Dynamic coronary artery blood vessel path design method and system based on DSA image technology

Abstract

The invention discloses a method and a system for designing a dynamic coronary artery blood vessel path based on a DSA image technology, which are used for designing the dynamic coronary artery path in real time and guiding a working guide wire by detecting an opening of an image catheter before and during an operation and performing two-stage registration. The design of the real-time dynamic coronary artery path can help an experienced operator to push the guide wire according to the fitted blood vessel deformation, whether the guide wire is in the coronary artery main branch or the coronary artery branch is known in real time, and unnecessary operation, the irradiated X-ray amount and the contrast agent injection amount are reduced. In addition, the deformation of the main branch reversely poured to the distal end of the occluded section in contralateral radiography is fitted, an operator is assisted in operating the working guide wire to point to the correct distal end of the coronary artery, and the situation that the working guide wire is perforated due to the fact that the contralateral radiography is not prepared and the pointing direction is unknown is avoided.

Description

Technical Field

[0001] The present invention relates to the field of medical imaging technology, and in particular to a design method and system for a dynamic coronary artery vascular pathway based on DSA imaging technology. Background Art

[0002] With the improvement of living standards, the incidence of coronary heart disease has increased year by year. As one of the important ways to treat coronary heart disease, the amount of coronary artery intervention has also increased significantly. The existing coronary artery intervention technology has the following problems:

[0003] 1. The operation of the guide wire is crucial in coronary intervention. Experienced operators understand the morphology of the coronary artery by referring to the image and send the guide wire to the distal end of the coronary artery; however, young operators lack experience and need to be exposed to more X-rays and angiography before they can send the guide wire to the distal end of the coronary artery. Excessive exposure to X-rays will harm the body of the operator and the patient, and using too much contrast agent will damage the patient's renal function.

[0004] 2. For lesions of small blood vessels and severe stenosis, even with sufficient balloon dilation, it is still impossible to see the appropriate landing point of the stent during angiography positioning. It is necessary to roughly determine the landing point based on experience and reference to previous angiography images. However, occasionally the stent is implanted too distally or the stent does not completely cover the lesion.

[0005] 3. Chronic total occlusion is one of the most complex lesions in coronary intervention. It is characterized by large amount of X-ray exposure, large amount of contrast agent used, high difficulty and high cost. When trying to open CTO lesions, two guiding catheters are often required, one for contralateral angiography to observe reverse collateral circulation and guide the forward working guidewire, and the other for reverse opening of the occluded segment lesion. This increases the patient's trauma, the amount of contrast agent, and the difficulty and complexity of the operation. At present, there are no technical products that can solve this problem in clinical practice. Although there are some related studies, there are no relevant innovative improvements. Summary of the invention

[0006] The present invention aims to address the deficiencies of the prior art and to propose a design method and system for a dynamic coronary artery vascular pathway based on DSA imaging technology.

[0007] The object of the present invention is achieved through the following technical solution: a method for designing a dynamic coronary artery vascular path based on DSA imaging technology, characterized in that the method comprises the following steps:

[0008] (1) Obtain preoperative and intraoperative coronary angiography images and perform vascular segmentation;

[0009] (2) Detect the catheter opening position on preoperative and intraoperative images, and segment the guidewire on intraoperative images to confirm the guidewire tip;

[0010] (3) determining the translation variable based on the catheter opening detection position result to obtain the first stage registration result of the preoperative image frame;

[0011] (4) Taking the catheter opening position as a reference, find the matching segment with the same distance as the catheter opening in the direction of the vascular centerline to obtain the best matching stage, and use the guidewire starting point as a reference to determine the starting point of the vascular centerline search. Evaluate the first stage registration result with the minimum Euclidean distance to determine whether it meets the requirements. If it meets the requirements, execute step (6), otherwise, perform the second stage registration of step (5);

[0012] (5) The guide wire is translated toward the center of the matching segment based on the center position of the best matching segment to obtain the second stage registration result;

[0013] (6) The Euclidean distance and the smallest frame are used to generate the corresponding registration results as the best matching frames. Based on the registered image results, the dynamic coronary artery path is designed and the working guidewire is guided.

[0014] Furthermore, in step (1), blood vessel segmentation is performed using an image segmentation model, and a cardiac cycle sequence when the contrast agent is fully filled is selected.

[0015] Furthermore, in step (2), when performing opening detection, the catheter opening position is corrected by combining similar frames of preoperative and intraoperative images.

[0016] Furthermore, in step (2), when performing guidewire segmentation, the mis-segmentation and unsegmented results are corrected by combining adjacent frames.

[0017] Furthermore, the iou maximum value is used to determine the first-stage and second-stage registration results of the preoperative image frame.

[0018] On the other hand, the present invention also provides a dynamic coronary artery vascular path design system based on DSA imaging technology, characterized in that the system comprises:

[0019] The coronary image acquisition module acquires preoperative and intraoperative coronary angiography images and performs vascular segmentation;

[0020] The catheter opening detection module detects the catheter opening position in preoperative and intraoperative images, and performs guidewire segmentation in intraoperative images;

[0021] The first-stage registration module determines the translation variable based on the catheter opening detection position result to obtain the first-stage registration result of the preoperative image frame;

[0022] The registration result evaluation module uses the catheter opening position as a reference, searches for a matching segment with the same distance as the guidewire opening in the direction of the blood vessel centerline, obtains the best matching stage, and evaluates the first-stage registration result with the minimum Euclidean distance to determine whether it meets the requirements. If it meets the requirements, execute step (6), otherwise, execute the second-stage registration of step (5);

[0023] The second-stage registration module translates the target based on the center position of the best matching segment to obtain the second-stage registration result;

[0024] The registration result generation module uses the Euclidean distance and the smallest frame to generate the corresponding registration result as the best matching frame, designs the dynamic coronary artery path and guides the working guidewire based on the registered image results.

[0025] Furthermore, when performing blood vessel segmentation, a cardiac cycle sequence when the contrast agent is fully filled is selected.

[0026] Furthermore, when performing opening detection, the catheter opening position is corrected by combining the close frames of preoperative and intraoperative images.

[0027] Furthermore, when performing guidewire segmentation, adjacent frames are combined to correct mis-segmentation and unsegmented results.

[0028] Furthermore, the iou maximum value is used to determine the first-stage and second-stage registration results of the preoperative image frame.

[0029] Beneficial effects of the present invention: The design of the real-time dynamic coronary artery path proposed by the present invention can help inexperienced operators push the guide wire according to the fitted vascular shape, and know in real time whether the guide wire is in the main branch or branch of the coronary artery, thereby reducing unnecessary operations, the amount of X-rays exposed, and the amount of contrast agent injected. In addition, the shape of the main branch of the distal end of the occluded segment in the contralateral angiography is fitted to assist the operator in operating the working guide wire to point to the correct distal end of the coronary artery, thus avoiding perforation of the working guide wire due to unclear pointing of the unprepared contralateral angiography. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 It is a schematic diagram of the dynamic path design of the present invention;

[0032] Figure 2 The target vessel segmentation of the present invention is to extract a cardiac cycle sequence.

[0033] Figure 3 It is the target blood vessel opening detection translation registration image of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with the accompanying drawings and implementation examples. It should be understood that the specific implementation examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] like Figure 1 As shown, the present invention provides a method for designing a dynamic coronary artery vascular path based on DSA imaging technology, the method comprising the following steps:

[0036] 1. Based on X-ray tube irradiation, the preoperative angiography images of patients with coronary heart disease are collected through a flat-panel detector and displayed on a computer;

[0037] 2. Perform vascular segmentation on preoperative images using an image segmentation model and select a cardiac cycle sequence when the contrast agent is fully filled.

[0038] 3. Perform catheter opening detection on preoperative images after vascular segmentation, and correct the catheter opening position by combining similar frames.

[0039] 4. Based on the flat-panel detector, the patient's intraoperative images are acquired and the guidewire is segmented. The mis-segmented and unsegmented results are corrected by combining adjacent frames to confirm the guidewire tip.

[0040] 5. Perform catheter opening detection on intraoperative images and correct the catheter opening position based on adjacent frames.

[0041] 6. One-stage registration: The initial translation variable is determined by using the coordinate difference of the catheter opening position in the preoperative and intraoperative images. After the translation, a small-range registration variable search is performed on this basis. The search translation amount is (-10, 10) pixels, and the rotation angle is (-10, 10) pixels. The iou maximum value is used to determine the one-stage registration result of the preoperative image frame.

[0042] 7. One-stage matching segment screening and index evaluation: Based on the one-stage registration results, with the catheter opening position as the reference, find the matching segment with the same distance as the catheter opening in the direction of the vascular centerline. Use the guidewire starting point as a reference to determine the starting point of the vascular centerline search. Use the +-80 coordinate point as the search range. Use the minimum Euclidean distance as the screening criterion for the best matching segment and as the evaluation index for the one-stage registration results.

[0043] 8. If the x,y position offset of the matching segment of the result of the first-stage registration is less than 20 and the evaluation index is greater than 20, then perform the second-stage registration, otherwise execute step 12.

[0044] 9. Two-stage registration: The second stage is based on the center position of the matching segment. The working guide wire moves toward the center of the matching segment with the center position of the matching segment as a reference, and is corrected by the translation amount (-5, 5) and the rotation angle (-5, 5). The maximum value of iou is used to determine the second-stage registration result of the preoperative image frame.

[0045] 10. Two-stage matching segment screening and indicator evaluation.

[0046] 11. Preoperative image registration frame determination and evaluation result output: Use the Euclidean distance and the smallest frame to generate the corresponding registration result as the best matching frame. The smallest Euclidean distance is the evaluation result of the matching relationship.

[0047] 12. Design the dynamic coronary artery pathway and guide the working guidewire based on the registered imaging results.

[0048] Figure 2 In order to select the frame with the longest blood vessel centerline in the contrast agent-filled state, namely frame 46, as a threshold, the initial frame, namely frame 32, is found forward, and a cardiac cycle sequence is determined by 15 frames, namely frame 47, backward from the initial frame.

[0049] Figure 3 The circumflex branch is extracted for coronary angiography segmentation processing, and the first stage of translation is performed according to the position of the catheter opening; the second stage of translation fine-tuning is performed according to the position of the matching segment center.

[0050] Corresponding to the embodiment of the above-mentioned method for designing a dynamic coronary artery vascular path based on DSA imaging technology, the present invention also provides a system for designing a dynamic coronary artery vascular path based on DSA imaging technology. The specific implementation process of the system specifically refers to the implementation steps of the above-mentioned design method. The system specifically includes:

[0051] The coronary image acquisition module acquires preoperative and intraoperative coronary angiography images, performs vascular segmentation, and selects a cardiac cycle sequence when the contrast agent is fully filled;

[0052] The catheter opening detection module detects the catheter opening position on preoperative and intraoperative images, corrects the catheter opening position by combining the adjacent frames of the preoperative and intraoperative images, and performs guidewire segmentation on the intraoperative images, and corrects the mis-segmentation and unsegmented results by combining the adjacent frames;

[0053] The first-stage registration module determines the translation variable based on the catheter opening detection position result to obtain the first-stage registration result of the preoperative image frame;

[0054] The registration result evaluation module uses the catheter opening position as a reference to find the matching segment with the same distance as the guidewire opening in the direction of the vascular centerline to obtain the best matching stage, and uses the maximum value of iou to determine the first-stage registration result of the preoperative image frame. The first-stage registration result is evaluated with the minimum Euclidean distance to determine whether it meets the requirements. If it meets the requirements, step (6) is executed, otherwise the second-stage registration of step (5) is performed;

[0055] The second-stage registration module translates the target based on the center position of the best matching segment and uses the maximum value of iou to determine the second-stage registration result of the preoperative image frame;

[0056] The registration result generation module uses the Euclidean distance and the smallest frame to generate the corresponding registration result as the best matching frame, designs the dynamic coronary artery path and guides the working guidewire based on the registered image results.

[0057] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A method for designing a dynamic coronary artery vascular path based on DSA imaging technology, characterized in that: The method comprises the following steps: (1) Obtain preoperative and intraoperative coronary angiography images and perform vascular segmentation; (2) Detect the catheter opening position on preoperative and intraoperative images, and segment the guidewire on intraoperative images to confirm the guidewire tip; (3) determining the translation variable based on the catheter opening detection position result to obtain the first stage registration result of the preoperative image frame; (4) Taking the catheter opening position as a reference, find the matching segment with the same distance as the catheter opening in the direction of the vascular centerline to obtain the best matching stage, and use the guidewire starting point as a reference to determine the starting point of the vascular centerline search. Evaluate the first stage registration result with the minimum Euclidean distance to determine whether it meets the requirements. If it meets the requirements, execute step (6), otherwise, perform the second stage registration of step (5); (5) The guide wire is translated toward the center of the matching segment based on the center position of the best matching segment to obtain the second stage registration result; (6) The Euclidean distance and the smallest frame are used to generate the corresponding registration results as the best matching frames. Based on the registered image results, the dynamic coronary artery path is designed and the working guidewire is guided.

2. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 1, characterized in that: In step (1), blood vessel segmentation is performed using an image segmentation model, and a cardiac cycle sequence when the contrast agent is fully filled is selected.

3. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 1, characterized in that: In step (2), when performing opening detection, the catheter opening position is corrected by combining similar frames of preoperative and intraoperative images.

4. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 1, characterized in that: In step (2), when performing guidewire segmentation, the mis-segmentation and unsegmented results are corrected by combining adjacent frames.

5. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 1, characterized in that: The maximum value of iou is used to determine the first-stage and second-stage registration results of the preoperative image frames.

6. A dynamic coronary artery vascular path design system based on DSA imaging technology, characterized in that: The system includes: The coronary image acquisition module acquires preoperative and intraoperative coronary angiography images and performs vascular segmentation; The catheter opening detection module detects the catheter opening position in preoperative and intraoperative images, and performs guidewire segmentation in intraoperative images; The first-stage registration module determines the translation variable based on the catheter opening detection position result to obtain the first-stage registration result of the preoperative image frame; The registration result evaluation module uses the catheter opening position as a reference, searches for a matching segment with the same distance as the guidewire opening in the direction of the blood vessel centerline, obtains the best matching stage, and evaluates the first-stage registration result with the minimum Euclidean distance to determine whether it meets the requirements. If it meets the requirements, execute step (6), otherwise, execute the second-stage registration of step (5); The second-stage registration module translates the target based on the center position of the best matching segment to obtain the second-stage registration result; The registration result generation module uses the Euclidean distance and the smallest frame to generate the corresponding registration result as the best matching frame, designs the dynamic coronary artery path and guides the working guidewire based on the registered image results.

7. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 6, characterized in that: When performing vessel segmentation, select a cardiac cycle sequence when the contrast agent is fully filled.

8. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 6, characterized in that: When performing opening detection, the catheter opening position is corrected by combining the close frames of preoperative and intraoperative images.

9. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 6, characterized in that: When performing guidewire segmentation, adjacent frames are combined to correct mis-segmentation and non-segmentation results.

10. The method for designing a dynamic coronary artery vascular path based on DSA imaging technology according to claim 6, characterized in that: The maximum value of iou is used to determine the first-stage and second-stage registration results of the preoperative image frames.

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