Methods, devices, systems and storage media for vascular stent-assisted fenestration

Abstract

This application relates to a method, apparatus, system, computer equipment, storage medium, and computer program product for assisted venous stent opening. The method for assisted venous stent opening includes: constructing a first vascular stent model based on a three-dimensional image of the blood vessel; superimposing the first vascular stent model onto a physical first vascular stent; mapping virtual window contours within a preset circumferential range on the first vascular stent model onto the physical first vascular stent, the mapping contours being used to assist in forming venous opening marks on the physical first vascular stent; and acquiring rotation information so that the first vascular stent model and the physical first vascular stent can rotate synchronously based on the rotation information. This method can meet the need for precise drilling over a large circumferential range of the first vascular stent, achieving drilling assistance at multiple circumferential positions.

Description

Technical Field

[0001] This application relates to the field of extracorporeal fenestration technology for vascular stents, and in particular to vascular stent-assisted fenestration methods, vascular stent-assisted fenestration devices, vascular stent-assisted fenestration systems, computer equipment, computer-readable storage media, and computer program products. Background Technology

[0002] In some current surgical procedures, it is often necessary to place a first vascular stent in a first blood vessel and a second vascular stent in a second blood vessel that communicates with the first blood vessel, thus connecting the two stents to complete the reconstruction of the first and second blood vessels. Therefore, an opening is required in the first vascular stent to allow the second vascular stent to be inserted.

[0003] Currently, most methods for creating openings in the first vascular stent use external pre-fenestration. External pre-fenestration is based on the patient's scanned images and involves creating openings in the first vascular stent before its placement. However, current technologies cannot precisely fenestrate multiple locations circumferentially within the first vascular stent. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, system, computer equipment, computer-readable storage medium, and computer program product for assisted venous stent fenestration, which can meet the requirement of relatively accurate drilling at multiple positions in the circumferential direction of the first vascular stent and realize drilling assistance at multiple positions in the circumferential direction.

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

[0006] The first vascular stent model was constructed based on 3D images of blood vessels;

[0007] The first vascular stent model is superimposed on the actual first vascular stent;

[0008] The virtual window outline within a preset circumferential range on the first vascular stent model is mapped onto the actual first vascular stent, and the mapped outline is used to assist in forming window markings on the actual first vascular stent.

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

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

[0011] Obtain the error range, and form an error range profile on the first vascular stent based on the mapped profile and the error range.

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

[0013] The image of the window mark and the corresponding virtual window outline are overlaid and fitted.

[0014] Determine whether the overlap between the image of the window mark and the corresponding virtual window outline exceeds the error range.

[0015] In one embodiment, 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.

[0016] This application also proposes a vascular stent-assisted fenestration device, the vascular stent-assisted fenestration device comprising:

[0017] The model building module is used to build the first vascular stent model based on the three-dimensional images of blood vessels.

[0018] An overlay display module is used to overlay the first vascular stent model onto the actual first vascular stent.

[0019] The mapping module is used to make the virtual window outline within a preset circumferential range on the first vascular stent model form a mapped outline on the first vascular stent physical object. The mapped outline is used to assist in forming window markings on the first vascular stent physical object.

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

[0021] This application also proposes a vascular stent-assisted fenestration system, the vascular stent-assisted fenestration system comprising:

[0022] A delivery device for mounting 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, which is used to execute the method.

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

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

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

[0028] The first end plate is rotatably connected to the first fixing mechanism so that the two can rotate relative to each other about the first direction;

[0029] The second end plate is rotatably connected to the second fixing mechanism so that the two can rotate relative to each other about 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 about the first direction to drive the conveying device to rotate synchronously.

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

[0032] The sliding assembly includes a plurality of sliding rods arranged along the first direction, with any adjacent sliding rods slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is designated as the first sliding rod, and one located at the other end along the first direction is designated as the last sliding rod. The first sliding rod is connected to the first end plate, and the last 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, and the last end 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, and the sliding assembly includes a third gear and a fourth gear. The third gear is connected to the first end sliding rod, and the fourth gear is connected to the last end sliding rod. The first gear meshes with the third gear and has a transmission ratio of 1, and the second gear meshes with the fourth gear and has a transmission ratio of 1.

[0034] In one embodiment, the first fixing mechanism includes a first clamping member, a first rotating bushing, and a first locking member. The first rotating bushing passes through the first end plate and the two are rotatably connected. The first clamping member is installed on the first rotating bushing and is sleeved outside the handle of the conveying device. The first locking member can be threadedly connected to the first rotating bushing to abut against the outer wall of the first clamping member, so that the first clamping member hugs the handle.

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

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

[0037] This application also proposes a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method.

[0038] This application also proposes a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described.

[0039] This application also proposes a computer program product, including a computer program that, when executed by a processor, implements the steps of the method.

[0040] The aforementioned vascular stent-assisted fenestration method, device, system, computer equipment, computer-readable storage medium, and computer program product construct a first vascular stent model based on a three-dimensional image of the blood vessel, and then overlay it onto a physical first vascular stent. There is a one-to-one mapping relationship between the regions on the first vascular stent model and the physical first vascular stent. The area mapped by the virtual window outline on the first vascular stent model onto the physical first vascular stent is the subsequent actual fenestration position. Typically, due to the limitation of the viewing angle, the observer can only see the virtual window outline within a preset circumferential range (facing the observer). The virtual window outlines in other circumferential positions are in a visual blind spot and cannot be seen temporarily. The virtual window outline within the preset circumferential range on the first vascular stent model forms a mapped outline on the physical first vascular stent. This mapped outline helps the observer mark the fenestration on the physical first vascular stent based on this mapped outline. Rotation information is acquired so that the first vascular stent model and the physical first vascular stent can rotate synchronously based on this rotation information. After the first vascular stent model is rotated, the virtual window outline displayed within a preset circumferential range is updated, bringing the virtual window outline previously located in the blind spot into this range. After rotation, the mapping relationship between the various regions on the first vascular stent model and the actual first vascular stent remains one-to-one. Then, by making the virtual window outline, which falls within the preset circumferential range after rotation, form a mapping outline on the actual first vascular stent, the observer can mark another window on the actual first vascular stent based on this mapping outline. In this way, it is possible to assist in marking window marks at multiple locations on the circumference of the first vascular stent, meeting the need for precise drilling over a large area on the circumference of the first vascular stent. Attached Figure Description

[0041] Figure 1 This is a schematic flowchart of a vascular stent-assisted fenestration method in one embodiment of this application.

[0042] Figure 2 This is a flowchart illustrating a vascular stent-assisted fenestration method in another embodiment of this application.

[0043] Figure 3 This is a flowchart illustrating a method for vascular stent-assisted fenestration in another embodiment of this application.

[0044] Figure 4 This is a schematic diagram of a sub-process of the vascular stent-assisted fenestration method in another embodiment of this application.

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

[0046] Figure 6 This is a schematic diagram of a sub-process of a vascular stent-assisted fenestration method in one embodiment of this application.

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

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

[0049] Figure 9 This is a cross-sectional view of the rotating device, the delivery device, and the first vascular stent in one embodiment of this application.

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

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

[0052] Figure 12 This is a schematic diagram of the structure of the first end plate in one embodiment of this application.

[0053] Figure 13 This is a schematic diagram of the structure of the first clamping member in one embodiment of this application.

[0054] Figure 14 This is a schematic diagram of the actual structure of the rotating device, the conveying device, and the first vascular stent in another embodiment of this application.

[0055] Figure 15 This is a cross-sectional view of the rotating device, the delivery device, and the first vascular stent in another embodiment of this application.

[0056] Figure 16 This is an internal structural diagram of a computer device according to an embodiment of this application.

[0057] Figure label:

[0058] 120. First vascular stent (actual); 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. Groove; 313. First rotating bushing; 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 324. Second locking element; 330. First end plate; 331. Annular groove; 3311. First groove; 3312. Second groove; 340. Second end plate; 350. Sliding assembly; 351. First 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; 412. Notch. Detailed Implementation

[0059] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0060] In the description of this 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 this 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 this application.

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

[0062] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0063] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0064] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0065] In one embodiment, such as Figure 1 As shown, a method for vascular stent-assisted fenestration is provided, including the following steps:

[0066] S100, the first vascular stent model is constructed based on three-dimensional images of blood vessels.

[0067] In this method, a three-dimensional model of the target blood vessels (the first blood vessel and each of the second blood vessels) can be reconstructed using a three-dimensional reconstruction method. For example, in this embodiment, the first blood vessel can be the aorta, and the second blood vessels are branch vessels connected to the aorta. DICOM data obtained from CT angiography (CTA) is segmented and reconstructed to segment the true lumen and false lumen of the aorta, as well as each branch vessel. The units used for segmentation and reconstruction can be obtained as follows: based on CTA DICOM data, through machine learning training, tissue recognition units for the aortic arch, the abdominal aortic trunk, and corresponding branch vessels are identified and labeled. The labeled tissues are then converted into mesh models for three-dimensional reconstruction and rendering. Users can set the transparency, color, and imaging characteristics of each tissue according to their personal preferences. Furthermore, the true and false lumens of the aorta can be fine-tuned by manually drawing contour lines to adjust the true and false lumens, ensuring their accuracy. 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 a 3D image of the blood vessel, including the stent body and windows (virtual window outlines) opened on the stent body. This first vascular stent model carries window opening information of the virtual window outlines, including location and size information. The location information refers to the window's position, and the size information refers to the window's radius. Since the 3D image of the blood vessel is based on CT angiography, it can realistically reflect the individual differences in the patient's blood vessels. Therefore, the first vascular stent model constructed based on this 3D image can better match the patient, resulting in higher accuracy.

[0069] S200, the first vascular stent model is superimposed on the actual first vascular stent 120.

[0070] Specifically, the first vascular stent model is a 3D image, while the actual first vascular stent 120 is a physical component. The two need to be paired and aligned to achieve an "overlap," similar to the effect of copying calligraphy. After wearing augmented reality (AR) devices, users can simultaneously observe both the first vascular stent model and the actual first vascular stent 120. These AR devices can be AR glasses or HoloLens, among others.

[0071] The user issues a registration instruction via the positioning button on the control panel, and the controller completes the registration between the first vascular stent model and the actual first vascular stent 120. The registration between the first vascular stent model and the actual first vascular stent 120 can be achieved in the following way:

[0072] By setting a pair of reference planes and obtaining a reference coordinate system on the reference planes, the position of the first vascular stent 120 in the reference coordinate system can be obtained. The augmented reality device observes the reference planes in real time through a camera to determine the position of the reference planes in the camera coordinate system. Therefore, based on the position of the first vascular stent 120 in the reference coordinate system and the position of the reference planes in the camera coordinate system, the image of the first vascular stent model and the first vascular stent 120 are registered. Thus, in the real-world scene, the image of the first vascular stent model is superimposed on the first vascular stent 120. The reference plane can be a plane and can carry a QR code for easy observation by the augmented reality device's camera.

[0073] S310, the virtual window outline within a preset circumferential range on the first vascular stent model is mapped onto the first vascular stent physical object 120. The mapped outline is used to assist in forming window markings on the first vascular stent physical object 120.

[0074] Understandably, since both the first vascular stent model and the actual first vascular stent 120 are cylindrical, the user can only observe the side facing them; the area not facing the user is a blind spot. The preset circumferential range is the area of ​​the first vascular stent model that the user can see from a fixed viewing angle. As mentioned earlier, overlaying the first vascular stent model onto the actual first vascular stent 120 achieves an effect similar to calligraphy practice. The multiple virtual window outlines in the first vascular stent model are mapped one-to-one onto the actual first vascular stent 120, forming corresponding mapped outlines.

[0075] The user marks the outline on the first vascular stent 120 using a marker, thus creating a fenestration mark to facilitate subsequent drilling at the fenestration mark. Specifically, the marker can be a marker pen. Alternatively, the marker can be an electrosurgical unit, which the user can directly use to pre-drill holes at the outline.

[0076] S400, acquire 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.

[0077] As mentioned earlier, the user can only observe the side of the first vascular stent model and the first vascular stent physical object 120 facing the user; the area not facing the user is a visual blind spot. Therefore, after forming a window mark, the first vascular stent model and the first vascular stent physical object 120 need to be rotated synchronously so that the virtual window outline in the previously visual blind spot can be observed. The rotation information includes the rotation direction and rotation angle, such as a 60-degree clockwise rotation or a 60-degree counterclockwise rotation. A fixed single rotation angle value, such as 60 degrees, can be preset, and the user can input the rotation angle by operating the clockwise or counterclockwise buttons on the operation panel. The rotation order of the first vascular stent model and the first vascular stent physical 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 outline in the previously visual blind spot enters the preset circumferential range and can be observed by the user. Then, repeating step S310 will form a window mark on the first vascular stent physical object 120 with the virtual window outline currently located within the preset circumferential range. By repeating steps S310 and S400 multiple times, all the virtual window outlines can be formed into window markings on the first vascular stent physical object 120.

[0078] The aforementioned vascular stent-assisted fenestration method constructs a first vascular stent model based on a three-dimensional image of the blood vessel, and then overlays it onto the physical first vascular stent 120. There is a one-to-one mapping relationship between the regions on the first vascular stent model and the physical first vascular stent 120. The area mapped to the virtual window outline on the first vascular stent model on the physical first vascular stent 120 is the subsequent actual fenestration position. Typically, due to viewing angle limitations, the observer can only see the virtual window outline within a preset circumferential range (facing the observer). Virtual window outlines in other circumferential positions are in a visual blind spot and cannot be seen. This method maps the virtual window outlines within the preset circumferential range on the first vascular stent model onto the physical first vascular stent 120. This mapping outline allows the observer to mark the fenestration on the physical first vascular stent 120 based on this mapping outline. Rotation information is acquired so that the first vascular stent model and the physical first vascular stent 120 can rotate synchronously based on the rotation information. After the first vascular stent model rotates, the virtual window outline displayed within a preset circumferential range is updated, bringing the virtual window outline previously located in a blind spot into that range. After rotation, the mapping relationship between the regions on the first vascular stent model and the physical first vascular stent 120 remains one-to-one. Then, by making the updated virtual window outline fall within the preset circumferential range form a mapping outline on the physical first vascular stent 120, the observer can mark another window on the physical first vascular stent 120 based on this mapping outline. In this way, it is possible to assist in marking window marks at multiple locations on the circumference of the first vascular stent, meeting the need for precise drilling over a large area on the circumference of the first vascular stent.

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

[0080] In some embodiments, the rotation of the first vascular stent 120 is automatically controlled by a controller. For example, a drive unit for driving the rotation of the first vascular stent 120 is communicatively connected to the controller, and the controller controls the rotation of the first vascular stent 120 by controlling the drive unit. In other embodiments, the rotation of the first vascular stent 120 can also be achieved manually.

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

[0082] Obtain the error range and form an error range profile on the first vascular stent 120 based on the mapped profile and the error range.

[0083] Specifically, while forming the mapping contour, an error range contour is also formed. The error range can be preset manually. The mapping contour is the optimal windowing contour, and there is a certain deviation between the error range contour and the mapping contour. However, as long as the positional deviation of the formed windowing mark does not exceed the error range, it can be considered to meet the requirements. Understandably, 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 differentiation.

[0084] In this embodiment, by setting an error range contour, more precise guidance can be provided when the user marks the window opening based on the mapped contour, and even inexperienced users can quickly get started, reducing the difficulty of operation. When marking, the user should try to ensure that the window opening mark does not exceed the error range contour. In this way, the window opening mark can be kept within the error range as much as possible, improving the marking accuracy and thus improving the accuracy of subsequent drilling.

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

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

[0087] S500 overlays and fits the image of the window mark with the corresponding virtual window outline;

[0088] S600 determines whether the overlap between the image of the window mark and the corresponding virtual window outline exceeds the error range.

[0089] Specifically, after forming a fenestration mark on the first vascular stent 120, an image of the fenestration mark is acquired, and its outline is overlaid with the corresponding virtual window outline. The degree of overlap between the two can be obtained by calculating the area of ​​the overlapping region and the ratio of the overlapping area to the area of ​​the virtual window outline. A threshold is preset; if the calculated ratio is lower than the threshold, it indicates that the overlap is low and the marking accuracy is low, requiring remarking. In this way, the accuracy of the fenestration mark can be verified and evaluated after its formation, allowing users to promptly know whether the marking result is accurate, identify problems, and quickly accumulate practical experience.

[0090] See Figure 4 In some embodiments, overlay fitting of the image of the window mark and the corresponding virtual window outline includes:

[0091] S510, acquire the image of the windowed marker;

[0092] S520 aligns the center of the image of the window mark with the center of the corresponding virtual window outline.

[0093] Specifically, augmented reality devices capture images of window markings using a camera, and then align these images with the center of the virtual window outline to achieve an overlap fit.

[0094] Typically, the first vascular stent 120 includes a metal skeleton and a membrane layer deposited thereon. If the mapping contour coincides with the metal skeleton on the first vascular stent 120 during the aforementioned mapping contour formation, positional interference will occur during drilling. Therefore, in such cases, the position of the mapping contour needs to be fine-tuned to offset it from the metal skeleton. Usually, the user can simply drag the first vascular stent model by hand to move its position and offset it from the metal skeleton. Alternatively, without moving the first vascular stent model, the windowing mark can be offset from the mapping contour when marking the windowing mark to offset the position of the metal skeleton.

[0095] See 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 earlier, when fine-tuning the position of the mapping contour is required, it is achieved by the user manually dragging the first vascular stent model. During the process of adjusting the position of the mapping contour to form the window mark, if the user's hand touches the first vascular stent model, it may shift, reducing the marking accuracy. Therefore, after adjusting the position of the mapping contour, the user presses the operation button on the control panel to send an image lock message. When the controller receives the image lock message, it will lock the position of the first vascular stent model, preventing shifting even if accidentally touched. When the user needs to drag the first vascular stent model again, they only need to press the operation button on the control panel to send an image unlock message, thus unlocking it. At this time, the dragging of the first vascular stent model is no longer restricted. When the first vascular stent model is unlocked, its position may change; therefore, its mapping position on the first vascular stent physical object 120 needs to be updated in real time.

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

[0098] S110, obtain the information of the selected start and end points on the center line of the first blood vessel, extract the segment of the center line of the first blood vessel between the start and end points to generate the center line of the extracted segment, and obtain the diameter of the first blood vessel corresponding to the start and end points.

[0099] S120, a first blood vessel straightening model is constructed based on the centerline of the first blood vessel and the diameter of the first blood vessel corresponding to the start and end points;

[0100] S130, the first vascular stent model is constructed based on the first vascular straightening model.

[0101] As mentioned earlier, a 3D model of the target blood vessel is reconstructed using a 3D reconstruction method. The portion corresponding to the first blood vessel in this 3D model is a curved model of the first blood vessel. The 3D model displays the centerlines of the first and second blood vessels. The user inputs selection information, including a selected start and end point on the centerline of the first blood vessel. When selecting the start and end points, it is necessary to ensure that the area to be reconstructed on the first blood vessel, as well as the window connecting to the second blood vessel to be reconstructed, is located between the start and end points. The controller extracts the centerline of the first blood vessel based on the selection information, extracting the segment between the start and end points; this segment is the centerline of the extracted segment. Simultaneously, the diameter of the first blood vessel at the start and end points is calculated, and the average of these two values ​​is obtained. The centerline of the extracted segment is straightened and used as the central axis, with the average diameter as the radius, forming a straight model of the first blood vessel without holes. When straightening the centerline of the extracted segment, its length can be calculated, and a straight line can be generated using this length. After forming the straightened first blood vessel model without holes, the window openings on the first blood vessel bending model are scaled based on the windowing information in the blood vessel image data to form window openings on the straightened first blood vessel model without holes, thus obtaining the straightened first blood vessel model with window openings.

[0102] The scaling process for the windows on the first tortuous blood vessel model can include the following steps: for any window on the first tortuous blood vessel model, obtain the lines connecting the window to two adjacent points on the center line of the extraction section, and obtain the included angle between the two lines; based on the change in the included angle before and after the center line of the extraction section is straightened, the windows on the first tortuous blood vessel model are scaled.

[0103] For example, for the window i of the first blood vessel tortuosity model, the lines connecting the window to two adjacent points on the center line of the extraction section can be obtained to obtain two lines, and the included angle formed by these two lines can be determined. During the straightening process of the center line of the extraction section, the size of the included angle will change. Based on the change in the size of the included angle, the window i is scaled to improve the accuracy of window opening.

[0104] Based on the change in the included angle before and after straightening the center line of the extracted segment, the window on the first tortuous blood vessel model is scaled. Specifically, this may include: taking the included angle before straightening the center line of the extracted segment as the first included angle value; taking the included angle after straightening the center line of the extracted segment as the second included angle value; and scaling the area of ​​the window on the first tortuous blood vessel model according to the ratio between the first included angle value and the second included angle value.

[0105] For example, before the center line of the extracted segment is straightened, the included angle corresponding to the window hole i is 130°. After the center line of the extracted segment is straightened, the included angle corresponding to the window hole i is 150°. Based on the ratio of 130° and 150°, the area of ​​the window hole i on the first blood vessel bending model can be scaled to determine the area of ​​the window hole i on the first blood vessel straightening model without holes, thus obtaining the first blood vessel straightening model with holes.

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

[0107] S131, Based on the extracted segment centerline and the preset tube diameter, a non-porous first vascular stent model is generated;

[0108] S132, Obtain information on the abrupt change region of the vessel diameter in the first vessel straightening model, and obtain the size information of the virtual window outline based on the information on the abrupt change region of the vessel diameter;

[0109] S133, based on the intersection of the first and second vessel centerlines, obtain the position information of the virtual window outline;

[0110] S134, Based on the location and size information, a virtual window outline is generated on the non-perforated first vascular stent model to form the first vascular stent model.

[0111] The preset tube diameter is related to the diameter of the first vessel straightening model. A coefficient greater than 1 can be pre-set, and this coefficient multiplied by the tube diameter of the first vessel straightening model gives the preset tube diameter. Understandably, the diameter of the first vessel stent needs to be slightly larger than the vessel diameter to ensure the stent is stably supported against the vessel wall and less prone to displacement. Therefore, it is sufficient to simply enlarge the tube diameter of the first vessel straightening model to a certain extent. Using the centerline of the straightened extraction segment as the central axis and the preset tube diameter as the radius, a non-perforated first vessel stent model is formed. Then, by generating a virtual window outline on the non-perforated first vessel stent model, the final perforated first vessel stent model can be formed.

[0112] The location information of the virtual window outline is its center position, and its size information is its radius. In the scanned image data, the centerline positions of the first and second blood vessels are known. Based on their intersection, the center position of the virtual window outline can be obtained. The radius of each region on the straightened model of the first blood vessel is calculated. The radius of the region containing the window is infinitely large. Based on this, the size of the window region can be obtained, and thus its radius. After obtaining the location and size information of the virtual window outline, a virtual window outline can be generated on the non-perforated first blood vessel stent model, forming the final perforated first blood vessel stent model.

[0113] Alternatively, in other embodiments, the projected areas of the window in the cross-section, sagittal plane, and coronal plane can be obtained directly from the image data, and the radius of the virtual window outline can be calculated based on these three.

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

[0115] The model building module is used to build the first vascular stent model based on the three-dimensional images of blood vessels.

[0116] The overlay display module is used to overlay the first vascular stent model onto the actual first vascular stent 120;

[0117] The mapping module is used to make the virtual window outline within a preset circumferential range on the first vascular stent model form a mapping outline on the first vascular stent physical object 120. The mapping outline is used to assist in forming window opening marks on the first vascular stent physical object 120.

[0118] The model rotation module is used to acquire 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.

[0119] Based on the same inventive concept as the aforementioned method, this application provides a vascular stent-assisted fenestration device. The solution provided by this device is similar to the solution described in the aforementioned method; therefore, the specific limitations of one or more embodiments of the vascular stent-assisted fenestration device provided below can be found in the limitations of the surgical robot control method for replacing the distal end described above, and will not be repeated here.

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

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

[0122] In some embodiments, the accuracy evaluation module is used to acquire an image of the window mark and to make the center of the image of the window mark coincide with the center of the corresponding virtual window outline.

[0123] In some embodiments, the mapping module is further configured to: after forming the mapping contour, if an image locking message is received, lock the position of the first vascular stent model; if an image unlocking 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 on the selected start and end points on the first blood vessel centerline, extract the segment of the first blood vessel centerline between the start and end points to generate the centerline of the extracted segment, and obtain the first blood vessel diameter corresponding to the start and end points; build a first blood vessel straightening model based on the first blood vessel centerline and the first blood vessel diameter corresponding to the start and end points; and build 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-perforated first vascular stent model based on the extracted segment centerline and a preset tube diameter; obtain tube diameter change region information in the first vascular straightening model, and obtain the size information of the virtual window outline based on the tube diameter change region information; obtain the position information of the virtual window outline based on the intersection of the first vascular centerline and the second vascular centerline; and generate the virtual window outline on the non-perforated first vascular stent model based on the position information and size information to form the first vascular stent model.

[0126] Each module in the aforementioned vascular stent-assisted fenestration device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0127] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0128] See Figure 7 and Figure 8 , Figure 14 and Figure 15 This application provides a vascular stent-assisted fenestration system, which includes a delivery device 200, a rotating device 300, and a controller. The delivery device 200 is used to mount a first vascular stent 120. The rotating device 300 is connected to the delivery device 200 and is used to drive the delivery device 200 to rotate. The controller is used to execute the method in the foregoing embodiments.

[0129] As previously mentioned, the first vascular stent model and the physical first vascular stent 120 can rotate synchronously based on rotation information. The physical first vascular stent 120 is mounted on the delivery device 200, and the rotation of the delivery device 200 is achieved by rotating the device 300. Synchronizing the rotation of the first vascular stent model and the physical first vascular stent 120 based on rotation information updates the virtual window outline displayed within a preset circumferential range, bringing the virtual window outline previously located in a blind spot into that range. Then, by again updating the virtual window outline to fall within the preset circumferential range, a mapping outline is formed on the physical first vascular stent 120, allowing the observer to mark another window on the physical first vascular stent 120 based on this mapping outline. This assists in marking window marks within different ranges along the circumference of the first vascular stent, meeting the need for drilling within a larger range along the circumference of the first vascular stent.

[0130] In some embodiments, the vascular stent-assisted fenestration system includes an image scanning device and an augmented reality device. The image scanning device is used to acquire a three-dimensional image of the blood vessel, and the augmented reality device is used to map the outline of a virtual window onto the physical first vascular stent 120. Both the image scanning device and the augmented reality device are communicatively connected to a controller. In other embodiments, the three-dimensional image of the blood vessel can also be acquired in advance and stored in a memory. The controller is communicatively connected to the memory to acquire the three-dimensional image of the blood vessel.

[0131] In some embodiments, the rotating device 300 is communicatively connected to a controller, which can automatically control the rotation of the rotating device 300 based on rotation information, thereby driving the delivery device 200 and the first vascular stent 120 mounted thereon to rotate. In other embodiments, the rotation of the rotating device 300 driving the delivery device 200 and the first vascular stent 120 mounted thereon to rotate can also be achieved manually.

[0132] See 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 sequentially along its own length direction (first direction). The handle 210 is for a user to hold, the delivery tube 230 is for mounting the first vascular stent 120, and the guide head 220 is for guiding the first vascular stent 120 when it is placed into the human body.

[0133] See Figures 7 to 9 , Figure 14 and Figure 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 a first direction, the first direction being 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 about 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 about the first direction; the second end plate 340 and the first end plate 330 are slidably connected so that the two can slide relative to each other about the first direction. The first fixing mechanism 310 is configured to be operably rotated about 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 delivery device 200, and the second fixing mechanism 320 is fixed to the guide head 220 of the delivery device 200. Thus, the first fixing mechanism 310, the second fixing mechanism 320, the delivery device 200, and the first vascular stent 120 mounted 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, it will drive the second fixing mechanism 320 to rotate relative to the second end plate 340, achieving synchronous rotation between the delivery device 200 and the first vascular stent 120. Since the delivery tube 230 is a flexible tube, when the user marks a window on the first vascular stent 120 with a marker, to facilitate user operation, the first end plate 330 and the second end plate 340 can slide away from each other, thereby straightening the delivery tube 230 and preventing it from shaking during the marking process. In addition, the entire rotating device 300 can be folded up by sliding the first end plate 330 and the second end plate 340 closer together, which facilitates sterilization and storage.

[0135] See 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 a second direction, the second direction being perpendicular to the first direction. The sliding assembly 350 includes a plurality of sliding rods arranged along the first direction, with any adjacent sliding rods slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is designated as the first sliding rod 351, and the other located at the other end along the first direction is designated as the last sliding rod 352. The first sliding rod 351 is connected to the first end plate 330, and the last sliding rod 352 is connected to the second end plate 340.

[0136] Specifically, the sliding assembly 350 is disposed between the first end plate 330 and the second end plate 340. Each sliding rod is a square rod, and any two adjacent rods are sleeved together to achieve a sliding connection. Of course, in other embodiments, the sliding rods can also be cylindrical rods. By setting multiple sliding rods that are slidably connected in sequence, when it is necessary to straighten the delivery tube 230, simply pull the first end plate 330 and the second end plate 340 in a relatively distant direction to unfold the multiple sliding rods in sequence; when it is necessary to retract the delivery tube 230, push the first end plate 330 and the second end plate 340 in a relatively close direction to close the multiple sliding rods in sequence. Since the sliding assembly 350 is located on the side of the delivery device 200 along the second direction, it will not obstruct the delivery device 200 and the first vascular stent 120 installed on it, making it convenient for users to mark the first vascular stent 120, thus improving the ease of operation.

[0137] See 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. Among the plurality of slide rails 361, one located at one end along the first direction is designated as the first end slide rail, and one located at the other end along the first direction is designated as the last end slide rail. The first end slide rail is fixedly connected to a first end plate 330, and the last end slide rail is fixedly connected to a second end plate 340. By providing the guide assembly 360 described above, the guidance during the relative sliding of the first end plate 330 and the second end plate 340 can be enhanced, making the sliding process smoother.

[0138] See Figures 7 to 11 In some embodiments, the first sliding rod 351 is rotatably connected to the first end plate 330, and the last 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, and the sliding assembly 350 includes a third gear 3531 and a fourth gear 3541. The third gear 3531 is connected to the first sliding rod 351, and the fourth gear 3541 is connected to the last sliding rod 352. The first gear 311 meshes with the third gear 3531 with a transmission ratio of 1, and the second gear 321 meshes with the fourth gear 3541 with a transmission ratio of 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 to the outside of the third gear shaft 3532, and the fourth gear 3541 is sleeved and fixed to the outside of the fourth gear shaft 3542. The third gear shaft 3532 passes through the first end plate 330 and is connected to it by a bearing; the fourth gear shaft 3542 passes through the second end plate 340 and is connected to it by a bearing. The end of the first sliding rod 351 is fixedly connected to the third gear shaft 3532 by a flange, and the end of the last sliding rod 352 is fixedly connected to the fourth gear shaft 3542 by a flange. The first fixing mechanism 310 includes a first rotating bushing 313, which passes through the first end plate 330 and is connected to it by a bearing. The first gear 311 is sleeved and fixed to the outside of the first rotating bushing 313. The second fixing mechanism 320 includes a second rotating bushing 323, which passes through the second end plate 340 and is connected to it by a bearing. The second gear 321 is sleeved and fixed to the outside of the second rotating bushing 323.

[0140] The first rotating bushing 313 is configured to operably rotate relative to the first end plate 330 about a first direction. When the first rotating bushing 313 rotates, since the first gear 311 meshes with the third gear 3531 and the second gear 321 meshes with the fourth gear 3541, the rotational power of the first rotating bushing 313 is transmitted from the first gear 311 to the third gear 3531, then from the third gear 3531 to the fourth gear 3541 via multiple sliding rods, and finally from the fourth gear 3541 to the second gear 321. Since the transmission ratio between the first gear 311 and the third gear 3531 is 1, and the transmission ratio between the second gear 321 and the fourth gear 3541 is 1, that is, the transmission ratio of the entire gear assembly is 1, constant speed transmission can be achieved, thereby achieving constant speed rotation at both ends of the conveying device 200.

[0141] In this embodiment, due to the aforementioned gear assembly, the power input at the first fixing mechanism 310 reaches the second fixing mechanism 320 via the sliding assembly 350, rather than directly via the flexible conveying pipe 230. This makes the power transmission more stable and precise. If this factor is not considered, in other embodiments, the first sliding rod 351 can also be fixedly connected to the first end plate 330, and the last sliding rod 352 can be fixedly connected to the second end plate 340.

[0142] See Figures 7 to 11In some embodiments, the first fixing mechanism 310 includes a first clamping member 312, a first rotating bushing 313, and a first locking member 314. The first rotating bushing 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 bushing 313 and 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 bushing 313 to abut against the outer wall of the first clamping member 312, so that the first clamping member 312 grips the handle 210.

[0143] Specifically, the first rotating bushing 313 passes through the first end plate 330, and the two are connected by a bearing. The first gear 311 is sleeved and fixed to the outside of the first rotating bushing 313. The first clamping member 312 extends into the first rotating bushing 313, and the two are fixedly connected. The first locking member 314 is threadedly connected to the first rotating bushing 313. By rotating the first locking member 314 and tightening it, it can abut against the outer wall of the first clamping member 312, causing the first clamping member 312 to retract, thereby gripping the handle 210 and fixing the handle 210. In this embodiment, since the handle 210 is fixed by gripping it with the first clamping member 312, for handles 210 of different sizes, the gripping degree of the first clamping member 312 can be adjusted by rotating the first locking member 314, thereby fixing handles 210 of different sizes.

[0144] See also Figure 13 Furthermore, in some embodiments, the first clamping member 312 is cylindrical and has a plurality of slots 3122 spaced apart along its circumference. The end of the first clamping member 312 opposite to 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 retracts, thereby gripping the handle 210 and fixing the handle 210.

[0145] Similarly, in some embodiments, the second fixing mechanism 320 includes a second clamping member 322, a second rotating bushing 323, and a second locking member 324. The second rotating bushing 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 bushing 323 and 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 bushing 323 to abut against the outer wall of the second clamping member 322, so that the second clamping member 322 hugs the guide head 220.

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

[0147] See Figure 8 , Figure 10 and Figure 12 In some embodiments, 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 groove 331 extending around a first direction. The annular groove 331 includes a plurality of first groove portions 3311 and second groove portions 3312 arranged alternately 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, which extends into the annular groove 331 and elastically abuts against the groove wall.

[0148] Specifically, the rotary knob 315 is located on the outside of the first end plate 330 (the side opposite to the second end plate 340) and is fixedly connected to the first rotating sleeve 313. The user can rotate the rotary knob 315, thereby causing the first rotating sleeve 313 to rotate. An annular groove 331 is provided on the outer end wall of the first end plate 330 (the end wall opposite to the second end plate 340). The depth of the second groove 3312 is greater than that of the first groove 3311, and the circumferential length of the second groove 3312 is less than that of the first groove 3311. A spring plunger 316 protrudes from the end of the rotary knob 315 near the first end plate 330, and the spring plunger 316 extends into the annular groove 331. The included angle between any two adjacent first grooves 3311 is 60 degrees. When the spring plunger 316 moves from one second groove 3312 to an adjacent second groove 3312, one rotation of the first vascular stent 120 is completed. When knob 315 is rotated, if spring plunger 316 reaches the deeper second groove 3312, it will be locked by the groove wall of the second groove 3312, thus locking the position of knob 315. The user must forcefully rotate knob 315 to allow it to enter the first groove 3311 to unlock it. Through this locking structure, the position of the first vascular stent 120 can be locked after one rotation, preventing positional deviation during marking. Furthermore, with this structure, once knob 315 has rotated a certain angle and is locked, it is known that one rotation has been completed, eliminating the need to measure the rotation angle and making operation more convenient.

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

[0150] By setting up multiple telescopic cylinders 410 that are slidably connected in sequence, when the delivery tube 230 needs to be straightened, simply pull the first end plate 330 and the second end plate 340 in a relatively far direction to unfold the multiple telescopic cylinders 410 in sequence; when the delivery tube 230 needs to be retracted, push the first end plate 330 and the second end plate 340 in a relatively close direction to close the multiple telescopic cylinders 410 in sequence. Since the telescopic cylinders 410 are hollow, the delivery device 200 and the first vascular stent 120 inside can be exposed, and the user can mark the first vascular stent 120 through the hollow part.

[0151] Furthermore, in some embodiments, each telescopic cylinder 410 includes a plurality of rods 411 arranged at intervals along its circumference, with a notch 412 formed between any two adjacent rods 411, allowing the user to insert a marker into the telescopic cylinder 410 through the notch 412 to mark the first vascular stent 120.

[0152] Preferably, the central angle between any two adjacent rods 411 is different from the angle of rotation of the first vascular stent 120 each time. In this way, the obstruction of the first vascular stent 120 by the rods 411 can be minimized.

[0153] in addition, Figure 14 In this embodiment, no gear structure is provided. Among the multiple telescopic cylinders 410, the first telescopic cylinder located at the first end is fixedly connected to the first rotating bushing 313 in the first fixing mechanism 310, and the last telescopic cylinder located at the end is fixedly connected to the second rotating bushing 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, instead of directly reaching the second fixing mechanism 320 through the flexible conveying pipe 230.

[0154] Figure 14 Other structures in the embodiments and Figure 7 The corresponding embodiments are the same, therefore, other structures can be directly referenced. Figure 7 The corresponding embodiments described above will not be repeated 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: Figure 16 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for controlling a surgical robot that can replace an end effector. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0156] Those skilled in the art will understand that Figure 16 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0157] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0158] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0159] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[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, data stored, data displayed, 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 the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0161] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0162] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for vascular stent-assisted fenestration, characterized in that, The method includes: The first vascular stent model was constructed based on 3D images of blood vessels; The first vascular stent model is superimposed on the actual first vascular stent; The virtual window outline within a preset circumferential range on the first vascular stent model is mapped onto the physical first vascular stent. The mapped outline is used to assist in forming window markings on the physical first vascular stent. After the mapped 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. The rotation information is acquired so that the first vascular stent model and the first vascular stent physical object can rotate synchronously based on the rotation information.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the error range, and form an error range profile on the first vascular stent based on the mapped profile and the error range.

3. The method according to claim 1, characterized in that, The method further includes: The image of the window mark and the corresponding virtual window outline are overlaid and fitted. Determine whether the overlap between the image of the window mark and the corresponding virtual window outline exceeds the error range.

4. A vascular stent-assisted fenestration device, characterized in that, The vascular stent-assisted fenestration device includes: The model building module is used to build the first vascular stent model based on the three-dimensional images of blood vessels. An overlay display module is used to overlay the first vascular stent model onto the actual first vascular stent. The mapping module is used to make the virtual window outline within a preset circumferential range on the first vascular stent model form a mapping outline on the first vascular stent physical object. The mapping outline is used to assist in forming window markings on the first vascular stent physical object. The mapping module is also used to: after forming the mapping outline, if an image locking message is received, lock the position of the first vascular stent model; if an image unlocking message is received, read and update the current position of the first vascular stent model in real time. The model rotation module is used to acquire rotation information so that the first vascular stent model and the first vascular stent physical object can rotate synchronously based on the rotation information.

5. A vascular stent-assisted fenestration system, characterized in that, The vascular stent-assisted fenestration system includes: Delivery device (200) for mounting the first vascular stent (120); A rotating device is connected to the conveying device (200) and is used to drive the conveying device (200) to rotate; A controller for performing the method according to any one of claims 1 to 3.

6. The vascular stent-assisted fenestration system according to claim 5, characterized in that, The rotating device includes: A first fixing mechanism (310) is fixed to one end of the conveying device (200) along a first direction, the first direction being 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 about 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 about 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 about the first direction to drive the conveying device (200) to rotate synchronously.

7. The vascular stent-assisted fenestration system according to claim 6, characterized in that, The rotating device (300) includes a sliding assembly (350) located on one side of the conveying device (200) along a second direction, the second direction being perpendicular to the first direction; The sliding assembly (350) includes a plurality of sliding rods arranged along the first direction, with any adjacent sliding rods slidably connected. Among the plurality of sliding rods, one located at one end along the first direction is designated as the first sliding rod (351), and one located at the other end along the first direction is designated as the last sliding rod (352). The first sliding rod (351) is connected to the first end plate (330), and the last sliding rod (352) is connected to the second end plate (340).

8. The vascular stent-assisted fenestration system according to claim 7, characterized in that, The first sliding rod (351) is rotatably connected to the first end plate (330), and the last 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 first sliding rod (351), and the fourth gear (3541) is connected to the last sliding rod (352). The first gear (311) meshes with the third gear (3531) with a transmission ratio of 1, and the second gear (321) meshes with the fourth gear (3541) with a transmission ratio of 1.

9. The vascular stent-assisted fenestration system according to any one of claims 6 to 8, characterized in that, The first fixing mechanism (310) includes a first clamping member (312), a first rotating bushing (313) and a first locking member (314). The first rotating bushing (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 bushing (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 bushing (313) to abut against the outer wall of the first clamping member (312) so that the first clamping member (312) hugs the handle (210). And / or, the second fixing mechanism (320) includes a second clamping member (322), a second rotating bushing (323) and a second locking member (324), the second rotating bushing (323) passing through the second end plate (340) and being rotatably connected thereto, the second clamping member (322) being mounted on the second rotating bushing (323) and the second clamping member (322) being sleeved on the outside of the guide head (220) of the conveying device (200), the second locking member (324) being threadedly connected to the second rotating bushing (323) to abut against the outer wall of the second clamping member (322) so that the second clamping member (322) grips the guide head (220).

10. The vascular stent-assisted fenestration system according to any one of claims 6 to 8, 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 groove (331) extending around the first direction. The annular groove (331) includes a plurality of first groove portions (3311) and second groove portions (3312) arranged alternately 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 groove (331) and elastically abuts against the groove wall.

11. 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, it implements the steps of the method according to any one of claims 1 to 3.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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