Position adjustment method and device of imaging equipment, equipment and storage medium

Abstract

The invention belongs to the field of vascular interventional operations, and relates to a position adjustment method, device and equipment of imaging equipment and a storage medium, and the method comprises the steps: constructing a three-dimensional image of a blood vessel; acquiring focus parameters, focus tangent angles, focus blood vessel angles and the current position of the imaging equipment according to the three-dimensional image; generating a target position of the imaging equipment according to the focus parameter, the focus tangent angle and the focus blood vessel angle; and adjusting the imaging equipment according to the current position of the imaging equipment and the target position of the imaging equipment, so that the imaging equipment reaches the target position of the imaging equipment. The positioning precision of an operation can be improved, the operation time is shortened, and radiation exposure of a patient is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery, and in particular to a method, device, computer equipment and storage medium for adjusting the position of an imaging device. Background Art

[0002] At present, lesions are treated through vascular interventional surgery, such as aneurysm embolization and dense mesh stent surgery. The surgery is to release consumables such as coils and stents into the lesion or cover the neck of the aneurysm through a catheter. When performing aneurysm embolization, it is necessary to know the angular relationship between the neck of the aneurysm and the arterial blood vessel. Specifically, when looking for the lesion, it is necessary to find the lesion under multiple angiography, and then use DSA (Digital Subtraction Angiography) to switch angles and move the bed multiple times to find the surgical angle, and then start aneurysm coil embolization, dense mesh stent surgery and other surgeries from this angle.

[0003] In the prior art, patients are usually given a CTA (Computed Tomography Angiography) test before surgery. Doctors use 2D images of the patient's blood vessels to determine the approximate location of the lesion and remember it. However, the 2D image can only roughly determine whether there is a lesion, but cannot determine the properties of the lesion and the angle between the lesion and the blood vessel, and cannot provide an accurate basis for the formulation of the surgical plan. This results in the need to adjust the machine position multiple times in the process of finding the lesion and determining the properties of the lesion in DSA, resulting in problems such as long surgery time, high radiation dose for the patient, and low instrument positioning accuracy. Summary of the invention

[0004] The purpose of the present application is to propose a method, device, computer device and storage medium for adjusting the position of an imaging device, so as to solve the problems of long operation time, high radiation dose for patients and low positioning accuracy of instruments in the prior art interventional surgery.

[0005] In order to solve the above technical problems, the embodiment of the present application provides a method for adjusting the position of an imaging device, which adopts the following technical solution:

[0006] A method for adjusting the position of an imaging device, comprising:

[0007] Constructing three-dimensional images of blood vessels;

[0008] Acquire lesion parameters, lesion tangent angles, lesion blood vessel angles, and a current position of an imaging device of the lesion according to the three-dimensional image;

[0009] Generate an imaging device target position according to the lesion parameters, the lesion tangent angle, and the lesion blood vessel angle;

[0010] The imaging device is adjusted according to the current position of the imaging device and the target position of the imaging device, so that the imaging device reaches the target position of the imaging device.

[0011] Furthermore, the step of acquiring lesion parameters of the lesion according to the three-dimensional image comprises:

[0012] identifying the lesion according to the three-dimensional image;

[0013] Selecting a rectangle with the largest area on the cross section of the three-dimensional image region of the lesion, and using its long side as the long diameter of the lesion and its short side as the short diameter of the lesion;

[0014] The volume size of a single voxel is obtained, where the volume of the voxel is predetermined when the three-dimensional image is constructed, the total number of voxels in the three-dimensional image area of ​​the lesion is counted to obtain the number of voxels of the lesion, and the volume of the lesion is calculated based on the number of voxels of the lesion and the volume of a single voxel.

[0015] Furthermore, the step of identifying the lesion according to the three-dimensional image includes:

[0016] The vascular structure image data in the three-dimensional image is acquired and analyzed, the lesion in the vascular structure image data is identified, and the position information of the lesion in the three-dimensional image is determined.

[0017] Furthermore, the step of obtaining the lesion tangent angle according to the three-dimensional image includes:

[0018] identifying the diseased blood vessel where the lesion is located according to the three-dimensional image;

[0019] Obtaining a neck section of the lesion and determining a center point of the neck section, wherein the neck section is a plane where a junction line between the lesion and the diseased blood vessel is located;

[0020] Acquire two-dimensional images of multiple tangent positions of the lesion with the center line of the diseased blood vessel as the axis, and select the tangent position whose neck section in the two-dimensional image is a straight line or close to a straight line as the target tangent position;

[0021] Acquire the contour of the lesion in the two-dimensional image at the target tangent position, and take the point on the contour farthest from the center point as the distal end point;

[0022] Determine a straight line connecting the center point and the distal end point, and use the angle between the straight line and the center line as the lesion tangent angle.

[0023] Furthermore, the step of obtaining the angle of the lesion blood vessel according to the three-dimensional image includes:

[0024] identifying the diseased blood vessel where the lesion is located according to the three-dimensional image;

[0025] Establishing a spatial coordinate system of the diseased blood vessel in the three-dimensional image;

[0026] Acquire a reference coordinate system of a three-dimensional model of a human body in a lying position, align the spatial coordinate system of the diseased blood vessel with the reference coordinate system, and determine a transformation matrix between the two coordinate systems;

[0027] Calculating the spatial position coordinates of the diseased blood vessel in the reference coordinate system according to the transformation matrix;

[0028] The angle between the diseased blood vessel and the human body is calculated based on the spatial position coordinates to obtain the diseased blood vessel angle.

[0029] Furthermore, the step of identifying the diseased blood vessel where the lesion is located according to the three-dimensional image includes:

[0030] Determining the position information of the lesion in the three-dimensional image;

[0031] The blood vessels around the lesion are tracked according to the position information to obtain a blood vessel segment connected to the lesion, and the blood vessel segment is determined to be a diseased blood vessel where the lesion is located.

[0032] Further, the imaging device comprises a bed and an operating arm, and the imaging device target position comprises a bed target position and an operating arm target position;

[0033] The step of generating a target position of an imaging device according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle comprises:

[0034] Determine the geometric center point of the lesion according to the lesion parameters, and calculate the coordinates of the geometric center point in the reference coordinate system through the transformation matrix;

[0035] Obtaining the coordinates of the interventional surgery puncture point in the reference coordinate system, and calculating the operation path from the puncture point to the geometric center point in combination with the coordinates of the geometric center point, the lesion tangent angle, and the lesion blood vessel angle;

[0036] Determining the target position of the bed according to the operation path;

[0037] Based on the target position of the bed, a target implementation angle of the operating arm relative to the human body is acquired, and the target implementation angle is used as the target position of the operating arm.

[0038] In order to solve the above technical problems, the embodiment of the present application further provides a position adjustment device of an imaging device, comprising:

[0039] A position adjustment device for an imaging device, comprising:

[0040] A construction module for constructing a three-dimensional image of a blood vessel;

[0041] A parameter acquisition module, used for acquiring lesion parameters, lesion tangent angle, lesion blood vessel angle and current position of the imaging device of the lesion according to the three-dimensional image;

[0042] A position generating module, used for generating a target position of an imaging device according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle;

[0043] The control module is used to adjust the imaging device according to the current position of the imaging device and the target position of the imaging device to achieve the target position of the imaging device.

[0044] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0045] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned method for adjusting the position of an imaging device when executing the computer program.

[0046] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0047] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method for adjusting the position of an imaging device are implemented.

[0048] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0049] The present application reconstructs the three-dimensional image data of the blood vessels to automatically determine the lesion parameters, lesion tangent angle and lesion blood vessel angle of the lesion, and then generates the target position of the imaging device based on this, and adjusts the imaging device in combination with the current position of the imaging device to achieve the target position of the imaging device. This can not only reduce the adjustment complexity and improve the positioning accuracy and safety of the surgery, but also reduce the operation time, significantly improve the success rate and efficiency of interventional surgery, and reduce the radiation exposure of patients and doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are 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.

[0051] Figure 1 A flow chart of an embodiment of a method for adjusting the position of an imaging device according to the present application;

[0052] Figure 2 is a flow chart of obtaining the tangent angle of the lesion in an embodiment of the present application;

[0053] Figure 3 is a schematic diagram of a neck section according to the present application;

[0054] Figure 4 is a schematic diagram of a neck section in a straight line form according to the present application;

[0055] Figure 5 is a flow chart of determining the angle of the lesion blood vessel in an embodiment of the present application;

[0056] Figure 6 yes Figure 1 A flowchart of a specific implementation of step S13;

[0057] Figure 7 is a structural schematic diagram of a position adjustment device for an imaging device according to an embodiment of the present application;

[0058] Figure 8 It is a structural diagram of an embodiment of a computer device according to the present application. DETAILED DESCRIPTION

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0060] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0061] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0062] refer to Figure 1 , which shows a flow chart of an embodiment of a method for adjusting the position of an imaging device according to the present application. The method for adjusting the position of an imaging device comprises the following steps S11 to S14:

[0063] Step S11, constructing a three-dimensional image of the blood vessel;

[0064] Step S12, acquiring lesion parameters, lesion tangent angle, lesion blood vessel angle and current position of the imaging device of the lesion according to the three-dimensional image;

[0065] Step S13, generating an imaging device target position according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle;

[0066] Step S14: adjusting the imaging device according to the current position of the imaging device and the target position of the imaging device, so that the imaging device reaches the target position of the imaging device.

[0067] In step S11, by acquiring initial angiography data of blood vessels in the diseased blood vessel region, a three-dimensional image of the blood vessels in the diseased blood vessel region is constructed according to the initial angiography data. The initial angiography data is a two-dimensional angiography image. In this embodiment, a three-dimensional image of the diseased blood vessel region is constructed based on the two-dimensional angiography image by a preset algorithm. In this embodiment, the diseased blood vessel region mainly refers to the region where the blood vessels with lesions are located. In a specific embodiment, the lesion may be an aneurysm, and the diseased blood vessel is a tumor-bearing artery accordingly.

[0068] In one embodiment, the step of constructing a three-dimensional image of a blood vessel specifically includes: acquiring multiple two-dimensional tomographic images obtained by scanning the blood vessel; forming a two-dimensional contour of the blood vessel according to the multiple two-dimensional tomographic images; generating a three-dimensional surface model of the blood vessel according to the two-dimensional contour of the blood vessel, and constructing a three-dimensional image of the blood vessel. This embodiment can construct a refined three-dimensional image of the blood vessel in the diseased blood vessel area by performing three-dimensional reconstruction of the complete intraluminal contour of the blood vessel, thereby providing support for the subsequent position adjustment of the imaging device.

[0069] In this embodiment, a plurality of two-dimensional tomographic images are obtained by scanning the diseased blood vessel region by CT or MRI. When performing CT or MRI scanning on the diseased blood vessel region, in order to obtain a more accurate three-dimensional image, as many two-dimensional tomographic images as possible can be obtained. For example, the scanning parameters are set to a scanning layer thickness of 1 mm and a layer spacing of 5 mm to obtain a series of two-dimensional tomographic images. Then, a three-dimensional reconstruction algorithm such as the Marching Cubes algorithm is used to perform three-dimensional reconstruction of the blood vessels in the diseased blood vessel region based on the two-dimensional tomographic images. For example, the voxel size is set to 5 mm×5 mm×5 mm to generate a triangular facet mesh model of the blood vessel, i.e., the three-dimensional surface model, and smoothing is performed to obtain a true and smooth three-dimensional image of the contour of the blood vessel cavity, which intuitively displays the three-dimensional morphological characteristics of the diseased blood vessel region.

[0070] In some embodiments, the step of forming a two-dimensional contour of a blood vessel according to a plurality of two-dimensional tomographic images comprises: aligning the plurality of two-dimensional tomographic images, eliminating the position deviation between the two-dimensional tomographic images, and obtaining a registered two-dimensional tomographic image; performing image segmentation on the registered two-dimensional tomographic image, extracting the blood vessel region in each segmented image, and obtaining a segmented two-dimensional contour of the blood vessel. This embodiment can obtain a clear two-dimensional contour of the blood vessel, which is convenient for subsequent three-dimensional image construction, wherein the two-dimensional tomographic images can be aligned by an image registration algorithm, for example, by using an image registration algorithm based on mutual information, by maximizing the mutual information between two adjacent layers of images, optimizing the registration transformation parameters, and registering the two-dimensional tomographic images, eliminating the inter-layer position deviation caused by the patient's respiratory movement, etc. Similarly, the blood vessel region can be extracted by a threshold segmentation algorithm to obtain a segmented two-dimensional contour of the blood vessel, for example, by using a region growing method to segment the blood vessel region, for example, setting the CT value threshold of the seed point to 150HU, and the growth criterion that the difference in the CT value of adjacent pixel points is less than 50HU, and extracting the two-dimensional contour of the blood vessel.

[0071] Furthermore, after constructing the three-dimensional image, technologies such as lighting rendering and texture mapping can be used to improve the realism and stereoscopic effect of the three-dimensional image, making it closer to the actual vascular morphology. For example, the Phong lighting model and Gouraud shading technology can be used to visualize the refined three-dimensional image and generate a realistic three-dimensional vascular model.

[0072] For step S12, the lesion parameters are calculated based on the three-dimensional image constructed in step S11. The lesion parameters generally include parameters related to the lesion size, which are specifically reflected in the long and short axes, volume, etc. of the lesion. Taking an aneurysm as an example, the lesion parameters at least include the long and short axes and volume of the aneurysm.

[0073] In one embodiment, the step of obtaining lesion parameters of a lesion based on the three-dimensional image includes: identifying the lesion based on the three-dimensional image; selecting a rectangle with the largest area on the cross-section of the three-dimensional image region of the lesion, and using its long side as the long axis of the lesion and its short side as the short axis of the lesion; obtaining the volume of a single voxel, the volume of the voxel being predetermined when the three-dimensional image is constructed, counting the total number of voxels in the three-dimensional image region of the lesion to obtain the number of voxels of the lesion, and calculating the volume of the lesion based on the number of voxels of the lesion and the volume of a single voxel.

[0074] In this embodiment, when identifying lesions based on the three-dimensional image, the method includes: acquiring and analyzing vascular structure image data in the three-dimensional image, identifying lesions in the vascular structure image data, and determining position information of the lesions in the three-dimensional image.

[0075] When identifying lesions, it is necessary to perform image analysis on the three-dimensional image. Specifically, the constructed three-dimensional image needs to be preprocessed, and the noise and artifacts in the three-dimensional image need to be removed through an image filtering algorithm. For example, an anisotropic diffusion filtering algorithm is used to smooth the image to remove noise and artifacts in the image, and then the Otsu threshold segmentation algorithm is used to binarize the image to extract high-density vascular structure image data.

[0076] After completing the preprocessing, the present embodiment can identify the lesion by analyzing the vascular structure image data in the three-dimensional image. Specifically, taking aneurysm as an example, the morphological analysis method is used to analyze the vascular structure image data to identify the spherical structure or saccular structure in the vascular structure image data; the spherical structure or saccular structure that meets the preset conditions is determined as an aneurysm, and the position information of the aneurysm in the three-dimensional image is determined; for example, in the process of identifying the spherical structure or saccular structure according to the vascular structure image data, the vascular structure is firstly subjected to a morphological opening operation, such as setting the structural element to a sphere with a radius of 2 pixels, removing small protrusions and burrs on the vascular wall, and then performing a morphological closing operation, setting the structural element to a sphere with a radius of 5 pixels, and filling small cavities and fractures in the vascular cavity, so as to improve the recognition accuracy of the spherical structure or saccular structure. Based on the vascular structure obtained after the aforementioned binarization processing, a three-dimensional connected domain labeling algorithm is used to mark different regions in the vascular structure, and the volume and surface area of ​​each connected region are calculated. The aneurysm is determined based on preset conditions such as preset thresholds. For example, a region with a volume greater than 500 cubic millimeters and a surface area to volume ratio less than 2 is considered to be an aneurysm.

[0077] In this embodiment, the minimum enclosing rectangle of the identified lesion area is calculated, and a rotating caliper algorithm is used. Specifically, the rotation angle step and the maximum number of iterations can be set. By rotating the convex hull of the lesion area, the bounding box with the smallest area, i.e., the minimum enclosing rectangle, is found. The long side and short side of the minimum enclosing rectangle are obtained, and the long side is used as the long diameter of the lesion, and the short side is used as the short diameter of the lesion. This embodiment can quantitatively analyze the size of the lesion through the minimum enclosing rectangle measurement and voxel counting method, and provide reliable imaging indicators for the graded diagnosis of the lesion and the assessment of the difficulty of surgical resection.

[0078] In some embodiments, after the lesion is identified, the method further includes: performing a first labeling process on the region where the lesion is located in the three-dimensional image. The first labeling process performed on the lesion region in the three-dimensional image, for example, using red to label, can clearly and intuitively display the position of the lesion in the three-dimensional image.

[0079] Furthermore, for the identified lesions, a fast matching algorithm can be used to perform regional registration and positioning in the original three-dimensional image to determine the location information of the lesions.

[0080] In one embodiment, Figure 2 As shown, in step S12, the step of obtaining the lesion tangent angle according to the three-dimensional image includes:

[0081] S21, identifying the diseased blood vessel where the lesion is located according to the three-dimensional image;

[0082] S22, obtaining a neck section of the lesion and determining a center point of the neck section, wherein the neck section is a plane where a junction line between the lesion and the diseased blood vessel is located;

[0083] S23, acquiring two-dimensional images of multiple tangent positions of the lesion with the center line of the diseased blood vessel as the axis, and selecting a tangent position in which the neck section of the two-dimensional image is a straight line or close to a straight line as a target tangent position;

[0084] S24, obtaining the contour of the lesion in the two-dimensional image at the target tangent position, and taking the point on the contour farthest from the center point as the distal end point;

[0085] S25, determining a straight line connecting the center point and the distal end point, and taking the angle between the straight line and the center line as the lesion tangent angle.

[0086] In this embodiment, for step S21, the step of identifying the diseased blood vessel where the lesion is located based on the three-dimensional image includes: determining the position information of the lesion in the three-dimensional image; tracking the blood vessels around the lesion based on the position information to obtain a blood vessel segment connected to the lesion, and determining that the blood vessel segment is the diseased blood vessel where the lesion is located.

[0087] Specifically, based on the identified lesions, a fast matching algorithm can be used to perform regional registration and positioning in the original three-dimensional image to determine the location information of the lesion. Taking the location of the lesion as the starting point, a depth-first search strategy is used to track the surrounding connected vascular segments to obtain the diseased blood vessels connected to the lesion.

[0088] In one embodiment, after the diseased blood vessel is identified, the method further includes: performing a second labeling process on the area where the diseased blood vessel is located in the three-dimensional image; wherein the second labeling process and the first labeling process use a different labeling method to distinguish the lesion from the diseased blood vessel. Different from the first labeling process performed on the lesion area, for example, using red to label, the second labeling process performed on the diseased blood vessel in the three-dimensional image, for example, using yellow to label, can clearly and intuitively display the position of the diseased blood vessel in the three-dimensional image, and intuitively display the spatial positional relationship between the lesion and the diseased blood vessel.

[0089] In this embodiment, for step S22, the Canny edge detection algorithm is used to perform edge detection on the regions where the segmented lesions and diseased blood vessels are located. The interface between the lesions and the diseased blood vessels, that is, the surface where the intersection line between the lesions and the diseased blood vessels is located, is extracted by setting high and low thresholds, and the interface is determined as the neck section. The obtained neck section can be as follows: Figure 3 In a specific embodiment, when the lesion is an aneurysm, the neck section is an aneurysm neck section.

[0090] In this embodiment, a skeleton extraction algorithm is used to continuously erode the neck section until it reaches its skeleton, and then for each pixel point on the skeleton, the Euclidean distance from the edge of the neck section is calculated to find the pixel point with the largest distance, which is determined as the center point of the neck section.

[0091] In this embodiment, for steps S23 to S25, for the center line of the diseased blood vessel, a three-dimensional region growing method can be used to segment the diseased blood vessel, and then a 3D thinning algorithm is used to extract the center line of the diseased blood vessel; the extracted center line is used as the rotation axis, and it is rotated at a preset angle interval (such as 1°) within a preset angle range, such as (±30°), to obtain multiple tangent positions; for each tangent position, the three-dimensional model is projected onto a two-dimensional plane along a set direction to obtain a two-dimensional image of the lesion at each tangent position; then Canny edge detection is performed on the two-dimensional image to extract the neck section contour, and by fitting the contour point set, it is determined whether the neck section is a straight line or tends to a straight line. For example, the least squares method is used to fit the contour points to a straight line, and the average distance between the fitted straight line and the contour points is calculated. If the average distance is less than 5 mm, the neck section is considered to be a straight line. The neck section with a straight line shape is such as Figure 4 As shown in the colored line, the lesion is in the best imaging position at this time. For another example, the slope of the fitted straight line is calculated. If the absolute value of the slope is less than 2, it is considered that the neck section tends to a straight line. Finally, the tangent position that meets the straight line or tends to a straight line condition is used as the target tangent position. Finally, the lesion tangent angle is obtained by calculating the angle between the straight line connecting the center point and the distal end point in the three-dimensional space and the center line of the neck section. This embodiment can automatically and quickly determine the lesion tangent angle.

[0092] In one embodiment, Figure 5 As shown, in step S12, the step of obtaining the angle of the diseased blood vessel according to the three-dimensional image includes: registering the three-dimensional image with the human body coordinate system, calculating the angle between the diseased blood vessel and the human body in the reference coordinate system corresponding to the human body to obtain the angle of the diseased blood vessel; specifically, the method includes:

[0093] S51, identifying the diseased blood vessel where the lesion is located according to the three-dimensional image;

[0094] S52, establishing a spatial coordinate system of the diseased blood vessel in the three-dimensional image;

[0095] S53, acquiring a reference coordinate system of the three-dimensional model of the human body in a lying position, aligning the spatial coordinate system of the diseased blood vessel with the reference coordinate system, and determining a transformation matrix between the two coordinate systems;

[0096] S54, calculating the spatial position coordinates of the diseased blood vessel in the reference coordinate system according to the transformation matrix;

[0097] S55, calculating the angle between the diseased blood vessel and the human body based on the spatial position coordinates to obtain the diseased blood vessel angle.

[0098] In this embodiment, step S51 may refer to step S21 in the above embodiment.

[0099] For steps S52 to S54, after obtaining the three-dimensional image model of the lesion and the diseased blood vessel, the system will automatically establish a three-dimensional spatial coordinate system, with the origin located at the center of the lesion, and the X-axis, Y-axis, and Z-axis are parallel to the left-right, front-back, and up-down directions of the human body, respectively. At the same time, a standard three-dimensional human body model data is obtained, and the model is in a supine position, and a corresponding reference coordinate system is constructed. The origin of the reference coordinate system is located at the geometric center of the human body, and the X-axis, Y-axis, and Z-axis are also parallel to the left-right, front-back, and up-down directions of the human body, respectively; by using an iterative nearest point algorithm, the spatial coordinate system is aligned with the reference coordinate system, and through continuous iteration, the optimal transformation matrix between the two coordinate systems is found, so that the positions of the aligned lesions and the diseased blood vessels in the human body model are closest to the actual positions.

[0100] Assuming that the transformation matrix is ​​T, and the coordinates of a point in the lesion coordinate system are (x1, y1, z1), then the coordinates of the point in the human body model coordinate system (x2, y2, z2) can be calculated by matrix multiplication, that is, (x2, y2, z2) = T × (x1, y1, z1).

[0101] By using the transformation matrix, the system can calculate the coordinates of any point on the center line of the diseased blood vessel in the reference coordinate system, and then obtain the relative position relationship between the center line and the human body.

[0102] For step S55, the system will respectively calculate the angular relationship between the center line of the diseased blood vessel and the sagittal or coronal plane of the human body, and determine the spatial position relationship between the diseased blood vessel and the three-dimensional model of the human body through coordinate registration and vector calculation, providing an important reference for subsequent surgical planning. This embodiment can accurately obtain the angular relationship of the diseased blood vessel relative to the human body through this method.

[0103] For step S13, in this embodiment, the imaging device includes a bed and an operating arm, the current state of the device includes the current state of the bed and the current state of the operating arm, the target state of the device includes the target state of the bed and the target state of the operating arm, and the states of the bed and the operating arm are monitored by the built-in sensor of the imaging device. The operating arm takes the C-arm of the digital subtraction angiography device as an example, the C-arm works with the bed, and the C-arm implementation angle is monitored by the sensor to obtain the current rotation angle information of the C-arm in the horizontal plane and the vertical plane, and the inclination angle and position information of the bed are collected by the position sensor on the bed, and this information can be used to determine the current position of the imaging device.

[0104] In one embodiment, Figure 6 As shown, the step of generating the target position of the imaging device according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle comprises:

[0105] S61, determining the geometric center point of the lesion according to the lesion parameters, and calculating the coordinates of the geometric center point in the reference coordinate system through the transformation matrix;

[0106] S62, obtaining the coordinates of the interventional surgery puncture point in the reference coordinate system, and calculating the operation path from the puncture point to the geometric center point in combination with the coordinates of the geometric center point, the lesion tangent angle, and the lesion blood vessel angle;

[0107] S63, determining the target position of the bed according to the operation path;

[0108] S64, based on the target position of the bed, obtaining a target implementation angle of the operating arm relative to the human body, and using the target implementation angle as the target position of the operating arm.

[0109] In this embodiment, the position of the bed will affect the angle setting of the operating arm, so it is necessary to adjust the position of the bed first and then adjust the operating arm.

[0110] When obtaining the target position of the bed, the direction and length of the operation path are obtained to determine the position and inclination of the bed to be reached, so as to ensure that the doctor can smoothly reach the geometric center point of the lesion for treatment.

[0111] The tangent angle of the lesion can be used to determine the optimal projection direction of the operating arm because it can help reduce the overlap between the lesion and the diseased blood vessel. The principle of the above formula is based on this. It can determine the target implementation angle of the operating arm in combination with the lesion blood vessel angle, so that the imaging device can clearly display the structure of the lesion.

[0112] In step S64, based on the target position of the bed, the target implementation angle of the operating arm relative to the human body is calculated by geometric projection combined with the lesion tangent angle and the lesion blood vessel angle, and the target implementation angle is used as the target position of the operating arm. The target implementation angle of the operating arm relative to the human body can be obtained by the following formula:

[0113]

[0114] Wherein, β is the target implementation angle, θ1 is the lesion tangent angle, and θ2 is the lesion blood vessel angle.

[0115] For step S14, this embodiment compares the current position of the bed with the target position of the bed to obtain the distance that the bed needs to be translated or lifted, and obtains the angle that the bed needs to be rotated based on the horizontal axis or the vertical axis as the first adjustment parameter. At the same time, the target implementation angle of the operating arm (the target position of the operating arm) and the current implementation angle (the current position of the operating arm) are compared to obtain the horizontal translation distance, horizontal rotation angle and vertical tilt angle of the operating arm as the second adjustment parameter. An adjustment instruction is generated based on the first adjustment parameter and the second adjustment parameter, and the adjustment instruction is sent to the control system of the imaging device, such as a digital subtraction angiography device, through a digital communication interface. After receiving the adjustment instruction, the control system of the imaging device determines the validity and safety of the adjustment instruction, for example, whether the instruction will cause the operating arm to collide with the bed. If the instruction is valid and safe, the adjustment instruction is executed, and the actuator of the imaging device adjusts the spatial position and angle of the operating arm and the bed according to the adjustment instruction to meet the surgical requirements. For example, the first adjustment parameter includes the angles that need to be rotated around the X-axis, the Y-axis, and the Z-axis, so that the position of the bed matches the human body model. By passing these angle values ​​as the first adjustment parameters to the control module of the bed, the motor is controlled to drive the bed to rotate around the three axes by corresponding angles until the target position is reached. For example, the second adjustment parameter includes the angles that the operating arm needs to rotate around the X-axis, the Y-axis, and the Z-axis in space, for example, -8 degrees around the X-axis, 15 degrees around the Y-axis, and 3 degrees around the Z-axis, so that the implementation angle of the operating arm matches the target tangent position. By passing the angle value to the control module of the operating arm, the motor is controlled to drive the operating arm to rotate to the target irradiation angle.

[0116] In the actual adjustment of this embodiment, the position of the bed is first adjusted by the first adjustment parameter, and finally the angle of the operating arm is adjusted by the second adjustment parameter. After the adjustment is completed, the imaging device will feedback the actual position parameters of the operating arm and the bed to confirm that the adjustment is in place, and make fine adjustments when necessary until the surgical needs are met. In this embodiment, the method will monitor the position and posture of the operating bed and the operating arm in real time. Once the deviation exceeds the threshold, the adjustment parameters will be automatically calculated and sent to the control module to ensure that the relative position between the imaging device and the human body always meets the surgical requirements, providing reliable hardware support for the smooth progress of the operation.

[0117] The present application reconstructs the three-dimensional image data of the blood vessels to automatically determine the lesion parameters, lesion tangent angle and lesion blood vessel angle of the lesion, and then generates the target position of the imaging device based on this, and adjusts the imaging device in combination with the current position of the imaging device to achieve the target position of the imaging device. This can not only reduce the adjustment complexity and improve the positioning accuracy and safety of the surgery, but also reduce the operation time, significantly improve the success rate and efficiency of interventional surgery, and reduce the radiation exposure of patients and doctors.

[0118] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0119] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0120] Further references Figure 7 , as a response to the above Figure 1 In order to realize the method shown in the figure, the present application provides an embodiment of a position adjustment device of an imaging device, and the device embodiment is Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0121] like Figure 7 As shown, the position adjustment device 7 of the imaging device described in this embodiment includes: a construction module 71, a parameter acquisition module 72, a position generation module 73 and a control module 74. Among them:

[0122] The construction module 71 is used to construct a three-dimensional image of the blood vessel, and identify the lesion and the diseased blood vessel where the lesion is located based on the three-dimensional image; the parameter acquisition module 72 is used to obtain the lesion parameters, lesion tangent angle, lesion blood vessel angle and current state of the instrument; the position generation module 73 is used to generate the instrument target state based on the lesion parameters, the lesion tangent angle and the lesion blood vessel angle; the control module 74 is used to adjust the instrument according to the current state of the instrument and the instrument target state to achieve the instrument target state.

[0123] This embodiment, by setting a device module corresponding to the position adjustment method of the imaging device, can reconstruct the three-dimensional image data of the blood vessel through the construction module 71, and then automatically determine the lesion parameters, lesion tangent angle and lesion blood vessel angle of the lesion through the parameter acquisition module 72, and then generate the target position of the imaging device through the position generation module 73, and finally adjust the imaging device in combination with the current position of the imaging device through the control module 74 to achieve the target position of the imaging device, which can not only reduce the adjustment complexity and improve the positioning accuracy and safety of the operation, but also reduce the operation time, significantly improve the success rate and efficiency of interventional surgery, and reduce the radiation exposure of patients and doctors.

[0124] To solve the above technical problems, the present application also provides a computer device. Figure 8 , Figure 8 This is a basic structural block diagram of the computer device in this embodiment.

[0125] The computer device 8 includes a memory 81, a processor 82, and a network interface 83 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 8 with components 81-83, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0126] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with a user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0127] The memory 81 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 81 can be an internal storage unit of the computer device 8, such as a hard disk or memory of the computer device 8. In other embodiments, the memory 81 can also be an external storage device of the computer device 8, such as a plug-in hard disk equipped on the computer device 8, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Of course, the memory 81 can also include both the internal storage unit of the computer device 8 and its external storage device. In this embodiment, the memory 81 is generally used to store the operating system and various application software installed on the computer device 8, such as the program code of the position adjustment method of the imaging device, etc. In addition, the memory 81 can also be used to temporarily store various types of data that have been output or are to be output.

[0128] The processor 82 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 82 is generally used to control the overall operation of the computer device 8. In this embodiment, the processor 82 is used to run the program code stored in the memory 81 or process data, such as running the program code of the position adjustment method of the imaging device.

[0129] The network interface 83 may include a wireless network interface or a wired network interface. The network interface 83 is generally used to establish a communication connection between the computer device 8 and other electronic devices.

[0130] This embodiment can effectively and accurately adjust the position of the imaging device by setting a computer device corresponding to the position adjustment method of the imaging device, so that the display position of the interventional instrument in the interventional surgery image is easier to observe.

[0131] The present application also provides another embodiment, namely, providing a computer-readable storage medium, which stores a position adjustment program for an imaging device, and the position adjustment program for the imaging device can be executed by at least one processor so that the at least one processor performs the steps of the imaging device position adjustment method as described above.

[0132] This embodiment can effectively and accurately adjust the position of the imaging device by setting a computer-readable storage medium corresponding to the position adjustment method of the imaging device, so that the display position of the interventional instrument in the interventional surgery image is easier to observe.

[0133] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0134] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A method for adjusting the position of an imaging device, characterized in that: include: Constructing three-dimensional images of blood vessels; Acquire lesion parameters, lesion tangent angles, lesion blood vessel angles, and a current position of an imaging device of the lesion according to the three-dimensional image; Generate an imaging device target position according to the lesion parameters, the lesion tangent angle, and the lesion blood vessel angle; The imaging device is adjusted according to the current position of the imaging device and the target position of the imaging device, so that the imaging device reaches the target position of the imaging device.

2. The method for adjusting the position of an imaging device according to claim 1, characterized in that: The step of acquiring the lesion parameters of the lesion according to the three-dimensional image comprises: identifying the lesion according to the three-dimensional image; Selecting a rectangle with the largest area on the cross section of the three-dimensional image region of the lesion, and using its long side as the long diameter of the lesion and its short side as the short diameter of the lesion; The volume size of a single voxel is obtained, where the volume of the voxel is predetermined when the three-dimensional image is constructed, the total number of voxels in the three-dimensional image area of ​​the lesion is counted to obtain the number of voxels of the lesion, and the volume of the lesion is calculated based on the number of voxels of the lesion and the volume of a single voxel.

3. The method for adjusting the position of an imaging device according to claim 2, characterized in that: The step of identifying the lesion according to the three-dimensional image comprises: The vascular structure image data in the three-dimensional image is acquired and analyzed, the lesion in the vascular structure image data is identified, and the position information of the lesion in the three-dimensional image is determined.

4. The method for adjusting the position of an imaging device according to claim 1, characterized in that: The step of obtaining the lesion tangent angle according to the three-dimensional image comprises: identifying the diseased blood vessel where the lesion is located according to the three-dimensional image; Obtaining a neck section of the lesion and determining a center point of the neck section, wherein the neck section is a plane where a junction line between the lesion and the diseased blood vessel is located; Acquire two-dimensional images of multiple tangent positions of the lesion with the center line of the diseased blood vessel as the axis, and select the tangent position whose neck section in the two-dimensional image is a straight line or close to a straight line as the target tangent position; Acquire the contour of the lesion in the two-dimensional image at the target tangent position, and take the point on the contour farthest from the center point as the distal end point; Determine a straight line connecting the center point and the distal end point, and use the angle between the straight line and the center line as the lesion tangent angle.

5. The method for adjusting the position of an imaging device according to claim 1, characterized in that: The step of obtaining the angle of the lesion blood vessel according to the three-dimensional image comprises: identifying the diseased blood vessel where the lesion is located according to the three-dimensional image; Establishing a spatial coordinate system of the diseased blood vessel in the three-dimensional image; Acquire a reference coordinate system of a three-dimensional model of a human body in a lying position, align the spatial coordinate system of the diseased blood vessel with the reference coordinate system, and determine a transformation matrix between the two coordinate systems; Calculating the spatial position coordinates of the diseased blood vessel in the reference coordinate system according to the transformation matrix; The angle between the diseased blood vessel and the human body is calculated based on the spatial position coordinates to obtain the diseased blood vessel angle.

6. The method for adjusting the position of an imaging device according to any one of claims 4 or 5, characterized in that: The step of identifying the diseased blood vessel where the lesion is located according to the three-dimensional image comprises: Determining the position information of the lesion in the three-dimensional image; The blood vessels around the lesion are tracked according to the position information to obtain a blood vessel segment connected to the lesion, and the blood vessel segment is determined to be a diseased blood vessel where the lesion is located.

7. The method for adjusting the position of an imaging device according to claim 5, characterized in that: The imaging device comprises a bed and an operating arm, and the imaging device target position comprises a bed target position and an operating arm target position; The step of generating a target position of an imaging device according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle comprises: Determine the geometric center point of the lesion according to the lesion parameters, and calculate the coordinates of the geometric center point in the reference coordinate system through the transformation matrix; Obtaining the coordinates of the interventional surgery puncture point in the reference coordinate system, and calculating the operation path from the puncture point to the geometric center point in combination with the coordinates of the geometric center point, the lesion tangent angle, and the lesion blood vessel angle; Determining the target position of the bed according to the operation path; Based on the target position of the bed, a target implementation angle of the operating arm relative to the human body is acquired, and the target implementation angle is used as the target position of the operating arm.

8. A position adjustment device for an imaging device, characterized in that: include: A construction module for constructing a three-dimensional image of a blood vessel; A parameter acquisition module, used for acquiring lesion parameters, lesion tangent angle, lesion blood vessel angle and current position of the imaging device of the lesion according to the three-dimensional image; A position generating module, used for generating a target position of an imaging device according to the lesion parameters, the lesion tangent angle and the lesion blood vessel angle; The control module is used to adjust the imaging device according to the current position of the imaging device and the target position of the imaging device to achieve the target position of the imaging device.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the position adjustment method of the imaging device according to any one of claims 1 to 7 when executing the computer-readable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the position adjustment method of the imaging device according to any one of claims 1 to 7 is implemented.

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