the operating mechanism will automatically control actuator A and actuator B to perform surgery. In manual mode, the doctor can directly control the operating mechanism to drive actuator A and actuator B to perform surgery. The operating mechanism can control actuator A and actuator B, so that actuator A and actuator B drive the consumables to move according to instructions, thereby performing surgery. The consumables can be the catheter mentioned in the above embodiment, which includes an optical imaging device that can transmit near-infrared light and back-reflected light of intravascular tissue after entering the blood vessel, and provide it to the host for processing by the host, so that the situation in the blood vessel can be displayed through the display.

[0111] In the embodiment of this application scenario, the patient can undergo surgery on the operating table. During the operation, the fully automatic mode or manual mode can be selected through the operating mechanism to control actuator A and actuator B, so that actuator A and actuator B drive the consumables to move according to the instructions. In the fully automatic mode, the surgical robot can complete the operation by itself. During the automatic operation, the doctor can stay away from the operating table and confirm the operation through the OCT image monitoring displayed on the monitor, thereby reducing the ionizing radiation damage caused by the radiated light in the interventional surgery, and greatly reducing the workload of the doctor during the operation. It can more accurately locate the lesion site and perform surgical operations, as well as perform delicate operations in narrow spaces that cannot be reached by human hands, overcoming the poor precision and long operation time in traditional surgery that cause doctor fatigue.

[0112] Example 6

[0113] The embodiment of the present invention further provides an electronic device for executing the above-mentioned surgical method based on OCT image navigation; Figure 6 A structural schematic diagram of an electronic device is shown, which includes a memory 600 and a processor 601, wherein the memory 600 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 601 to implement the above-mentioned surgical method based on OCT image navigation.

[0114] Further, Figure 6The electronic device shown further includes a bus 602 and a communication interface 603 , and the processor 601 , the communication interface 603 and the memory 600 are connected via the bus 602 .

[0115] The memory 600 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 603 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 602 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0116] The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 601. The above processor 601 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 600, and the processor 601 reads the information in the memory 600 and completes the steps of the method of the above embodiment in combination with its hardware.

[0117] An embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned surgical method based on OCT image navigation. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0118] The computer program product for performing an OCT image-guided surgical method provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0120] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0123] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. 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 enabling a computer device (which can be a personal computer, a server, 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.

[0124] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A surgical method based on OCT image navigation, characterized in that: Applied to a surgical robot, the method comprises: Obtain preoperative angiographic images; Based on the preoperative angiography image, acquiring a preoperative OCT image of the blood vessel; Performing a preoperative examination on the blood vessel based on the preoperative OCT image to determine a surgical strategy for vascular interventional surgery; determining a catheter for performing a vascular interventional procedure based on the surgical strategy; The diseased site of the blood vessel is determined based on the catheter, and a vascular interventional surgery is performed on the diseased site.

2. The method according to claim 1, characterized in that The step of acquiring a preoperative OCT image of a blood vessel based on the preoperative angiography image comprises: Based on the preoperative angiography image, determining a path from outside the blood vessel to the lesion site; A first catheter is transported along the path to the lesion site, and a preoperative OCT image of the path is acquired through the first catheter.

3. The method according to claim 1, characterized in that: The preoperative examination of the blood vessel based on the preoperative OCT image to determine the surgical strategy for the vascular interventional surgery includes: Determine the lesion area based on the preoperative OCT image; wherein the lesion area represents the lesion range of the lesion site; determining a lesion type based on the lesion area; The surgical strategy of the vascular interventional surgery is determined based on the lesion type.

4. The method according to claim 3, characterized in that The determining the lesion type based on the lesion area comprises: determining a minimum distance between the lesion area and the inner wall of the blood vessel; The lesion type is determined based on the minimum distance and a preset distance threshold; wherein the lesion type includes: vascular stenosis, severe vascular stenosis and vascular occlusion.

5. The method according to claim 3, characterized in that: The step of determining the surgical strategy for the vascular interventional surgery based on the lesion type includes: If the lesion type is vascular stenosis, the surgical strategy is to perform rotary excision on the lesion site; If the lesion type is severe vascular stenosis or vascular occlusion, the surgical strategy is to perform grinding and excision on the lesion site.

6. The method according to claim 1, characterized in that Determining a catheter for performing a vascular interventional surgery based on the surgical strategy includes: If the surgical strategy is to perform rotary excision on the lesion, determining that the catheter for performing the vascular intervention surgery is the second catheter; If the surgical strategy is to perform rotational grinding and rotational excision on the lesion, the catheters used for the vascular intervention surgery are determined to be the second catheter and the third catheter; The second catheter is used to collect OCT images and to perform rotational ablation on the lesion, and the third catheter is used to collect OCT images and to perform rotational ablation on the lesion.

7. The method according to claim 1, characterized in that The method of determining the lesion site of the blood vessel based on the catheter and performing a vascular interventional surgery on the lesion site includes: Acquire a current OCT image based on the catheter; Determining a lesion site of the blood vessel based on the current OCT image; A vascular interventional surgery is performed on the diseased area based on the catheter.

8. The method according to claim 7, characterized in that Before acquiring the current OCT image based on the catheter, the method further includes: Obtain current angiography images and preoperative OCT images; Determine a path from outside the blood vessel to the lesion site based on the current angiography image and the preoperative OCT image; The catheter is transported along the path to the lesion site, and the current OCT image is acquired through the catheter.

9. The method according to claim 7, characterized in that: The collecting of the current OCT image based on the catheter comprises: collecting optical signals based on the catheter; converting the optical signal into an electrical signal; Processing the electrical signal to obtain a frame image; The frame image is displayed on a display screen to obtain the current OCT image.

10. A surgical device based on OCT image navigation, characterized in that: Applied to a surgical robot, the device comprises: A preoperative angiography image acquisition module, used for acquiring preoperative angiography images; A preoperative OCT image acquisition module, used for acquiring a preoperative OCT image of a blood vessel based on the preoperative angiography image; A surgical strategy determination module, used to perform a preoperative examination on the blood vessel based on the preoperative OCT image to determine a surgical strategy for the vascular interventional surgery; A catheter determination module, used for determining a catheter for performing a vascular interventional surgery based on the surgical strategy; The vascular interventional surgery module is used to determine the diseased site of the blood vessel based on the catheter and perform vascular interventional surgery on the diseased site.

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