Intravascular stent auxiliary windowing method, device and system and storage medium

Abstract

The invention relates to an intravascular stent auxiliary windowing method, device and system, computer equipment, a storage medium and a computer program product. The intravascular stent auxiliary windowing method comprises the following steps: constructing a first intravascular stent model based on a three-dimensional image of a blood vessel; displaying the first intravascular stent model on a first intravascular stent object in an overlapping manner; a virtual window hole contour in a preset circumferential range on the first intravascular stent model forms a mapping contour on the first intravascular stent real object, and the mapping contour is used for assisting in forming a windowing mark on the first intravascular stent real object; and rotation information is acquired, so that the first intravascular stent model and the first intravascular stent real object can synchronously rotate based on the rotation information. According to the method, the requirement for precise punching in a large range in the circumferential direction of the first intravascular stent can be met, and punching assistance in multiple positions in the circumferential direction of the first intravascular stent is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of in vitro fenestration of vascular stents, and in particular to a vascular stent-assisted fenestration method, a vascular stent-assisted fenestration device, a vascular stent-assisted fenestration system, a computer device, a computer-readable storage medium and a computer program product. Background Art

[0002] In some current surgical treatments, it is often necessary to place a first vascular stent in a first blood vessel, and place a second vascular stent in a second blood vessel connected to the first blood vessel, so that the first vascular stent is connected to the second vascular stent to complete the reconstruction of the first blood vessel and the second blood vessel. Based on this, a hole needs to be opened on the first vascular stent to allow the second vascular stent to extend into.

[0003] At present, when opening holes on the first vascular stent, most of them use the method of in vitro pre-opening of windows. In vitro pre-opening of windows is based on the patient's scanned image data, and the first vascular stent is punched before the first vascular stent is placed in the human body. However, in the related technology, it is currently impossible to achieve accurate opening of windows at multiple positions on the circumference of the first vascular stent. Summary of the invention

[0004] Based on this, it is necessary to provide a vascular stent assisted window opening method, a vascular stent assisted window opening device, a vascular stent assisted window opening system, computer equipment, computer readable storage medium and computer program product, which can meet the needs of more precise drilling at multiple positions on the circumference of the first vascular stent and realize drilling assistance at multiple positions on the circumference.

[0005] A vascular stent-assisted fenestration method, the method comprising:

[0006] Constructing a first vascular stent model based on a three-dimensional image of the blood vessel;

[0007] Overlaying and displaying the first vascular stent model on the first vascular stent object;

[0008] The virtual window hole contour within a preset circumferential range on the first vascular stent model is formed into a mapping contour on the first vascular stent object, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object;

[0009] The rotation information is acquired so that the first vascular stent model and the first vascular stent object can rotate synchronously based on the rotation information.

[0010] In one embodiment, the method further comprises:

[0011] An error range is acquired, and an error range contour is formed on the first vascular stent object based on the mapping contour and the error range.

[0012] In one embodiment, the method further comprises:

[0013] Overlapping and fitting the image of the window mark and the corresponding virtual window hole contour;

[0014] It is determined whether the overlap between the image of the window mark and the corresponding virtual window hole contour exceeds an error range.

[0015] In one of the embodiments, after the mapping outline is formed, if an image locking message is received, the position of the first vascular stent model is locked; if an image unlocking message is received, the current position of the first vascular stent model is read and updated in real time.

[0016] The present application also proposes a vascular stent auxiliary window opening device, the vascular stent auxiliary window opening device comprising:

[0017] A model building module, used for building a first blood vessel stent model based on a three-dimensional image of the blood vessel;

[0018] A superimposed display module, used for superimposing and displaying the first vascular stent model on the first vascular stent object;

[0019] A mapping module, used to make the virtual window hole contour within a preset circumferential range on the first vascular stent model form a mapping contour on the first vascular stent object, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object;

[0020] The model rotation module is used to obtain rotation information so that the first vascular stent model and the first vascular stent object can rotate synchronously based on the rotation information.

[0021] The present application also proposes a vascular stent-assisted window opening system, the vascular stent-assisted window opening system comprising:

[0022] A conveying device, used for installing the first vascular stent;

[0023] A rotating device, connected to the conveying device and used to drive the conveying device to rotate;

[0024] A controller is used to execute the method.

[0025] In one embodiment, the rotating device comprises:

[0026] A first fixing mechanism, fixed to one end of the conveying device along a first direction, wherein the first direction is the length direction of the conveying device;

[0027] A second fixing mechanism, fixed to the other end of the conveying device along the first direction;

[0028] A first end plate, rotatably connected to the first fixing mechanism so that the two can rotate relative to each other around the first direction;

[0029] A second end plate is rotatably connected to the second fixing mechanism so that the two can rotate relative to each other around the first direction; the second end plate is slidably connected to the first end plate so that the two can slide relative to each other along the first direction;

[0030] The first fixing mechanism is configured to be operably rotated around the first direction to drive the conveying device to rotate synchronously.

[0031] In one embodiment, the rotating device includes a sliding assembly, and the sliding assembly is located on one side of the conveying device along a second direction, and the second direction is perpendicular to the first direction;

[0032] The sliding assembly includes a plurality of sliding rods arranged along the first direction, and any adjacent sliding rods are slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is used as a head sliding rod, and one located at the other end along the first direction is used as a terminal sliding rod. The head sliding rod is connected to the first end plate, and the terminal sliding rod is connected to the second end plate.

[0033] In one embodiment, the first end sliding rod is rotatably connected to the first end plate, the terminal sliding rod is rotatably connected to the second end plate, the first fixing mechanism includes a first gear, the second fixing mechanism includes a second gear, the sliding assembly includes a third gear and a fourth gear, the third gear is connected to the first end sliding rod, the fourth gear is connected to the terminal sliding rod, the first gear is meshed with the third gear and the transmission ratio is 1, and the second gear is meshed with the fourth gear and the transmission ratio is 1.

[0034] In one embodiment, the first fixing mechanism comprises a first clamping member, a first rotating sleeve and a first locking member, the first rotating sleeve passes through the first end plate and the two are rotatably connected, the first clamping member is installed on the first rotating sleeve, and the first clamping member is sleeved on the outside of the handle of the conveying device, and the first locking member can be threadedly connected with the first rotating sleeve to press against the outer wall of the first clamping member, so that the first clamping member holds the handle tightly;

[0035] And / or, the second fixing mechanism includes a second clamping member, a second rotating sleeve and a second locking member, the second rotating sleeve passes through the second end plate and the two are rotatably connected, the second clamping member is installed on the second rotating sleeve, and the second clamping member is sleeved on the outside of the guide head of the conveying device, and the second locking member can be threadedly connected to the second rotating sleeve to press against the outer wall of the second clamping member so that the second clamping member holds the guide head tightly.

[0036] In one embodiment, the rotating device includes a rotating knob connected to the first fixing mechanism, and the first end plate is provided with an annular slide groove extending around the first direction, and the annular slide groove includes a plurality of first groove portions and second groove portions alternately arranged along its own circumference, and the depth of the second groove portion is greater than that of the first groove portion. A spring plunger is provided on the rotating knob, and the spring plunger extends into the annular slide groove and elastically abuts against the slide groove wall.

[0037] The present application also proposes a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method when executing the computer program.

[0038] The present application also proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described above are implemented.

[0039] The present application also proposes a computer program product, comprising a computer program, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0040] The above-mentioned vascular stent assisted window opening method, vascular stent assisted window opening device, vascular stent assisted window opening system, computer equipment, computer readable storage medium and computer program product, based on the three-dimensional image of the blood vessel, construct a first vascular stent model, and then superimpose it on the first vascular stent object, so that the first vascular stent model and each area on the first vascular stent object are in a one-to-one mapping relationship, and the area mapped by the virtual window hole contour on the first vascular stent model on the first vascular stent object is the subsequent actual window opening position. Usually, due to the limitation of the observation angle, the observer can only see the virtual window hole contour within the preset circumferential range (towards the observer side), and the virtual window hole contours at other circumferential positions are in the visual blind spot and cannot be seen temporarily. The virtual window hole contour within the preset circumferential range on the first vascular stent model forms a mapping contour on the first vascular stent object, and the mapping contour can help the observer mark the window opening mark on the first vascular stent object based on the mapping contour. Obtain rotation information, so that the first vascular stent model and the first vascular stent model can rotate synchronously based on the rotation information. After the first vascular stent model is rotated, the virtual window hole outline displayed within the preset circumferential range can be updated, so that the virtual window hole outline previously located in the blind spot of vision enters the range. After the rotation, the first vascular stent model and each area on the first vascular stent object are still in a one-to-one mapping relationship. Then, the virtual window hole outline that falls into the preset circumferential range after the rotation and update is again formed into a mapping outline on the first vascular stent object, which can help the observer to mark another window mark on the first vascular stent object based on the mapping outline. In this way, it can assist in marking window marks at multiple positions on the circumference of the first vascular stent, meeting the needs of precise drilling within a larger range on the circumference of the first vascular stent. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the process of a vascular stent-assisted window opening method in one embodiment of the present application.

[0042] Figure 2 It is a schematic flow chart of a vascular stent-assisted window opening method in another embodiment of the present application.

[0043] Figure 3 It is a schematic flow chart of a vascular stent-assisted window opening method in yet another embodiment of the present application.

[0044] Figure 4 It is a schematic diagram of a sub-process of a vascular stent-assisted window opening method in another embodiment of the present application.

[0045] Figure 5 It is a schematic diagram of a sub-process of a bracket-assisted window opening method in one embodiment of the present application.

[0046] Figure 6 It is a schematic diagram of a sub-process of a vascular stent-assisted window opening method in one embodiment of the present application.

[0047] Figure 7 It is a schematic diagram of the structure of a rotating device, a conveying device and a first vascular stent in one embodiment of the present application.

[0048] Figure 8 for Figure 7 A schematic diagram of the structure of the components shown from another perspective.

[0049] Fig. 9 It is a cross-sectional view of a rotating device, a conveying device and a first vascular stent in one embodiment of the present application.

[0050] Fig.10 for Fig. 9 A partial enlarged view of the first fixing mechanism and the first end plate.

[0051] Fig.11 for Fig. 9 A partial enlarged view of the second fixing mechanism and the second end plate.

[0052] Fig.12 Schematic diagram of the structure of the first end plate in one embodiment of the present application.

[0053] Fig.13 Schematic diagram of the structure of the first clamping member in one embodiment of the present application.

[0054] Fig.14 It is a schematic structural diagram of a rotating device, a conveying device and a first vascular stent in another embodiment of the present application.

[0055] Fig.15 It is a cross-sectional view of a rotating device, a conveying device and a first vascular stent in another embodiment of the present application.

[0056] Fig.16 1 is a diagram of the internal structure of a computer device in one embodiment of the present application.

[0057] Reference numerals:

[0058] 120, first vascular stent; 200, delivery device; 210, handle; 220, guide head; 230, delivery tube; 300, rotating device; 310, first fixing mechanism; 311, first gear; 312, first clamping member; 3121, clamping part; 3122, notch; 313, first rotating sleeve; 314, first locking member; 315, rotating knob; 316, spring plunger; 320, second fixing mechanism; 321, second gear; 322, second clamping member; 323, second rotating shaft Sleeve; 324, second locking member; 330, first end plate; 331, annular slide groove; 3311, first groove portion; 3312, second groove portion; 340, second end plate; 350, sliding assembly; 351, head end sliding rod; 352, end sliding rod; 3531, third gear; 3532, third gear shaft; 3541, fourth gear; 3542, fourth gear shaft; 360, guide assembly; 361, slide rail; 400, telescopic assembly; 410, telescopic cylinder; 411, rod portion; 412, notch. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0060] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0061] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0063] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0065] In one embodiment, Figure 1 As shown, a method for assisting fenestration of a vascular stent is provided, comprising the following steps:

[0066] S100, constructing a first blood vessel stent model based on the three-dimensional image of the blood vessel.

[0067] Among them, a three-dimensional reconstruction method can be used to reconstruct a three-dimensional model of the target blood vessel (the first blood vessel and each second blood vessel). Exemplarily, in an embodiment of the present application, the first blood vessel can be the aorta, and the second blood vessel is a branch blood vessel connected to the aorta. The DICOM data obtained based on CT angiography (CT angiography is abbreviated as CTA in English, and the full name is CT angiography in English) is segmented and reconstructed to segment the true lumen and false lumen of the aorta and each branch blood vessel. The unit used for segmentation and reconstruction can be obtained in the following way: according to the CTA DICOM data, through machine learning training, the tissue identification units of the aortic arch, the abdominal aorta trunk and the corresponding branch blood vessels are identified and marked, and the marked tissue is converted into a grid model for three-dimensional reconstruction and rendering. Among them, the user can set the transparency, color and development characteristics of each tissue according to personal habits. And the true lumen and false lumen of the aorta can be fine-tuned, that is, the contour line is manually drawn to adjust the true lumen and false lumen to ensure the accuracy of the true lumen and false lumen. In this way, a three-dimensional image of the blood vessel can be presented for the user to view.

[0068] A first vascular stent model is constructed based on the three-dimensional image of the blood vessel, including a stent body and a window hole (virtual window hole outline) opened on the stent body. The first vascular stent model carries the window opening information of the virtual window hole outline, and the window opening information includes position information and size information. Among them, the position information is the window opening position, and the size information is the window opening radius. Since the three-dimensional image of the blood vessel is formed based on CT angiography, it can truly reflect the personalized differences of the patient's blood vessels. The first vascular stent model constructed based on the three-dimensional image can better match the patient and the accuracy will be higher.

[0069] S200 , superimposing and displaying the first vascular stent model on the first vascular stent object 120 .

[0070] Specifically, the first vascular stent model is a three-dimensional image, and the first vascular stent object 120 is a physical component. The two need to be matched and aligned to make them "overlap" to achieve a similar effect of copying a calligraphy copy. After the user wears the augmented reality device, he can observe the first vascular stent model and the first vascular stent object 120 at the same time. The augmented reality device can be AR glasses or HoloLens, etc.

[0071] The user issues a registration instruction by operating the positioning button on the operation panel, and the controller completes the registration of the first vascular stent model with the first vascular stent object 120. The registration of the first vascular stent model with the first vascular stent object 120 can be achieved in the following manner:

[0072] A reference plane is set, and a reference coordinate system set on the reference plane is obtained, so that the position of the first vascular stent object 120 in the reference coordinate system can be obtained; the augmented reality device observes the reference plane in real time through a camera to determine the position of the reference plane in the camera coordinate system, thereby, based on the position of the first vascular stent object 120 in the reference coordinate system and the position of the reference plane in the camera coordinate system, the image of the first vascular stent model and the first vascular stent object 120 are registered, so that in the real scene, the image of the first vascular stent model is superimposed and displayed on the first vascular stent object 120. The reference plane can be a plane, and can carry a QR code that is convenient for the camera of the augmented reality device to observe.

[0073] S310 , forming a mapping contour on the first vascular stent object 120 from a virtual window contour within a preset circumferential range on the first vascular stent model, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object 120 .

[0074] It can be understood that since the first vascular stent model and the first vascular stent object 120 are both cylindrical, the user can only observe the side of the two facing the user, and the area not facing the user belongs to the visual blind spot. The preset circumferential range is the area of ​​the first vascular stent model that the user can see under a fixed observation angle. As mentioned above, after the first vascular stent model is superimposed and displayed on the first vascular stent object 120, an effect similar to copying a copybook can be achieved. The multiple virtual window hole contours in the first vascular stent model are mapped one-to-one on the first vascular stent object 120 to form corresponding mapping contours.

[0075] The user uses a marking piece to mark the mapped contour on the first vascular stent object 120, so as to form a window mark, so as to facilitate the subsequent punching at the window mark. Specifically, the marking piece can be a marking pen. Alternatively, the marking piece can also be an electric knife, and the user directly uses the electric knife to pre-punch at the mapped contour.

[0076] S400: Obtain rotation information so that the first vascular stent model and the first vascular stent object 120 can rotate synchronously based on the rotation information.

[0077] As mentioned above, the user can only observe the side of the first vascular stent model and the first vascular stent object 120 facing the user, and the area not facing the user belongs to the visual blind spot. Then, after forming a window mark, the first vascular stent model and the first vascular stent object 120 need to be rotated synchronously so that the virtual window hole contour in the previous visual blind spot can be observed. The rotation information includes the rotation direction and the rotation angle, such as 60 degrees forward or 60 degrees reverse. A fixed single rotation angle value, such as 60 degrees, can be preset, and the user can input the rotation angle in the rotation information by operating the clockwise or counterclockwise button on the operation panel. The rotation order of the first vascular stent model and the first vascular stent object 120 is not limited and can be interchanged. When the first vascular stent model rotates synchronously based on the rotation information, the virtual window hole contour in the previous visual blind spot enters the preset circumferential range and can be observed by the user. After that, repeat step S310 to form a window mark on the first vascular stent object 120. By repeating steps S310 and S400 for many times, all virtual fenestration outlines can form fenestration marks on the first vascular stent object 120 .

[0078] The above-mentioned vascular stent assisted window opening method constructs a first vascular stent model based on the three-dimensional image of the blood vessel, and then superimposes and displays it on the first vascular stent physical object 120. Then, the first vascular stent model and each area on the first vascular stent physical object 120 are in a one-to-one mapping relationship, and the area mapped by the virtual window hole contour on the first vascular stent model on the first vascular stent physical object 120 is the subsequent actual window opening position. Usually, due to the limitation of the observation angle, the observer can only see the virtual window hole contour within the preset circumferential range (towards the observer side), and the virtual window hole contours at other circumferential positions are in the visual blind spot and cannot be seen temporarily. The virtual window hole contour within the preset circumferential range on the first vascular stent model forms a mapping contour on the first vascular stent physical object 120, and the mapping contour can help the observer mark the window opening mark on the first vascular stent physical object 120 based on the mapping contour. Obtain rotation information so that the first vascular stent model and the first vascular stent physical object 120 can rotate synchronously based on the rotation information. After the first vascular stent model is rotated, the virtual window hole contour displayed within the preset circumferential range can be updated, so that the virtual window hole contour previously located in the blind spot of vision enters the range. After the rotation, the first vascular stent model and each area on the first vascular stent object 120 are still in a one-to-one mapping relationship. Then, the virtual window hole contour that falls into the preset circumferential range after the rotation and update is formed into a mapping contour on the first vascular stent object 120, which can help the observer to mark another window mark on the first vascular stent object 120 based on the mapping contour. In this way, it can assist in marking the window marks at multiple positions on the circumference of the first vascular stent, meeting the needs of accurate drilling within a larger range on the circumference of the first vascular stent.

[0079] In some embodiments, the first vascular stent object 120 is first rotated, and its rotation information (rotation direction and angle) is obtained, the rotation information is input through the operation panel, and then the first vascular stent model is controlled to rotate synchronously. In other embodiments, the rotation information can also be input through the operation panel first, the first vascular stent model is controlled to rotate based on the rotation information, and then the first vascular stent object 120 is also rotated synchronously based on the rotation information.

[0080] In some embodiments, the controller automatically controls the rotation of the first vascular stent object 120. For example, a driving member for driving the first vascular stent object 120 to rotate is connected to the controller in communication, and the controller controls the driving member to realize the rotation control of the first vascular stent object 120. In other embodiments, the rotation of the first vascular stent object 120 can also be realized by manual operation.

[0081] See also Figure 2 In some embodiments, the vascular stent-assisted fenestration method further comprises:

[0082] The error range is acquired, and an error range contour is formed on the first vascular stent object 120 based on the mapping contour and the error range.

[0083] Specifically, while forming the mapping contour, an error range contour is also formed. The error range can be manually set in advance, and the mapping contour is the optimal window opening contour. There is a certain deviation between the error range contour and the mapping contour, but as long as the position deviation of the formed window opening mark does not exceed the error range, it can be considered to meet the requirements. It can be understood that the error range contour is a concentric circle located outside the mapping contour. Preferably, the error range contour and the mapping contour are displayed in different colors to facilitate user distinction.

[0084] In this embodiment, by setting the error range contour, when the user marks the window opening mark based on the mapping contour, a relatively accurate guidance can be provided, and inexperienced users can also quickly get started, reducing the difficulty of operation. When marking, the user needs to try to ensure that the window opening mark does not exceed the error range contour, so that the window opening mark can be avoided as much as possible to exceed the error range, improve the marking accuracy, and then improve the subsequent punching accuracy.

[0085] In a specific embodiment, the mapping contour is a circle with a diameter of 1 mm, and the error range contour is a circle concentric with the circle and with a diameter of 1.2 mm.

[0086] See also Figure 3 In some embodiments, the vascular stent-assisted fenestration method further comprises:

[0087] S500, overlapping and fitting the image of the window opening mark and the corresponding virtual window hole contour;

[0088] S600, determining whether the overlap between the image of the window mark and the corresponding virtual window hole contour exceeds an error range.

[0089] Specifically, after forming the window mark on the first vascular stent object 120, the image of the window mark is obtained, and its contour is overlapped with the corresponding virtual window hole contour. The overlap between the two can be obtained in the following way: calculate the area of ​​the overlapping area of ​​the two, and calculate the ratio of the overlapping area to the area of ​​the virtual window hole contour, and pre-set a threshold. If the calculated ratio is lower than the threshold, it means that the overlap between the two is low, the marking accuracy is low, and re-marking is required. In this way, after the window mark is formed, its accuracy can be verified and evaluated, which is convenient for users to know whether the marking result is accurate in time, and then find out the problem and quickly accumulate practical experience.

[0090] See also Figure 4 In some embodiments, overlapping and fitting the image of the window mark and the corresponding virtual window hole contour includes:

[0091] S510, acquiring an image of a window opening mark;

[0092] S520: Overlap the image of the window mark with the center of the circle of the corresponding virtual window hole contour.

[0093] Specifically, the augmented reality device obtains an image of the window mark through camera photography, and overlaps it with the center of the virtual window hole contour to achieve overlapping fitting of the two.

[0094] Typically, the first vascular stent object 120 includes a metal frame and a film layer applied thereon. When the mapping contour is formed as described above, if the mapping contour coincides with the metal frame on the first vascular stent object 120, position interference will be caused when punching. Therefore, when encountering such a situation, it is necessary to fine-tune the position of the mapping contour so that it is offset from the metal frame. Typically, the user only needs to drag the first vascular stent model by hand to move its position so that it is offset from the metal frame. Of course, it is also possible not to move the first vascular stent model, but to offset the mapping contour when marking the window mark so as to offset the position of the metal frame.

[0095] See also Figure 1 In some embodiments, after the mapping contour is formed, if an image locking message is received, the position of the first vascular stent model is locked; if an image unlocking message is received, the current position of the first vascular stent model is read and updated in real time.

[0096] As mentioned above, when the position of the mapping contour needs to be fine-tuned, it is achieved by the user manually dragging the first vascular stent model. In the process of adjusting the position of the mapping contour and forming the window mark, if the user's hand touches the first vascular stent model, it may cause it to shift and reduce the accuracy of the mark. Therefore, after adjusting the position of the mapping contour, the user presses the operation button on the operation panel to issue an image lock message. When the controller receives the image lock message, it will lock the position of the first vascular stent model, and it will not shift even if it is accidentally touched. When the user needs to drag the first vascular stent model again, just press the operation button on the operation panel and send an image unlock message to unlock it. At this time, the position dragging of the first vascular stent model is no longer restricted. When the first vascular stent model is unlocked, its position may change, so it is necessary to update its mapping position on the first vascular stent object 120 in real time.

[0097] See also Figure 5 In some embodiments, constructing a first vascular stent model based on the three-dimensional image of the blood vessel includes:

[0098] S110, obtaining information of a starting point and an end point selected on the center line of the first blood vessel, extracting a segment of the center line of the first blood vessel between the starting point and the end point to generate an extracted segment center line, and obtaining the diameter of the first blood vessel corresponding to the starting point and the end point;

[0099] S120, constructing a first blood vessel straightening model based on the centerline of the first blood vessel and the diameters of the first blood vessel corresponding to the starting point and the end point;

[0100] S130, constructing a first blood vessel stent model based on the first blood vessel straightening model.

[0101] As mentioned above, a three-dimensional reconstruction method is used to reconstruct a three-dimensional model of the target blood vessel, and the portion corresponding to the first blood vessel in the three-dimensional model is a first blood vessel bending model. In the three-dimensional model, the center lines of the first blood vessel and the second blood vessel are displayed. The user inputs selection information, and the selection information includes the starting point and the end point selected on the center line of the first blood vessel. When selecting the starting point and the end point, it is necessary to ensure that the area to be reconstructed on the first blood vessel and the window hole connected to the second blood vessel to be reconstructed are located in the area between the starting point and the end point. The controller extracts the center line of the first blood vessel based on the selection information, and extracts the segment between the starting point and the end point, which is the center line of the extracted segment. At the same time, the diameter of the first blood vessel at the starting point and the diameter of the first blood vessel at the end point are calculated, and the average of the two is calculated to obtain the average diameter. The center line of the extracted segment is straightened as the central axis, and the average diameter is used as the radius to form a straightened model of the first blood vessel without holes. Among them, when the center line of the extracted segment is straightened, its length can be calculated, and a straight line can be generated with this length. After the non-porous first blood vessel straightening model is formed, the fenestrations on the first blood vessel bending model are scaled based on the windowing information in the blood vessel image data, and fenestrations are formed on the non-porous first blood vessel straightening model to obtain the first blood vessel straightening model with fenestrations.

[0102] Scaling the window holes on the first blood vessel bending model may specifically include the following steps: for any window hole on the first blood vessel bending model, obtaining the connecting lines from the window hole to two adjacent points on the center line of the extracted segment, and obtaining the angle between the two connecting lines; scaling the window holes on the first blood vessel bending model according to the change in the size of the angle before and after the center line of the extracted segment is straightened.

[0103] Exemplarily, for the window i of the first vascular bending model, the lines connecting the window to two adjacent points on the center line of the extracted segment can be obtained to obtain two lines, and the angle formed by the two lines is determined; during the straightening process of the center line of the extracted segment, the size of the angle will change, and the window i is scaled according to the change in the size of the angle, thereby improving the accuracy of window opening.

[0104] Scaling the window on the first vascular bending model according to the change in the angle before and after the center line of the extracted segment is straightened, which may specifically include: taking the size of the angle before the center line of the extracted segment is straightened as the first angle value; taking the size of the angle after the center line of the extracted segment is straightened as the second angle value; and scaling the area of ​​the window of the first vascular bending model according to the ratio between the first angle value and the second angle value.

[0105] Exemplarily, before the center line of the extracted segment is straightened, the angle corresponding to the fenestration i is 130°, and after the center line of the extracted segment is straightened, the angle corresponding to the fenestration i is 150°. According to the ratio of 130° and 150°, the area of ​​the fenestration i on the first blood vessel bending model can be scaled to determine the area of ​​the fenestration i on the first blood vessel straightened model without a hole, thereby obtaining the first blood vessel straightened model with a hole.

[0106] See also Figure 6 In some embodiments, constructing a first blood vessel stent model based on the first blood vessel straightening model includes:

[0107] S131, generating a non-porous first blood vessel stent model based on the extracted segment centerline and the preset tube diameter;

[0108] S132, obtaining diameter mutation region information in the first blood vessel straightening model, and obtaining size information of the virtual window hole contour based on the diameter mutation region information;

[0109] S133, obtaining position information of a virtual window hole contour based on an intersection of the first blood vessel centerline and the second blood vessel centerline;

[0110] S134, based on the position information and the size information, a virtual fenestration outline is generated on the non-porous first vascular stent model to form a first vascular stent model.

[0111] Among them, the preset diameter is related to the diameter of the first blood vessel straightening model, and a coefficient greater than 1 can be pre-set. The coefficient multiplied by the diameter of the first blood vessel straightening model is the preset diameter. It can be understood that the diameter of the first vascular stent must be slightly larger than the diameter of the blood vessel so that the first vascular stent can be more stably supported against the first blood vessel wall and not easily displaced. Therefore, it is only necessary to enlarge it to a certain extent according to the diameter of the first blood vessel straightening model. The center line of the extracted section after straightening is used as the central axis, and the preset diameter is used as the radius to form a non-porous first vascular stent model. Afterwards, it is only necessary to generate a virtual window hole contour on the non-porous first vascular stent model to form the final first vascular stent model with holes.

[0112] The position information of the virtual fenestration outline is the position of its center, and the size information is its radius. In the image data obtained by scanning, the centerline positions of the first blood vessel and the second blood vessel are known. According to the intersection of the two, the center position of the virtual fenestration outline can be obtained. The radius of each area on the straightened model of the first blood vessel is calculated. The radius of the area with the fenestration is infinite. Based on this, the size of the fenestration area can be obtained, and then its radius can be obtained. After obtaining the position information and size information of the virtual fenestration outline, the virtual fenestration outline can be generated on the non-porous first blood vessel stent model to form the final first blood vessel stent model with holes.

[0113] Alternatively, in other embodiments, the projection areas of the window aperture in the transverse plane, sagittal plane and coronal plane may be directly obtained from the image data, and the radius of the virtual window aperture contour may be calculated based on the three planes.

[0114] In some embodiments, a vascular stent fenestration-assisted device is provided, the device comprising:

[0115] A model building module, used for building a first blood vessel stent model based on a three-dimensional image of the blood vessel;

[0116] An overlay display module, used to overlay and display the first vascular stent model on the first vascular stent object 120;

[0117] A mapping module, used to form a mapping contour on the first vascular stent object 120 with a virtual window contour within a preset circumferential range on the first vascular stent model, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object 120;

[0118] The model rotation module is used to obtain rotation information so that the first vascular stent model and the first vascular stent object 120 can rotate synchronously based on the rotation information.

[0119] Based on the same inventive concept as the aforementioned method, the embodiment of the present application provides a vascular stent-assisted window opening device. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the aforementioned method, so the specific limitations in one or more vascular stent-assisted window opening device embodiments provided below can refer to the limitations of the surgical robot control method for replacing the end above, and will not be repeated here.

[0120] In some embodiments, the mapping module is further used to obtain an error range, and to form an error range contour on the first vascular stent object 120 based on the mapping contour and the error range.

[0121] In some embodiments, the vascular stent-assisted window opening device also includes an accuracy evaluation module, which is used to overlap and fit the image of the window opening mark and the corresponding virtual window hole contour, and to determine whether the overlap between the image of the window opening mark and the corresponding virtual window hole contour exceeds an error range.

[0122] In some embodiments, the accuracy evaluation module is used to obtain an image of the window mark and overlap the image of the window mark with the center of the corresponding virtual window hole contour.

[0123] In some embodiments, the mapping module is further used to: after forming the mapping outline, if an image lock message is received, lock the position of the first vascular stent model; if an image unlock message is received, read and update the current position of the first vascular stent model in real time.

[0124] In some embodiments, the model building module is used to: obtain information of the starting point and the end point selected on the centerline of the first blood vessel, extract the segment of the centerline of the first blood vessel between the starting point and the end point to generate the centerline of the extracted segment, and obtain the first blood vessel diameter corresponding to the starting point and the end point; construct a first blood vessel straightening model based on the first blood vessel centerline and the first blood vessel diameter corresponding to the starting point and the end point; and construct a first blood vessel stent model based on the first blood vessel straightening model.

[0125] In some embodiments, the model building module is used to: generate a non-porous first blood vessel stent model based on the extracted segment centerline and the preset tube diameter; obtain the tube diameter mutation area information in the first blood vessel straightening model, and obtain the size information of the virtual window hole contour based on the tube diameter mutation area information; obtain the position information of the virtual window hole contour based on the intersection of the first blood vessel centerline and the second blood vessel centerline; generate a virtual window hole contour on the non-porous first blood vessel stent model based on the position information and the size information to form the first blood vessel stent model.

[0126] Each module in the above-mentioned vascular stent auxiliary window opening device can be fully or partially implemented by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0127] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned 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 does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can 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 to be 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.

[0128] See also Figure 7 and Figure 8 , Fig.14 and Fig.15 The present application provides a vascular stent assisted window opening system, which includes a conveying device 200, a rotating device 300 and a controller. The conveying device 200 is used to install the first vascular stent object 120. The rotating device 300 is connected to the conveying device 200 and is used to drive the conveying device 200 to rotate. The controller is used to execute the method in the above embodiment.

[0129] As mentioned above, the first vascular stent model and the first vascular stent object 120 can rotate synchronously based on the rotation information. The first vascular stent object 120 is installed on the conveying device 200, and the conveying device 200 is driven to rotate by the rotating device 300, so that the rotation of the first vascular stent object 120 can be realized. By making the first vascular stent model and the first vascular stent object 120 rotate synchronously based on the rotation information, the virtual window hole contour displayed within the preset circumferential range can be updated, so that the virtual window hole contour previously located in the blind spot of vision enters the range. The virtual window hole contour that falls into the preset circumferential range after the rotation update is formed into a mapping contour on the first vascular stent object 120 again, which can help the observer to mark another window mark on the first vascular stent object 120 based on the mapping contour. In this way, it can assist in marking the window marks in different ranges of the circumference of the first vascular stent, and meet the needs of drilling holes in a larger range of the circumference of the first vascular stent.

[0130] In some embodiments, the vascular stent assisted window opening system includes an image scanning device and an augmented reality device, the image scanning device is used to obtain a three-dimensional image of the blood vessel, and the augmented reality device is used to map the virtual window hole contour onto the first vascular stent object 120, and the image scanning device and the augmented reality device are both communicatively connected to the controller. In other embodiments, the three-dimensional image of the blood vessel can also be obtained in advance and stored in a memory, and the controller is communicatively connected to the memory to be able to obtain the three-dimensional image of the blood vessel.

[0131] In some embodiments, the rotating device 300 is in communication with the controller, and the controller can automatically control the rotating device 300 to rotate based on the rotation information, thereby driving the conveying device 200 and the first vascular stent object 120 mounted thereon to rotate. In other embodiments, the rotating device 300 driving the conveying device 200 and the first vascular stent object 120 mounted thereon to rotate can also be achieved through manual operation.

[0132] See also Figures 7 to 9 In some embodiments, the delivery device 200 includes a handle 210, a delivery tube 230 and a guide head 220 connected in sequence along its own length direction (first direction), the handle 210 is used for the user to hold, the delivery tube 230 is used to install the first vascular stent object 120, and the guide head 220 is used to guide when the first vascular stent object 120 is placed into the human body.

[0133] See also Figures 7 to 9 , Fig.14 and Fig.15In some embodiments, the rotating device 300 includes a first fixing mechanism 310, a second fixing mechanism 320, a first end plate 330 and a second end plate 340. The first fixing mechanism 310 is fixed to one end of the conveying device 200 along the first direction, and the first direction is the length direction of the conveying device 200. The second fixing mechanism 320 is fixed to the other end of the conveying device 200 along the first direction. The first end plate 330 is rotatably connected to the first fixing mechanism 310 so that the two can rotate relative to each other around the first direction. The second end plate 340 is rotatably connected to the second fixing mechanism 320 so that the two can rotate relative to each other around the first direction; the second end plate 340 is slidably connected to the first end plate 330 so that the two can slide relative to each other along the first direction. The first fixing mechanism 310 is configured to be operable to rotate around the first direction to drive the conveying device 200 to rotate synchronously.

[0134] Specifically, the first fixing mechanism 310 is fixed to the handle 210 of the conveying device 200, and the second fixing mechanism 320 is fixed to the guide head 220 of the conveying device 200, so the first fixing mechanism 310, the second fixing mechanism 320, the conveying device 200 and the first vascular stent object 120 installed thereon are fixedly connected as a whole. When the user operates the first fixing mechanism 310 to rotate relative to the first end plate 330, the second fixing mechanism 320 can be driven to rotate relative to the second end plate 340, and the conveying device 200 and the first vascular stent object 120 can be synchronously rotated. Since the conveying tube 230 is a hose, when the user uses a marking piece to mark the window mark on the first vascular stent object 120, in order to facilitate the user's operation, the first end plate 330 and the second end plate 340 can be slid away from each other, so that the conveying tube 230 is straightened, so that it is not easy to shake during the marking process. In addition, the first end plate 330 and the second end plate 340 can be slid closer to each other to fold the entire rotating device 300, so as to facilitate sterilization operation and storage thereof.

[0135] See also Figures 7 to 9 In some embodiments, the rotating device 300 includes a sliding assembly 350, which is located on one side of the conveying device 200 along the second direction, and the second direction is perpendicular to the first direction. The sliding assembly 350 includes a plurality of sliding rods arranged along the first direction, and any adjacent sliding rods are slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is used as a head sliding rod 351, and one located at the other end along the first direction is used as a terminal sliding rod 352. The head sliding rod 351 is connected to the first end plate 330, and the terminal sliding rod 352 is connected to the second end plate 340.

[0136] Specifically, the sliding assembly 350 is arranged between the first end plate 330 and the second end plate 340, and each sliding rod is a square rod, and any two adjacent ones are sleeved to achieve sliding connection. Of course, in other embodiments, the sliding rod can also be set as a cylindrical rod. By setting a plurality of sliding rods that are slidably connected in sequence, when it is necessary to straighten the delivery tube 230, it is only necessary to pull the first end plate 330 and the second end plate 340 in a relatively distant direction, so that the plurality of sliding rods can be unfolded in sequence; when it is necessary to retract the delivery tube 230, the first end plate 330 and the second end plate 340 are pushed in a relatively close direction, so that the plurality of sliding rods can be closed in sequence. Since the sliding assembly 350 is located on one side of the delivery device 200 along the second direction, it will not block the delivery device 200 and the first vascular stent object 120 installed thereon, and it is convenient for the user to mark the first vascular stent object 120, and the operation is more convenient.

[0137] See also Figure 7 and Figure 8 In some embodiments, the rotating device 300 includes a guide assembly 360, which includes a plurality of slide rails 361 arranged along a first direction, any adjacent slide rails 361 are slidably connected, and one of the plurality of slide rails 361 located at one end along the first direction is used as a head slide rail, and one located at the other end along the first direction is used as a terminal slide rail, the head slide rail is fixedly connected to the first end plate 330, and the terminal slide rail is fixedly connected to the second end plate 340. By providing the above-mentioned guide assembly 360, the guidance of the first end plate 330 and the second end plate 340 when they slide relative to each other can be enhanced, so that the sliding process is smoother.

[0138] See also Figures 7 to 11 In some embodiments, the first end sliding rod 351 is rotatably connected to the first end plate 330, the terminal sliding rod 352 is rotatably connected to the second end plate 340, the first fixing mechanism 310 includes a first gear 311, the second fixing mechanism 320 includes a second gear 321, the sliding assembly 350 includes a third gear 3531 and a fourth gear 3541, the third gear 3531 is connected to the first end sliding rod 351, the fourth gear 3541 is connected to the terminal sliding rod 352, the first gear 311 is meshed with the third gear 3531 and the transmission ratio is 1, the second gear 321 is meshed with the fourth gear 3541 and the transmission ratio is 1.

[0139] Specifically, the sliding assembly 350 includes a third gear shaft 3532 and a fourth gear shaft 3542, the third gear 3531 is sleeved and fixed on the outside of the third gear shaft 3532, and the fourth gear 3541 is sleeved and fixed on the outside of the fourth gear shaft 3542. The third gear shaft 3532 passes through the first end plate 330, and the two are connected by a bearing; the fourth gear shaft 3542 passes through the second end plate 340, and the two are connected by a bearing. The end of the head end sliding rod 351 is fixedly connected to the third gear shaft 3532 through a flange, and the end of the terminal sliding rod 352 is fixedly connected to the fourth gear shaft 3542 through a flange. The first fixing mechanism 310 includes a first rotating sleeve 313, the first rotating sleeve 313 passes through the first end plate 330, and the two are connected by a bearing, and the first gear 311 is sleeved and fixed on the outside of the first rotating sleeve 313. The second fixing mechanism 320 includes a second rotating sleeve 323 . The second rotating sleeve 323 passes through the second end plate 340 , and the two are connected via a bearing. The second gear 321 is sleeved and fixed on the outside of the second rotating sleeve 323 .

[0140] The first rotating sleeve 313 is configured to be operable to rotate around a first direction relative to the first end plate 330. When the first rotating sleeve 313 rotates, since the first gear 311 is meshed with the third gear 3531 and the second gear 321 is meshed with the fourth gear 3541, the rotational power of the first rotating sleeve 313 will be transmitted to the third gear 3531 through the first gear 311, and then transmitted from the plurality of sliding rods to the fourth gear 3541 through the third gear 3531, and then transmitted from the fourth gear 3541 to the second gear 321. Since the transmission ratio of the first gear 311 to the third gear 3531 is 1, and the transmission ratio of the second gear 321 to the fourth gear 3541 is 1, that is, the transmission ratio of the entire gear assembly is 1, it is possible to achieve uniform speed transmission, thereby achieving uniform speed rotation of both ends of the conveying device 200.

[0141] In this embodiment, due to the provision of the above-mentioned gear assembly, the power inputted from the first fixing mechanism 310 reaches the second fixing mechanism 320 through the sliding assembly 350, rather than directly reaching the second fixing mechanism 320 through the soft delivery tube 230, so that the power transmission can be more stable and accurate. If this factor is not considered, in other embodiments, the first end sliding rod 351 can also be fixedly connected to the first end plate 330, and the terminal sliding rod 352 can be fixedly connected to the second end plate 340.

[0142] See also Figures 7 to 11In some embodiments, the first fixing mechanism 310 includes a first clamping member 312, a first rotating sleeve 313 and a first locking member 314. The first rotating sleeve 313 passes through the first end plate 330 and the two are rotatably connected. The first clamping member 312 is installed on the first rotating sleeve 313, and the first clamping member 312 is sleeved on the outside of the handle 210 of the conveying device 200. The first locking member 314 can be threadedly connected to the first rotating sleeve 313 to press against the outer wall of the first clamping member 312 so that the first clamping member 312 holds the handle 210 tightly.

[0143] Specifically, the first rotating sleeve 313 passes through the first end plate 330, and the two are connected by a bearing, and the first gear 311 is sleeved and fixed on the outside of the first rotating sleeve 313. The first clamping member 312 extends into the first rotating sleeve 313, and the two are fixedly connected. The first locking member 314 is threadedly connected to the first rotating sleeve 313. By rotating the first locking member 314 and tightening it, it can be pressed against the outer wall of the first clamping member 312, so that the first clamping member 312 is retracted, thereby holding the handle 210 tightly and fixing the handle 210. In this embodiment, since the first clamping member 312 is used to hold the handle 210 tightly to achieve fixation, for handles 210 of different sizes, the first locking member 314 can be rotated to adjust the holding degree of the first clamping member 312, thereby fixing handles 210 of different sizes.

[0144] See also Fig.13 Further, in some embodiments, the first clamping member 312 is cylindrical and has a plurality of notches 3122 arranged at intervals along its circumference. The end of the first clamping member 312 away from the first end plate 330 is a clamping portion 3121 for clamping the handle 210. When the first locking member 314 is rotated and tightened, the clamping portion 3121 is closed, thereby holding the handle 210 tightly and fixing the handle 210.

[0145] Similarly, in some embodiments, the second fixing mechanism 320 includes a second clamping member 322, a second rotating sleeve 323 and a second locking member 324. The second rotating sleeve 323 passes through the second end plate 340 and the two are rotatably connected. The second clamping member 322 is installed on the second rotating sleeve 323, and the second clamping member 322 is sleeved on the outside of the guide head 220 of the conveying device 200. The second locking member 324 can be threadedly connected to the second rotating sleeve 323 to press against the outer wall of the second clamping member 322 so that the second clamping member 322 tightly holds the guide head 220.

[0146] The structures of the second clamping member 322 , the second rotating sleeve 323 and the second locking member 324 are similar to those of the first clamping member 312 , the first rotating sleeve 313 and the first locking member 314 in the aforementioned embodiment, and are not described again here.

[0147] See also Figure 8 , Fig.10 and Fig.12 In some embodiments, the rotating device 300 includes a rotating knob 315 connected to the first fixing mechanism 310, and the first end plate 330 is provided with an annular slide groove 331 extending around the first direction, and the annular slide groove 331 includes a plurality of first groove portions 3311 and second groove portions 3312 alternately arranged along its own circumference, and the depth of the second groove portion 3312 is greater than that of the first groove portion 3311, and a spring plunger 316 is provided on the rotating knob 315, and the spring plunger 316 extends into the annular slide groove 331 and elastically abuts against the slide groove wall.

[0148] Specifically, the rotating knob 315 is located on the outer side of the first end plate 330 (the side facing away from the second end plate 340) and is fixedly connected to the first rotating sleeve 313. The user can rotate the rotating knob 315 to drive the first rotating sleeve 313 to rotate. The annular slide groove 331 is provided on the outer end wall of the first end plate 330 (the end wall facing away from the second end plate 340). The depth of the second groove portion 3312 is greater than the first groove portion 3311, and the circumferential length of the second groove portion 3312 is less than the first groove portion 3311. A spring plunger 316 is protruded from one end of the rotating knob 315 close to the first end plate 330, and the spring plunger 316 extends into the annular slide groove 331. The angle between any two adjacent first groove portions 3311 is 60 degrees. When the spring plunger 316 reaches the adjacent second groove portion 3312 from one second groove portion 3312, one rotation of the first vascular stent object 120 is completed. When the knob 315 is turned, if the spring plunger 316 reaches the second groove 3312 with a greater depth, it will be stuck by the groove wall of the second groove 3312, thereby locking the position of the rotating knob 315. The user must forcefully rotate the rotating knob 315 to allow it to enter the first groove 3311 to unlock it. Through the above-mentioned locking structure, the position of the first vascular stent object 120 can be locked after one rotation is completed, so as to avoid position deviation caused by its rotation during the marking process. In addition, through the above-mentioned structure, as long as the rotating knob 315 is rotated to a certain angle and stuck, it can be known that one rotation has been completed, and there is no need to measure the rotation angle, which makes the operation more convenient.

[0149] See also Fig.14 and Fig.15 In other embodiments, the relative sliding of the first end plate 330 and the second end plate 340 can also be achieved by using the telescopic assembly 400, that is, the telescopic assembly 400 can be replaced. Figure 7Sliding assembly 350 in the embodiment. Specifically, the telescopic assembly 400 is sleeved on the outside of the conveying device 200, and the telescopic assembly 400 includes a plurality of hollow telescopic cylinders 410 arranged along the first direction, and any adjacent telescopic cylinders 410 are slidably connected. Among the plurality of telescopic cylinders 410, one located at one end along the first direction is used as the head telescopic cylinder, and one located at the other end along the first direction is used as the terminal telescopic cylinder. The head telescopic cylinder is fixedly connected to the first fixing mechanism 310, and the terminal telescopic cylinder is fixedly connected to the second fixing mechanism 320.

[0150] By providing a plurality of telescopic cylinders 410 that are slidably connected in sequence, when the delivery tube 230 needs to be straightened, the first end plate 330 and the second end plate 340 are pulled in a relatively distant direction to sequentially expand the plurality of telescopic cylinders 410; when the delivery tube 230 needs to be retracted, the first end plate 330 and the second end plate 340 are pushed in a relatively close direction to sequentially close the plurality of telescopic cylinders 410. Since the telescopic cylinder 410 is hollow, the delivery device 200 and the first vascular stent object 120 therein can be exposed, and the user can mark the first vascular stent object 120 through the hollow portion.

[0151] Furthermore, in some embodiments, each telescopic tube 410 includes a plurality of rod portions 411 spaced apart along its own circumference, and a gap 412 is formed between any two adjacent rod portions 411 . The user can extend a marking member into the telescopic tube 410 through the gap 412 to mark the first vascular stent object 120 .

[0152] Preferably, the central angle between any adjacent rods 411 is different from the angle of each rotation of the first vascular stent object 120. In this way, the rods 411 can be prevented from blocking the first vascular stent object 120 as much as possible.

[0153] in addition, Fig.14 In the embodiment, no gear structure is provided. Among the multiple telescopic cylinders 410, the head end telescopic cylinder located at the head end is fixedly connected to the first rotating sleeve 313 in the first fixing mechanism 310, and the end telescopic cylinder located at the end end is fixedly connected to the second rotating sleeve 323 in the second fixing mechanism 320. In this way, the power input at the first fixing mechanism 310 can reach the second fixing mechanism 320 through the telescopic assembly 400, rather than directly reaching the second fixing mechanism 320 through the soft delivery tube 230.

[0154] Fig.14 Other structures in the embodiment Figure 7 The corresponding embodiments are the same as above, so for other structures, they can be directly referred to. Figure 7 The corresponding aforementioned embodiments are not described in detail here.

[0155] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.16 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 via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via 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 implemented 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 controlling a surgical robot with a replacement end is implemented. 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.

[0156] Those skilled in the art will understand that Fig.16 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.

[0157] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0158] 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.

[0159] 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.

[0160] It should be noted that the user information (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.) involved in this application 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 laws, regulations and standards of relevant countries and regions.

[0161] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 the present application can include at least one of non-volatile 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), magnetoresistive 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, etc., but are not limited to this.

[0162] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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 specification.

[0163] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent 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 patent application shall be subject to the attached claims.

Claims

1. A vascular stent-assisted fenestration method, characterized in that: The method comprises: Constructing a first vascular stent model based on a three-dimensional image of the blood vessel; Overlaying and displaying the first vascular stent model on the first vascular stent object; The virtual window hole contour within a preset circumferential range on the first vascular stent model is formed into a mapping contour on the first vascular stent object, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object; The rotation information is acquired so that the first vascular stent model and the first vascular stent object can rotate synchronously based on the rotation information.

2. The method according to claim 1, characterized in that The method further comprises: An error range is acquired, and an error range contour is formed on the first vascular stent object based on the mapping contour and the error range.

3. The method according to claim 1, characterized in that The method further comprises: Overlapping and fitting the image of the window mark and the corresponding virtual window hole contour; It is determined whether the overlap between the image of the window mark and the corresponding virtual window hole contour exceeds an error range.

4. The method according to claim 1, characterized in that: After the mapping outline is formed, if an image locking message is received, the position of the first vascular stent model is locked; if an image unlocking message is received, the current position of the first vascular stent model is read and updated in real time.

5. A vascular stent assisted window opening device, characterized in that: The vascular stent auxiliary window opening device comprises: A model building module, used for building a first blood vessel stent model based on a three-dimensional image of the blood vessel; A superimposed display module, used for superimposing and displaying the first vascular stent model on the first vascular stent object; A mapping module, used to make the virtual window hole contour within a preset circumferential range on the first vascular stent model form a mapping contour on the first vascular stent object, wherein the mapping contour is used to assist in forming a window mark on the first vascular stent object; The model rotation module is used to obtain rotation information so that the first vascular stent model and the first vascular stent object can rotate synchronously based on the rotation information.

6. A vascular stent assisted window opening system, characterized in that: The vascular stent-assisted window opening system comprises: A conveying device (200) for installing the first vascular stent object (120); A rotating device, connected to the conveying device (200) and used to drive the conveying device (200) to rotate; A controller, the controller being configured to execute the method according to any one of claims 1 to 4.

7. The vascular stent-assisted fenestration system according to claim 6, characterized in that: The rotating device comprises: A first fixing mechanism (310) is fixed to one end of the conveying device (200) along a first direction, wherein the first direction is the length direction of the conveying device (200); A second fixing mechanism (320) fixed to the other end of the conveying device (200) along the first direction; A first end plate (330) is rotatably connected to the first fixing mechanism (310) so that the two can rotate relative to each other around the first direction; The second end plate (340) is rotatably connected to the second fixing mechanism (320) so that the two can rotate relative to each other around the first direction; the second end plate (340) is slidably connected to the first end plate (330) so that the two can slide relative to each other along the first direction; The first fixing mechanism (310) is configured to be operably rotated around the first direction to drive the conveying device (200) to rotate synchronously.

8. The vascular stent-assisted fenestration system according to claim 7, characterized in that: The rotating device (300) comprises a sliding assembly (350), wherein the sliding assembly (350) is located on one side of the conveying device (200) along a second direction, wherein the second direction is perpendicular to the first direction; The sliding assembly (350) includes a plurality of sliding rods arranged along the first direction, and any adjacent sliding rods are slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is used as a head sliding rod (351), and one located at the other end along the first direction is used as an end sliding rod (352). The head sliding rod (351) is connected to the first end plate (330), and the end sliding rod (352) is connected to the second end plate (340).

9. The vascular stent-assisted fenestration system according to claim 8, characterized in that: The head end sliding rod (351) is rotatably connected to the first end plate (330), and the terminal sliding rod (352) is rotatably connected to the second end plate (340). The first fixing mechanism (310) includes a first gear (311), and the second fixing mechanism (320) includes a second gear (321). The sliding assembly (350) includes a third gear (3531) and a fourth gear (3541). The third gear (3531) is connected to the head end sliding rod (351), and the fourth gear (3541) is connected to the terminal sliding rod (352). The first gear (311) is meshed with the third gear (3531) and the transmission ratio is 1. The second gear (321) is meshed with the fourth gear (3541) and the transmission ratio is 1.

10. The vascular stent-assisted fenestration system according to any one of claims 7 to 9, characterized in that: The first fixing mechanism (310) comprises a first clamping member (312), a first rotating sleeve (313) and a first locking member (314); the first rotating sleeve (313) passes through the first end plate (330) and the two are rotatably connected; the first clamping member (312) is installed on the first rotating sleeve (313), and the first clamping member (312) is sleeved on the outside of the handle (210) of the conveying device (200); the first locking member (314) can be threadedly connected to the first rotating sleeve (313) to press against the outer wall of the first clamping member (312) so that the first clamping member (312) holds the handle (210) tightly; And / or, the second fixing mechanism (320) includes a second clamping member (322), a second rotating sleeve (323) and a second locking member (324), the second rotating sleeve (323) passes through the second end plate (340) and the two are rotatably connected, the second clamping member (322) is installed on the second rotating sleeve (323), and the second clamping member (322) is sleeved on the outside of the guide head (220) of the conveying device (200), and the second locking member (324) can be threadedly connected to the second rotating sleeve (323) to press against the outer wall of the second clamping member (322) so that the second clamping member (322) holds the guide head (220) tightly.

11. The vascular stent-assisted fenestration system according to any one of claims 7 to 9, characterized in that: The rotating device (300) includes a rotating knob (315) connected to the first fixing mechanism (310); the first end plate (330) is provided with an annular slide groove (331) extending around the first direction; the annular slide groove (331) includes a plurality of first groove portions (3311) and second groove portions (3312) alternately arranged along its own circumference; the depth of the second groove portion (3312) is greater than that of the first groove portion (3311); the rotating knob (315) is provided with a spring plunger (316); the spring plunger (316) extends into the annular slide groove (331) and elastically abuts against the slide groove wall.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

13. 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 4 are implemented.

14. 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 4 are implemented.

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