Vascular model reconstruction method and device, equipment, storage medium and program product

Abstract

The invention relates to a vascular model reconstruction method and device, equipment, a storage medium and a program product. The method comprises the following steps: acquiring first attribute information of a blood vessel and second attribute information of an interventional instrument; the second attribute information comprises position information, stress information and operation information; and according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, constructing a stress information model of the blood vessel to obtain a digital blood vessel model. According to the embodiment of the invention, the stress information model of the blood vessel can be comprehensively constructed according to the real and comprehensive first attribute information of the blood vessel and the position information, the stress information and the operation information of the interventional instrument, so that a more accurate digital blood vessel model can be obtained.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery, and in particular to a method, device, equipment, storage medium and program product for reconstructing a vascular model. Background Art

[0002] During interventional surgery, the surgeon needs to control the movement of catheters, guidewires and other instruments. Generally, the surgeon can remotely control the movement of interventional surgery robots to reduce the radiation dose to themselves. Since the forward, backward and rotation operations during interventional surgery carry the risk of damaging biological tissues with interventional instruments, interventional surgery robots need to be equipped with force feedback systems and reconstruct and model the vascular state based on mechanical signals to improve the safety factor of robotic surgery.

[0003] However, current methods for reconstructing vascular models suffer from low accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, equipment, storage medium and program product for reconstructing a vascular model that can improve the reconstruction accuracy of the vascular model in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a method for reconstructing a blood vessel model, comprising:

[0006] Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0007] According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

[0008] In one embodiment, constructing the force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain the digital blood vessel model includes:

[0009] constructing an initial blood vessel model according to the first attribute information of the blood vessel;

[0010] The digital blood vessel model is constructed based on the initial blood vessel model and the second attribute information of the interventional instrument.

[0011] In one embodiment, constructing the digital blood vessel model according to the initial blood vessel model and the second attribute information of the interventional instrument includes:

[0012] constructing a blood vessel model of the motion path of the interventional instrument according to the blood vessel data points on the motion path of the interventional instrument in the initial blood vessel model and the second attribute information of the interventional instrument;

[0013] Constructing a blood vessel model of the non-interventional device motion path according to the non-interventional device motion path in the initial blood vessel model;

[0014] The digital blood vessel model is obtained according to the blood vessel model of the interventional instrument motion path and the blood vessel model of the non-interventional instrument motion path.

[0015] In one embodiment, constructing a blood vessel model of the non-invasive device motion path according to the non-invasive device motion path in the initial blood vessel model includes:

[0016] constructing a target blood vessel model according to the motion path of the non-invasive device in the initial blood vessel model;

[0017] A vascular model whose similarity with the target vascular model is higher than a preset similarity threshold is searched from the vascular model database as the vascular model of the motion path of the non-invasive instrument.

[0018] In one embodiment, the method further comprises:

[0019] Acquiring intraoperative attribute information of the interventional device;

[0020] The intraoperative attribute information is input into the digital blood vessel model to predict the stress condition, thereby obtaining predicted stress information.

[0021] In one embodiment, the method further comprises:

[0022] Acquiring simulated surgical images, simulated force information, and intraoperative operation information of the simulated interventional instrument;

[0023] Inputting the intraoperative operation information into the digital blood vessel model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information;

[0024] adjusting the intraoperative operation information of the simulated interventional instrument according to the next frame of simulated surgical image and the next frame of simulated force information to obtain adjusted intraoperative operation information;

[0025] The adjusted intraoperative operation information is used as new intraoperative operation information, and the step of inputting the intraoperative operation information into the digital vascular model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information is returned to be executed until the simulated surgical process is completed.

[0026] In a second aspect, the present application also provides a device for reconstructing a blood vessel model, comprising:

[0027] An acquisition module, used to acquire first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0028] A construction module is used to construct a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model.

[0029] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0030] Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0031] According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0033] Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0034] According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

[0035] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0036] Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0037] According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

[0038] The above-mentioned reconstruction method, device, equipment, storage medium and program product of the blood vessel model obtain the first attribute information of the blood vessel and the second attribute information of the interventional instrument; the second attribute information includes position information, force information and operation information; according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, the force information model of the blood vessel is constructed to obtain a digital blood vessel model. The embodiment of the present application can comprehensively construct the force information model of the blood vessel based on the real and comprehensive first attribute information of the blood vessel and the position information, force information and operation information of the interventional instrument, so as to obtain a more accurate digital blood vessel model. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a diagram of an application environment of a method for reconstructing a blood vessel model in one embodiment;

[0041] Figure 2 is a schematic flow chart of a method for reconstructing a blood vessel model in one embodiment;

[0042] Figure 3 A schematic diagram of a construction process in an embodiment;

[0043] Figure 4 is a flow chart of constructing a digital blood vessel model in one embodiment;

[0044] Figure 5 A schematic diagram of a flow chart of a model building step in an embodiment;

[0045] Figure 6 A schematic diagram of a risk prediction method in one embodiment;

[0046] Figure 7 A schematic diagram of a process for predicting a stress condition in one embodiment;

[0047] Figure 8 A schematic diagram of a flow chart of a method for simulating a surgical procedure in one embodiment;

[0048] Fig. 9 A schematic diagram of a process flow for simulating a surgical procedure in one embodiment;

[0049] Fig.10 is a flow chart of a method for reconstructing a blood vessel model in another embodiment;

[0050] Fig.11 A schematic diagram of the overall process of constructing a digital blood vessel model in one embodiment;

[0051] Fig.12 FIG. 4 is a structural block diagram of a device for reconstructing a blood vessel model in one embodiment. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0054] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0055] 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.

[0056] During interventional surgery, the surgeon needs to control the movement of catheters, guidewires and other instruments. Traditional surgery requires doctors to perform the above operations for a long time in the presence of X-rays. After the emergence of interventional surgery robots, surgeons can generally remotely control the movement of interventional surgery robots to reduce their own radiation dose. Since the forward, backward and rotation operations during interventional surgery carry the risk of interventional instruments damaging biological tissues, interventional surgery robots need to be equipped with a force feedback system and reconstruct and model the vascular state based on mechanical signals to improve the safety factor of robotic surgery.

[0057] However, the current reconstruction methods of vascular models have many shortcomings. For example, the traditional reconstruction methods of vascular models are not based on the mechanical feedback system of the robot for analysis, so it is impossible to accurately judge the complex intraoperative risks. Therefore, the current reconstruction methods of vascular models have the problem of low accuracy.

[0058] After introducing the background technology of the blood vessel model reconstruction method provided by the embodiment of the present application, the implementation environment involved in the blood vessel model reconstruction method provided by the embodiment of the present application will be briefly described below. The blood vessel model reconstruction method provided by the embodiment of the present application can be applied to Figure 1 In the computer device shown. The computer device can be a terminal or a server, and the computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for reconstructing a vascular model is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0059] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific terminal may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0060] In one embodiment, Figure 2 As shown, a method for reconstructing a vascular model is provided, and the method is applied to Figure 1 The computer device in the example is used to illustrate, including the following steps:

[0061] S201, obtaining first attribute information of the blood vessel and second attribute information of the interventional instrument; the second attribute information includes position information, force information and operation information.

[0062] Among them, the first attribute information of the blood vessel may include but is not limited to the shape information and thickness information of the blood vessel, and the second attribute information of the interventional instrument may include but is not limited to the position information of the interventional instrument, the force information of the interventional instrument, and the operator's operation information on the interventional instrument. Exemplarily, the position information of the interventional instrument may be the spatial coordinates of the interventional instrument. In an embodiment of the present application, the computer device can obtain medical images based on the acquisition of medical imaging equipment, and can also synchronously or asynchronously obtain force sensor signals based on force sensors. Afterwards, the computer device can obtain the first attribute information of the blood vessel based on the medical image, and can obtain the position information of the interventional instrument and the force information of the interventional instrument by performing position identification and conversion on the interventional instrument based on the medical image and the force sensor signal. In addition, the computer device can also obtain the operator's operation information on the interventional instrument during the operation in real time or at a fixed time.

[0063] S202, constructing a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model.

[0064] In the embodiment of the present application, the computer device can obtain the force information of the interventional device when the interventional device is at a certain position in the blood vessel and the operator performs a certain surgical operation based on the first attribute information of the blood vessel and the second attribute information of the interventional device, so as to directly construct the force information model of the blood vessel to obtain a digital blood vessel model; or, the computer device can also first construct the force information model of the blood vessel based on the first attribute information of the blood vessel and the position information and force information of the interventional device to obtain an intermediate blood vessel model of the blood vessel through which the interventional device passes containing the force information, and then perform data expansion based on the intermediate blood vessel model, the position information, force information and operation information of the interventional device to obtain a digital blood vessel model. Of course, the embodiment of the present application does not limit the specific implementation method of constructing the digital blood vessel model. Among them, the digital blood vessel model refers to a blood vessel model that includes the force information of the blood vessel.

[0065] In the above-mentioned reconstruction method of the blood vessel model, the first attribute information of the blood vessel and the second attribute information of the interventional instrument are obtained; the second attribute information includes position information, force information and operation information; according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, the force information model of the blood vessel is constructed to obtain a digital blood vessel model. The embodiment of the present application can comprehensively construct the force information model of the blood vessel based on the real and comprehensive first attribute information of the blood vessel and the position information, force information and operation information of the interventional instrument, so as to obtain a more accurate digital blood vessel model.

[0066] In one embodiment, a method for constructing a digital blood vessel model is provided, namely, "constructing a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional device to obtain a digital blood vessel model" in the above S202. Figure 3 As shown, including:

[0067] S301, constructing an initial blood vessel model according to first attribute information of the blood vessel.

[0068] In the embodiment of the present application, the computer device can construct an initial blood vessel model using a preset blood vessel construction algorithm according to the first attribute information of the blood vessel. The blood vessel construction algorithm may include any one of a neural network algorithm or a deep learning algorithm. For example, Figure 4 As shown, Figure 4 is a flowchart of constructing a digital blood vessel model in one embodiment. Figure 4 (1) is a schematic diagram of an initial blood vessel model in one embodiment.

[0069] S302: construct a digital blood vessel model according to the initial blood vessel model and the second attribute information of the interventional device.

[0070] In the embodiment of the present application, optionally, the computer device can directly construct a digital vascular model based on the initial vascular model and the second attribute information of the interventional device; or, the computer device can first construct an intermediate vascular model based on the initial vascular model and the second attribute information of the interventional device, and then perform data expansion on the intermediate vascular model to obtain a digital vascular model. Of course, the embodiment of the present application does not limit the specific implementation method for constructing the digital vascular model.

[0071] Regarding the implementation method of first constructing an intermediate vascular model and then performing data expansion on the intermediate vascular model, exemplarily, the computer device can construct the force information model of the blood vessel based on the initial vascular model and the second attribute information of the interventional device using a preset force information construction algorithm to obtain the intermediate vascular model. Thus, optionally, the computer device can directly expand the above-mentioned intermediate vascular model to the area where the interventional device has not passed according to the position information, force information and operation information of the interventional device to obtain a digital vascular model; or, the computer device can also first perform data interpolation on the above-mentioned intermediate vascular model according to the position information, force information and operation information of the interventional device, and then expand the interpolated intermediate vascular model to the area where the interventional device has not passed to obtain a digital vascular model. Of course, the embodiments of the present application do not limit the specific implementation method of data expansion.

[0072] The force information construction algorithm may include any one of a neural network algorithm or a deep learning algorithm, and the intermediate vessel model refers to a vessel model of the vessel through which the interventional device passes, which includes force information. Figure 4 As shown, Figure 4 (2) is a schematic diagram of an intermediate blood vessel model in one embodiment, wherein: Figure 4 The small circles in (2) represent the blood vessel data points corresponding to the force information and position information, respectively. The information corresponding to each blood vessel data point includes the force information of the interventional device when the interventional device is at a certain position in the blood vessel and the surgeon performs a certain surgical operation. The data expansion process can expand the intermediate blood vessel model of the blood vessel through the path of the interventional device containing the force information to the area that the interventional device has not passed through. The data expansion process can include but is not limited to at least one of the processes of data interpolation, data search and transfer, etc.

[0073] In this embodiment, a true and accurate initial blood vessel model can be constructed based on the first attribute information of the blood vessel, and then a digital blood vessel model can be accurately constructed based on the true and accurate initial blood vessel model and comprehensive second attribute information of the interventional instrument.

[0074] In one embodiment, a method for obtaining a digital blood vessel model is provided, namely, "constructing a digital blood vessel model according to the initial blood vessel model and the second attribute information of the interventional device" in the above S302, such as Figure 5 As shown, including:

[0075] S401, constructing a blood vessel model of the motion path of the interventional instrument according to the blood vessel data points on the motion path of the interventional instrument in the intermediate blood vessel model of the initial blood vessel model and the second attribute information of the interventional instrument.

[0076] In the embodiment of the present application, the computer device can determine each vascular data point on the motion path of the interventional device from the initial vascular model or the intermediate vascular model according to the second attribute information of the interventional device, and perform data expansion according to each vascular data point on the motion path of the interventional device in the initial vascular model or the intermediate vascular model, so as to expand the discrete discrete vascular data points to obtain the vascular data points on the continuous surgical path of the interventional device, thereby constructing a vascular model of the motion path of the interventional device. In addition, the vascular model of the motion path of the interventional device can also be stored in the digital vascular model database. For example, Figure 4 As shown, Figure 4 (3) is a schematic diagram of a blood vessel model of a motion path of an interventional device in one embodiment, wherein: Figure 4 The small circles in (3) represent the blood vessel data points corresponding to the force information and position information. Figure 4 The dotted line in (3) represents the motion path of the interventional instrument.

[0077] In one embodiment, S401 includes:

[0078] The blood vessel data points on the motion path of the interventional device in the initial blood vessel model are interpolated to obtain the blood vessel model of the motion path of the interventional device.

[0079] In the embodiment of the present application, the computer device may use a preset interpolation algorithm to interpolate the blood vessel data points on the motion path of the interventional device in the initial blood vessel model or the intermediate blood vessel model to obtain the blood vessel model of the motion path of the interventional device. The preset interpolation algorithm may include but is not limited to any one of the interpolation algorithms such as the linear interpolation algorithm or the nonlinear interpolation algorithm, that is, the embodiment of the present application has no limitation on the preset interpolation algorithm.

[0080] For example, it is assumed that the information corresponding to each blood vessel data point includes the coordinates (x, y), the background force F0(x, y) of the interventional device when there is no operation, the operation A(x, y) at the position, and the force change F during the operation. A (x, y) and the total force F at the position (x, y) total =F0+F A , then the specific interpolation method can be:

[0081] For the blood vessel data point (x i ,y i ) and (x i+1 ,y i+1 ) between any blood vessel data point (x', y'), the corresponding background force F0' can be expressed as the following formula (1):

[0082]

[0083] Correspondingly, the force change when performing operation A at (x', y') can be calculated by using the nearest blood vessel data point (x j ,y j ), that is, the force change F at (x', y') A ' can be expressed as the following formula (2):

[0084]

[0085] Based on this, (x i ,y i ) and (x i+1 ,y i+1 ) between any blood vessel data point (x', y'), the total force F' during operation A total It can be expressed as the following formula (3):

[0086]

[0087] In this way, each blood vessel data point (x', y') can be interpolated.

[0088] S402: construct a blood vessel model of the non-invasive device motion path according to the non-invasive device motion path in the initial blood vessel model.

[0089] In the embodiment of the present application, the computer device can perform data expansion on the non-invasive device motion path in the initial vascular model or the intermediate vascular model according to the initial vascular model or the intermediate vascular model to construct a vascular model of the non-invasive device motion path. Figure 4 As shown, Figure 4 (4) is a schematic diagram of a digital blood vessel model in one embodiment, wherein: Figure 4 The small circles in (4) represent the blood vessel data points corresponding to the force information and position information. Figure 4 The long dashed line in (4) represents the motion path of the interventional device. Figure 4 The short dashed line in (4) represents the motion path of the non-interventional device, that is, the motion path that the interventional device has not passed.

[0090] In one embodiment, S402 includes:

[0091] The target blood vessel model is constructed according to the motion path of the non-invasive device in the initial blood vessel model.

[0092] A vascular model whose similarity with the target vascular model is higher than a preset similarity threshold is searched from the vascular model database as the vascular model of the motion path of the non-interventional device.

[0093] In the embodiment of the present application, the computer device can model the shape of the non-interventional device motion path in the initial vascular model or the intermediate vascular model, and construct a target vascular model corresponding to the non-interventional device motion path. In addition, multiple vascular models containing force information can be stored in the digital vascular model database in advance. Afterwards, the computer device can use a preset similarity determination algorithm to determine the similarity between the stored multiple vascular models and the target vascular model from the digital vascular model database, so that the vascular model with a similarity higher than the preset similarity threshold can be found, and the vascular model with the similarity higher than the preset similarity threshold is determined as the vascular model of the non-interventional device motion path. In this way, the mechanical information can be extended to the vascular path area that the interventional device has not passed. Among them, the preset similarity determination algorithm can include but is not limited to any one of the algorithms such as the matrix similarity comparison algorithm or the artificial intelligence algorithm, that is, the embodiment of the present application has no limitation on the preset similarity determination algorithm. For example, the vascular model with a similarity higher than the preset similarity threshold with the target vascular model can be the vascular model with the highest similarity with the target vascular model.

[0094] For example, for mechanical reconstruction of blood vessels not in the motion path of the interventional surgical instrument, a normalized square matrix M' corresponding to the target blood vessel model can be constructed based on the shape of the blood vessels not in the motion path of the interventional surgical instrument. nxn , and then the matrix M' nxn The blood vessel shape matrix M corresponding to the existing blood vessel model in the digital blood vessel model database k nxn Perform similarity comparison. Exemplarily, the similarity comparison method of the matrix M can be to use the matrix deviation value to perform one-by-one comparison, and the formula for determining the matrix deviation value is shown in the following formula (4):

[0095]

[0096] Among them, the matrix deviation value R k The closer it is to 0, the higher the similarity between the matrices, and the higher the fit between the blood vessel shapes. Based on this, the computer device can determine R k The minimum blood vessel shape matrix M k ij , and R k The minimum blood vessel shape matrix M k ij The corresponding blood vessel model is determined as the blood vessel model of the non-interventional device motion path to expand the data of the blood vessel area that the interventional device has not passed through.

[0097] S403, obtaining a digital blood vessel model according to the blood vessel model of the motion path of the interventional device and the blood vessel model of the motion path of the non-interventional device.

[0098] In an embodiment of the present application, the computer device can combine the vascular model of the interventional instrument motion path and the vascular model of the non-interventional instrument motion path into one model to obtain a digital vascular model.

[0099] In this embodiment, a vascular model of the motion path of the interventional instrument can be constructed based on the vascular data points on the motion path of the interventional instrument in the initial vascular model, and the discrete discrete vascular data points can be expanded to obtain the vascular data points on the continuous surgical path of the interventional instrument. Afterwards, a vascular model of the motion path of the non-interventional instrument can be constructed based on the motion path of the non-interventional instrument in the initial vascular model, and the data of the motion path of the non-interventional instrument in the initial vascular model can be expanded. Thus, based on the vascular model of the motion path of the interventional instrument and the vascular model of the motion path of the non-interventional instrument, a digital vascular model of the area where the interventional instrument passes through the path blood vessels and the area where the interventional instrument does not pass through the path blood vessels containing force information can be completely and accurately obtained.

[0100] In one embodiment, a risk prediction implementation method is provided, such as Figure 6 As shown, the above-mentioned blood vessel model reconstruction method further includes:

[0101] S203, obtaining intraoperative attribute information of the interventional device.

[0102] S204, inputting the intraoperative attribute information into the digital blood vessel model to predict the stress condition, and obtaining predicted stress information.

[0103] In the present application embodiment, Figure 7 As shown, Figure 7A flowchart for predicting force conditions in an embodiment. S701, the computer device can obtain the intraoperative attribute information of the interventional instrument in real time or periodically, wherein the intraoperative attribute information can include but is not limited to at least one of the information such as the intraoperative position information of the interventional instrument, the intraoperative force information of the interventional instrument, and the intraoperative operation information of the operator on the interventional instrument. Since the embodiment of the present application can expand the mechanical information corresponding to the discrete vascular data points on the motion path of the interventional instrument in the initial vascular model to the vascular path area that the interventional instrument has not passed through, thereby obtaining a digital vascular model, the digital vascular model can include not only the vascular data points on the continuous surgical path of the interventional instrument, but also the motion path of the non-interventional instrument in the initial vascular model. Based on this, the digital vascular model can be used to predict the movement and force conditions on the motion path of the non-interventional instrument, so the digital vascular model can be used to predict the movement and force conditions that the interventional instrument will produce. That is, in S702, the computer device can input the intraoperative attribute information into the digital vascular model to predict the force condition, so that the digital vascular model inputs the intraoperative attribute information related to the movement generated by the interventional device into the intraoperative risk prediction module, so that the intraoperative risk prediction module can predict the movement and force condition that the interventional device will generate according to the above data expansion method, and obtain the predicted force information. Among them, the predicted force information is used to characterize whether there is a risk during the operation of the interventional device.

[0104] Based on this, S703, the computer device can determine whether there is a risk in the operation of the interventional instrument during the operation based on the predicted force information. For example, it can determine whether there is a risk in the operation of the interventional instrument during the operation by judging whether the predicted force information exceeds the preset vascular force threshold. S704. If it is determined that there is no risk in the operation of the interventional instrument during the operation, the intraoperative operation information can be output; S705. If it is determined that there is a risk in the operation of the interventional instrument during the operation, an early warning can be issued before the intraoperative risk occurs. Of course, the embodiments of the present application do not limit the specific implementation methods of the preset vascular force threshold and the early warning.

[0105] In this embodiment, the intraoperative attribute information of the interventional device is obtained, and then the intraoperative attribute information is input into the digital vascular model to predict the force condition to obtain the predicted force information. According to the intraoperative attribute information, the state of the blood vessels near the interventional device can be reconstructed in real time during the interventional surgery, so that early warning can be given before the intraoperative risk occurs, which can improve the safety of the interventional surgery.

[0106] In one embodiment, a method for implementing a simulated surgical procedure is provided, such as Figure 8 As shown, the above-mentioned blood vessel model reconstruction method further includes:

[0107] S205, obtaining simulated surgical images, simulated force information, and intraoperative operation information of simulated interventional instruments.

[0108] S206, inputting the intraoperative operation information into the digital blood vessel model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information.

[0109] S207, adjusting the intraoperative operation information of the simulated interventional instrument according to the next frame of simulated surgical image and the next frame of simulated force information to obtain adjusted intraoperative operation information.

[0110] S208, using the adjusted intraoperative operation information as new intraoperative operation information, returning to the step of inputting the intraoperative operation information into the digital vascular model for processing, generating the next frame of simulated surgical image and the next frame of simulated force information, until the simulated surgical process is completed.

[0111] In the present application embodiment, Fig. 9 As shown, Fig. 9 FIG. 1 is a flow chart of simulating a surgical procedure in an embodiment. The digital blood vessel model can be used with a surgical simulation system to Figure 4 The surgical simulation system can interact in a manner, and the surgical simulation system is communicatively connected with the computer device. S901, the computer device can directly obtain the simulated surgical image, simulated force information and intraoperative operation information of the simulated interventional instrument, and output the simulated surgical image, simulated force information and intraoperative operation information of the simulated interventional instrument to an external user. In addition, since the digital vascular model of the embodiment of the present application can include not only the vascular data points on the continuous surgical path of the interventional instrument, but also the motion path of the non-interventional instrument in the initial vascular model, based on this, during the execution of the simulated interventional surgery, the digital vascular model can be used to reconstruct the force information of the blood vessels on the motion path and non-motion path near the simulated interventional instrument in real time, so that the movement and force conditions of the simulated interventional instrument in the next frame can be predicted based on the force information of the blood vessels on the motion path and non-motion path near the simulated interventional instrument. Thus, after receiving the simulated surgical image, simulated force information and intraoperative operation information of the simulated interventional instrument, the external user can, S902, notify the computer device to input the intraoperative operation information of the simulated interventional instrument into the digital vascular model for processing, and thus predict the next frame of motion information of the simulated interventional instrument, the next frame of simulated surgical image and the next frame of simulated force information of the simulated interventional instrument based on the digital vascular model.

[0112] Afterwards, S903, the computer device can transmit the next frame of simulated surgical image and the next frame of simulated force information of the simulated interventional instrument to the external user of the surgical simulation system, so that the external user of the surgical simulation system can obtain the next frame of simulated surgical image and the next frame of simulated force information of the simulated interventional instrument, and adjust the intraoperative operation information of the simulated interventional instrument according to the next frame of simulated surgical image and the next frame of simulated force information to obtain the adjusted intraoperative operation information. Thus, the computer device can use the adjusted intraoperative operation information as the new intraoperative operation information of the interventional instrument, and return to execute the step of inputting the intraoperative operation information into the digital vascular model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information. That is, it can be understood that the computer device can input the new intraoperative operation information into the digital vascular model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information, and adjust the new intraoperative operation information according to the next frame of simulated surgical image and the next frame of simulated force information to obtain the adjusted intraoperative operation information again, until the simulated surgical process is ended. In this way, the process of conducting robotic automatic interventional surgery can be simulated. It should be noted that “ending the simulated surgical process” in the embodiment of the present application does not mean that the simulated surgical process must be completed. Of course, “ending the simulated surgical process” also means that the simulated surgical process can be stopped or ended at any time during the simulated surgical process.

[0113] Among them, the external users of the system (referred to as system users) may include but are not limited to users who call the model, including humans and / or artificial intelligence algorithms. Optionally, if the system user is a human, the mechanical information needs to be fed back to the human through a variety of replaceable methods; if the force feedback handle of the interventional surgery robot is used to transmit the mechanical information, the above process can be used to train the surgeon to perform robotic interventional surgery; if a flexible force feedback glove is used to transmit the corresponding mechanical information to the user, the above process can be used to train doctors to perform traditional interventional surgery; if the system user is a specific automatic surgery algorithm, the above process can be used to train the algorithm model to perform robotic automatic interventional surgery.

[0114] In this embodiment, based on the interaction between the digital vascular model and the surgical simulation system, the algorithm model can be trained in a digital vascular simulation environment that contains mechanical information and is close to real blood vessels, to simulate the process of conducting robotic automatic interventional surgery, improve the degree of simulation of the training scene relative to actual application, and also improve the efficiency of algorithm training and the safety of automatic surgery. Based on this, it can be used for doctor teaching and training, which can improve the learning curve of doctors from related surgical methods to learning interventional surgical robot systems, improve the consistency of the operator's perception in preoperative teaching and training and actual operation of the operation, and can lower the learning threshold of interventional surgical robots.

[0115] In an optional embodiment, if Fig.10As shown, a method for reconstructing a blood vessel model is provided, which is applied to a computer device and includes:

[0116] S21, obtaining first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0117] S22, constructing an initial blood vessel model according to the first attribute information of the blood vessel;

[0118] S23, constructing an intermediate blood vessel model according to the initial blood vessel model and the second attribute information of the interventional device;

[0119] S24, performing interpolation processing on the blood vessel data points on the motion path of the interventional device in the intermediate blood vessel model to obtain a blood vessel model of the motion path of the interventional device;

[0120] S25, constructing a target blood vessel model according to the motion path of the non-invasive device in the intermediate blood vessel model;

[0121] S26, searching a vascular model with high similarity to the target vascular model from a vascular model database as the vascular model of the motion path of the non-invasive device;

[0122] S27, obtaining a digital blood vessel model according to the blood vessel model of the interventional device motion path and the blood vessel model of the non-interventional device motion path.

[0123] Among them, Fig.11 As shown, Fig.11 The figure is a schematic diagram of the overall process of constructing a digital blood vessel model in one embodiment. S1101, the computer device can obtain medical images based on the acquisition of medical imaging equipment, and S1102, can also synchronously or asynchronously obtain force sensor signals based on force sensors. Afterwards, the computer device can obtain the first attribute information of the blood vessel based on the medical image, and, S1103, can obtain the position information of the interventional instrument and the force information of the interventional instrument by performing position identification conversion on the interventional instrument based on the medical image and the force sensor signal. In addition, S1104, the computer device can also obtain the operator's operation information on the interventional instrument during the operation in real time or at a fixed time. Thus, S1105, the computer device can also summarize the first attribute information of the blood vessel, the position information of the interventional instrument, the force information of the interventional instrument, and the operation information, and use the summarized information for data expansion to construct a digital blood vessel model.

[0124] In addition, the specific implementation method of risk prediction and the specific implementation method of simulated surgical procedures have been described in the above embodiments and will not be repeated here.

[0125] In the above-mentioned reconstruction method of the blood vessel model, the first attribute information of the blood vessel and the second attribute information of the interventional instrument are obtained; the second attribute information includes position information, force information and operation information; according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model. The embodiment of the present application can comprehensively construct a force information model of the blood vessel based on the real and comprehensive first attribute information of the blood vessel and the position information, force information and operation information of the interventional instrument, so that a more accurate digital blood vessel model can be constructed based on force feedback and medical imaging information, as well as combining multiple information in the digital blood vessel model database.

[0126] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0127] Based on the same inventive concept, the embodiment of the present application also provides a device for reconstructing a vascular model for implementing the above-mentioned method for reconstructing a vascular model. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in the embodiments of the device for reconstructing one or more vascular models provided below can refer to the limitations of the method for reconstructing a vascular model in the above text, and will not be repeated here.

[0128] In an exemplary embodiment, Fig.12 As shown, a device for reconstructing a blood vessel model is provided, comprising: an acquisition module 31 and a construction module 32, wherein:

[0129] The acquisition module 31 is used to acquire first attribute information of the blood vessel and second attribute information of the interventional instrument; the second attribute information includes position information, force information and operation information.

[0130] The construction module 32 is used to construct a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model.

[0131] In one embodiment, the building block 32 includes:

[0132] A first construction unit, configured to construct an initial blood vessel model according to first attribute information of the blood vessel;

[0133] The second construction unit is used to construct a digital blood vessel model according to the initial blood vessel model and the second attribute information of the interventional instrument.

[0134] In one embodiment, the second building block comprises:

[0135] A first construction subunit is used to construct a blood vessel model of the motion path of the interventional instrument according to the blood vessel data points on the motion path of the interventional instrument in the initial blood vessel model and the second attribute information of the interventional instrument;

[0136] A second construction subunit is used to construct a blood vessel model of the non-interventional device motion path according to the non-interventional device motion path in the initial blood vessel model;

[0137] The generating subunit is used to obtain a digital blood vessel model according to the blood vessel model of the motion path of the interventional device and the blood vessel model of the motion path of the non-interventional device.

[0138] In one of the embodiments, the second construction subunit is specifically used to: construct a target vascular model based on the non-interventional device motion path in the initial vascular model; and search from a vascular model database for a vascular model whose similarity with the target vascular model is higher than a preset similarity threshold as the vascular model of the non-interventional device motion path.

[0139] In one embodiment, the above-mentioned blood vessel model reconstruction device further includes:

[0140] A first information acquisition module is used to acquire intraoperative attribute information of the interventional device;

[0141] The prediction module is used to input the intraoperative attribute information into the digital vascular model to predict the stress condition and obtain the predicted stress information.

[0142] In one embodiment, the above-mentioned blood vessel model reconstruction device further includes:

[0143] The second information acquisition module is used to acquire simulated surgical images, simulated force information, and intraoperative operation information of simulated interventional instruments;

[0144] A first processing module is used to input the intraoperative operation information into the digital blood vessel model for processing, and generate the next frame of simulated surgical image and the next frame of simulated force information;

[0145] An adjustment module, used for adjusting the intraoperative operation information of the simulated interventional instrument according to the next frame of simulated surgical image and the next frame of simulated force information, to obtain adjusted intraoperative operation information;

[0146] The second processing module is used to use the adjusted intraoperative operation information as new intraoperative operation information, return to execute the step of inputting the intraoperative operation information into the digital vascular model for processing, generate the next frame of simulated surgical image and the next frame of simulated force information, until the simulated surgical process is completed.

[0147] Each module in the above-mentioned blood vessel model reconstruction device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0148] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 1 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for reconstructing a vascular model is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0149] Those skilled in the art will understand that Figure 1 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0150] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0151] Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information;

[0152] According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

[0153] In one embodiment, a force information model of the blood vessel is constructed based on the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model, and the processor further implements the following steps when executing the computer program:

[0154] constructing an initial blood vessel model according to the first attribute information of the blood vessel;

[0155] A digital blood vessel model is constructed based on the initial blood vessel model and the second attribute information of the interventional device.

[0156] In one embodiment, a digital blood vessel model is constructed based on the initial blood vessel model and the second attribute information of the interventional device, and the processor further implements the following steps when executing the computer program:

[0157] Constructing a vascular model of the motion path of the interventional device according to the vascular data points on the motion path of the interventional device in the initial vascular model and the second attribute information of the interventional device;

[0158] According to the motion path of the non-invasive device in the initial blood vessel model, a blood vessel model of the motion path of the non-invasive device is constructed;

[0159] A digital blood vessel model is obtained according to the blood vessel model of the motion path of the interventional device and the blood vessel model of the motion path of the non-interventional device.

[0160] In one embodiment, a blood vessel model of the non-invasive device motion path is constructed according to the non-invasive device motion path in the initial blood vessel model, and the processor further implements the following steps when executing the computer program:

[0161] Constructing a target blood vessel model according to the motion path of the non-invasive device in the initial blood vessel model;

[0162] A vascular model whose similarity with the target vascular model is higher than a preset similarity threshold is searched from the vascular model database as the vascular model of the motion path of the non-interventional device.

[0163] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0164] Obtaining intraoperative attribute information of interventional devices;

[0165] The intraoperative attribute information is input into the digital vascular model to predict the stress conditions and obtain the predicted stress information.

[0166] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0167] Acquire simulated surgical images, simulated force information, and simulated intraoperative operation information of interventional devices;

[0168] Inputting the intraoperative operation information into the digital vascular model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information;

[0169] adjusting intraoperative operation information of the simulated interventional device according to the next frame of simulated surgical image and the next frame of simulated force information to obtain adjusted intraoperative operation information;

[0170] The adjusted intraoperative operation information is used as new intraoperative operation information, and the step of inputting the intraoperative operation information into the digital vascular model for processing is returned to generate the next frame of simulated surgical image and the next frame of simulated force information until the simulated surgical process is completed.

[0171] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0172] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0173] It should be noted that the information of users, operators or doctors involved in this application (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0174] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0175] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0176] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for reconstructing a blood vessel model, characterized in that: The method comprises: Acquiring first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information; According to the first attribute information of the blood vessel and the second attribute information of the interventional instrument, a force information model of the blood vessel is constructed to obtain a digital blood vessel model.

2. The method according to claim 1, characterized in that The step of constructing a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model includes: constructing an initial blood vessel model according to the first attribute information of the blood vessel; The digital blood vessel model is constructed based on the initial blood vessel model and the second attribute information of the interventional instrument.

3. The method according to claim 2, characterized in that The step of constructing the digital blood vessel model according to the initial blood vessel model and the second attribute information of the interventional instrument comprises: constructing a blood vessel model of the motion path of the interventional instrument according to the blood vessel data points on the motion path of the interventional instrument in the initial blood vessel model and the second attribute information of the interventional instrument; Constructing a blood vessel model of the non-interventional device motion path according to the non-interventional device motion path in the initial blood vessel model; The digital blood vessel model is obtained according to the blood vessel model of the interventional instrument motion path and the blood vessel model of the non-interventional instrument motion path.

4. The method according to claim 3, characterized in that The step of constructing a blood vessel model of the non-invasive device motion path according to the non-invasive device motion path in the initial blood vessel model includes: constructing a target blood vessel model according to the motion path of the non-invasive device in the initial blood vessel model; A vascular model whose similarity with the target vascular model is higher than a preset similarity threshold is searched from the vascular model database as the vascular model of the motion path of the non-invasive instrument.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Acquiring intraoperative attribute information of the interventional device; The intraoperative attribute information is input into the digital blood vessel model to predict the stress condition, thereby obtaining predicted stress information.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Acquire simulated surgical images, simulated force information, and simulated intraoperative operation information of interventional devices; Inputting the intraoperative operation information into the digital blood vessel model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information; adjusting the intraoperative operation information of the simulated interventional instrument according to the next frame of simulated surgical image and the next frame of simulated force information to obtain adjusted intraoperative operation information; The adjusted intraoperative operation information is used as new intraoperative operation information, and the step of inputting the intraoperative operation information into the digital vascular model for processing to generate the next frame of simulated surgical image and the next frame of simulated force information is returned to be executed until the simulated surgical process is completed.

7. A device for reconstructing a blood vessel model, characterized in that: The device comprises: An acquisition module, used to acquire first attribute information of the blood vessel and second attribute information of the interventional device; the second attribute information includes position information, force information and operation information; A construction module is used to construct a force information model of the blood vessel according to the first attribute information of the blood vessel and the second attribute information of the interventional instrument to obtain a digital blood vessel model.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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