Method and device for determining position in blood vessel, electronic equipment and storage medium

Abstract

The invention relates to a method and device for determining a position in a blood vessel, electronic equipment and a storage medium. The method comprises the following steps: acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model comprises a reconstructed blood vessel image set composed of reconstructed blood vessel images at different positions in the target blood vessel, the current IVUS image is matched with the reconstructed blood vessel images in the reconstructed blood vessel image set in sequence, and matching evaluation values are calculated respectively; and determining the current position of the current IVUS image in the target blood vessel based on the matching evaluation value. According to the scheme provided by the invention, the specific real-time condition in the blood vessel can be obtained, and the current IVUS position can be conveniently determined in the blood vessel, so that the accurate position and direction of the conduction device in the blood vessel can be determined according to the current IVUS position.

Description

Technical Field

[0001] The present application relates to the technical field of medical image processing, and in particular to a method, device, electronic device and storage medium for determining a position in a blood vessel. Background Art

[0002] Currently, when surgeons perform PCI (Percutaneous Coronary Intervention) surgery, they usually use X-rays to photograph diseased blood vessels to obtain two-dimensional angiographic images, and determine the location of vascular lesions through the angiographic images.

[0003] However, when opening CTO (Chronic total occlusion), if two-dimensional angiography images are used, firstly, the doctor cannot see the specific blockage situation inside the blood vessel in the two-dimensional angiography images, and secondly, the doctor can only open the blood vessel based on experience and cannot know the exact position and direction of the conduction device in the blood vessel. Summary of the invention

[0004] In order to solve or partially solve the problems existing in the related art, the present application provides a method, device, electronic device and storage medium for determining the position in a blood vessel, which can obtain the specific real-time situation inside the blood vessel, facilitate determining the current IVUS position in the blood vessel, and thus determine the accurate position and direction of the conduction device in the blood vessel according to the current IVUS position.

[0005] The first aspect of the present application provides a method for determining a position in a blood vessel, comprising:

[0006] Acquire a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a set of reconstructed blood vessel images composed of reconstructed blood vessel images at different positions in the target blood vessel;

[0007] sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculating matching evaluation values ​​respectively;

[0008] The current position of the current IVUS image in the target blood vessel is determined based on the matching evaluation value.

[0009] Optionally, sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set and calculating matching evaluation values ​​respectively includes:

[0010] Determining the rotation center of the current IVUS image;

[0011] Based on the rotation center of the current IVUS image, the current IVUS image is rotated multiple times according to a preset rotation angle to generate a rotation image set of the current IVUS image;

[0012] The images in the rotation image set are matched with the reconstructed blood vessel images in the reconstructed blood vessel image set in sequence, and matching evaluation values ​​are calculated respectively.

[0013] Optionally, sequentially matching the images in the rotated image set with the reconstructed vascular images in the reconstructed vascular image set and calculating matching evaluation values ​​respectively includes:

[0014] Segmenting the images in the rotation image set to generate a current lumen and a current media;

[0015] Segmenting the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed media;

[0016] Based on a preset matching function, the matching evaluation value is calculated according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media.

[0017] Optionally, the reconstructed blood vessel image has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image, and determining the current position of the current IVUS image at the target blood vessel based on the matching evaluation value includes:

[0018] Determine a minimum value among the matching evaluation values, and a reconstructed blood vessel image corresponding to the minimum value;

[0019] Based on the mapping relationship, the current position of the current IVUS image in the target blood vessel is determined according to the feature information of the reconstructed blood vessel image.

[0020] Optionally, the method further includes:

[0021] Detecting whether the current IVUS image contains a conduction device by using a preset detection model;

[0022] In the case where the conducting device is included, determining the relative position and angle between the conducting device and the center of the current IVUS image;

[0023] The position and direction of the conductive device in the target blood vessel are determined according to the current position of the center of the current IVUS image and the relative position and angle.

[0024] Optionally, the matching function includes a normalization algorithm, and the method further includes:

[0025] The current IVUS image and the reconstructed vascular image are normalized and calculated by using the matching function.

[0026] Optionally, the method further comprises:

[0027] The images in the rotation image set and the reconstructed blood vessel image are segmented by using a preset segmentation model.

[0028] A second aspect of the present application provides a device for determining a position in a blood vessel, comprising:

[0029] An acquisition module, used for acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model comprises a set of reconstructed blood vessel images composed of reconstructed blood vessel images at different positions in the target blood vessel;

[0030] A matching module, used for sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculating matching evaluation values ​​respectively;

[0031] The first determination module is used to determine the current position of the current IVUS image in the target blood vessel based on the matching evaluation value.

[0032] Optionally, matching modules include:

[0033] A rotation center submodule, used to determine the rotation center of the current IVUS image;

[0034] A rotation submodule, used to rotate the current IVUS image multiple times according to a preset rotation angle based on the rotation center of the current IVUS image, to generate a rotation image set of the current IVUS image;

[0035] The matching submodule is used to sequentially match the images in the rotation image set with the reconstructed blood vessel images in the reconstructed blood vessel image set, and calculate matching evaluation values ​​respectively.

[0036] Optionally, the matching submodule includes:

[0037] A first segmentation unit is used to segment the images in the rotation image set to generate a current lumen and a current media;

[0038] A second segmentation unit is used to segment the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed media;

[0039] A calculation unit is used to calculate the matching evaluation value according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media based on a preset matching function.

[0040] Optionally, the reconstructed blood vessel image has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image, and the first determining module includes:

[0041] A determination submodule, used to determine a minimum value among the matching evaluation values, and a reconstructed blood vessel image corresponding to the minimum value;

[0042] A position submodule is used to determine the current position of the current IVUS image in the target blood vessel based on the mapping relationship and according to the characteristic information of the reconstructed blood vessel image.

[0043] Optionally, the device further comprises:

[0044] A detection module, used for detecting whether the current IVUS image contains a conduction device through a preset detection model;

[0045] A second determination module is used to determine the relative position and angle between the conduction device and the center of the current IVUS image when the conduction device is included;

[0046] A position module is used to determine the position and direction of the conductive device in the target blood vessel according to the current position of the center of the current IVUS image and the relative position and angle.

[0047] In an optional embodiment of the present application, the matching function includes a normalization algorithm, and the device further includes:

[0048] A normalization module is used to perform normalization calculation on the current IVUS image and the reconstructed vascular image through the matching function.

[0049] In an optional embodiment of the present application, the device further includes:

[0050] The segmentation module is used to segment the images in the rotation image set and the reconstructed blood vessel image by using a preset segmentation model.

[0051] A third aspect of the present application provides an electronic device, including:

[0052] Processor; and

[0053] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0054] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0055] The technical solution provided by the present application may include the following beneficial effects: by acquiring a current IVUS image of a target blood vessel, and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set consisting of reconstructed blood vessel images at different positions in the target blood vessel, the current IVUS image is matched with the reconstructed blood vessel images in the reconstructed blood vessel image set in turn, matching evaluation values ​​are calculated respectively, and the current position of the current IVUS image in the target blood vessel is determined based on the matching evaluation values, thereby being able to obtain the specific real-time situation inside the blood vessel, facilitating determination of the current IVUS position in the blood vessel.

[0056] The technical solution of the present application can also: further determine the relative position and direction of the conduction device in the blood vessel according to the current position of IVUS.

[0057] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and other objects, features and advantages of the present application will become more apparent by describing in more detail exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0059] Figure 1 is a flow chart of a method for determining a position in a blood vessel shown in an embodiment of the present application;

[0060] Figure 2 is another flow chart of a method for determining a position in a blood vessel shown in an embodiment of the present application;

[0061] Figure 3 is a schematic structural diagram of a device for determining a position in a blood vessel shown in an embodiment of the present application;

[0062] Figure 4 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0064] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0065] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0066] When opening a CTO, firstly, the doctor cannot see the specific blockage inside the blood vessel in the two-dimensional angiography image. Secondly, the doctor can only open the blood vessel based on experience and cannot know the exact position and direction of the conductive device in the blood vessel.

[0067] In response to the above problems, an embodiment of the present application provides a method for determining the position in a blood vessel, which can obtain the specific real-time situation inside the blood vessel, facilitate determining the relative position of the current IVUS in the blood vessel, and thus determine the exact position and direction of the conductive device in the blood vessel based on the current IVUS position.

[0068] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0069] Figure 1 It is a flow chart of a method for determining a position in a blood vessel shown in an embodiment of the present application.

[0070] See also Figure 1 , the method comprising:

[0071] Step 101, acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set consisting of reconstructed blood vessel images at different positions in the target blood vessel;

[0072] The target vessel may be a vessel that has a lesion and needs CTO opening. Before obtaining the current IVUS image of the target vessel, the target vessel may be completely retracted using IVUS to obtain a reconstructed vessel model of the complete structure of the target vessel. The reconstructed vessel model may be a three-dimensional model. The reconstructed vessel model includes reconstructed vessel images of various positions in the target vessel.

[0073] IVUS (Intravascular ultrasound) refers to a medical imaging technology that combines non-invasive ultrasound technology with invasive catheter technology, using a special catheter with an ultrasound probe connected to the end. Intravascular ultrasound is a method of placing a miniaturized ultrasound transducer into the cardiovascular cavity through a cardiac catheter to display the cross-sectional morphology and / or blood flow patterns of the cardiovascular system. It mainly includes ultrasound imaging technology and Doppler blood flow measurement. This technology enables ultrasound technology, such as piezoelectric conduction or ultrasound sensors, to be used to examine the condition of the inner wall of the blood vessel. The IVUS probe can obtain real-time IVUS images of the probe's position in the operator's target blood vessel, thereby obtaining the current IVUS image of the target blood vessel.

[0074] Step 102, sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculating matching evaluation values ​​respectively;

[0075] In the embodiment of the present application, a rigid registration algorithm can be used to match the current IVUS image with the reconstructed vascular image in the reconstructed vascular image set. In the field of medical image registration, it is a technology that uses one of the images as a reference to find one or a series of spatial transformation relationships for two medical images collected from the same device at different times or different imaging devices, so that after the other image is spatially transformed, the corresponding points between the two images are basically consistent in space. Medical image registration technology has a very important application value in clinical medicine. It integrates the complementary information expressed by different images for reference by medical staff to improve the accuracy of clinical diagnosis.

[0076] When matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, a traversal method can be used to take the reconstructed vascular images in the reconstructed vascular image set as a reference, match the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set one by one, and calculate the matching evaluation value of each match.

[0077] Step 103: determine the current position of the current IVUS image in the target blood vessel based on the matching evaluation value.

[0078] Among all the calculated matching evaluation values, a matching evaluation value that meets the conditions can be selected. Based on the matching evaluation value that meets the conditions, the reconstructed vascular image used to calculate the matching evaluation value can be determined. Since different reconstructed vascular images are located at different positions in the blood vessel, after the reconstructed vascular image is determined, the position corresponding to the reconstructed vascular image in the target blood vessel can be determined, and the determined position can be considered as the current position of the current IVUS image in the target blood vessel.

[0079] An embodiment of the present application discloses a method for determining a position in a blood vessel, by acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set consisting of reconstructed blood vessel images at different positions in the target blood vessel, and the current IVUS image is matched with the reconstructed blood vessel images in the reconstructed blood vessel image set in turn, and matching evaluation values ​​are calculated respectively, and the current position of the current IVUS image in the target blood vessel is determined based on the matching evaluation values, thereby being able to obtain the specific real-time situation inside the blood vessel, facilitating determination of the current IVUS position in the blood vessel, and thereby being able to determine the accurate position and direction of the conduction device in the blood vessel based on the current IVUS position.

[0080] Figure 2 This is another flowchart of a method for determining a position in a blood vessel shown in an embodiment of the present application.

[0081] See also Figure 2 , the method comprising:

[0082] Step 201, acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set consisting of reconstructed blood vessel images at different positions in the target blood vessel;

[0083] The target vessel may be a vessel that has a lesion and needs CTO opening. Before obtaining the current IVUS image of the target vessel, the target vessel may be completely retracted using IVUS to obtain a reconstructed vessel model of the complete structure of the target vessel. The reconstructed vessel model may be a three-dimensional model. The reconstructed vessel model includes reconstructed vessel images of various positions in the target vessel.

[0084] The IVUS probe can obtain an IVUS image of the position of the probe in the operator's target blood vessel in real time, thereby obtaining a current IVUS image of the target blood vessel.

[0085] Step 202, determining the rotation center of the current IVUS image;

[0086] It is understandable that at the same position of the target blood vessel, the probe direction when generating the current IVUS image may be different from the probe direction when generating the reconstructed blood vessel image. In order to eliminate the influence caused by the different angles of the images generated twice due to the different probe directions, the current IVUS image can be rotated. Before rotating the current IVUS image, the rotation center of the IVUS image can be determined first. The embodiment of the present application does not limit the position of the rotation center, and it is sufficient to rotate the current IVUS image. In order to simplify the rotation process, the center of the current IVUS image can be selected as the rotation center.

[0087] Step 203, based on the rotation center of the current IVUS image, the current IVUS image is rotated multiple times according to a preset rotation angle to generate a rotation image set of the current IVUS image;

[0088] After determining the rotation center of the current IVUS image, the current IVUS image can be rotated. During the rotation, a traversal method can be used to rotate the current IVUS image once at intervals of a preset rotation angle based on the rotation center, thereby obtaining a rotation image of the current IVUS image at different angles, and a rotation image set composed of rotation images at different angles. In the embodiment of the present application, there is no restriction on the size of the preset rotation angle, for example, 1 degree, 3 degrees, 5 degrees, etc. can be selected. It can be understood that the smaller the selected preset rotation angle, the more accurate the subsequent matching image, and the amount of calculation will also increase. Therefore, the size of the preset rotation angle is selected by a technician in this field according to actual needs.

[0089] Step 204, segmenting the images in the rotation image set to generate the current lumen and the current media;

[0090] Each rotation image in the rotation image set may be segmented one by one, and the current lumen and the current media corresponding to each rotation image may be generated.

[0091] Step 205, segmenting the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed media;

[0092] Each reconstructed blood vessel image is also segmented one by one, and a reconstructed lumen and a reconstructed media corresponding to each reconstructed blood vessel image are generated.

[0093] Step 206 , based on a preset matching function, a matching evaluation value is calculated according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media.

[0094] According to the preset matching function, the matching evaluation value of the current IVUS image can be calculated according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media.

[0095] In one example, the matching evaluation value is calculated by the following function:

[0096]

[0097] Where N is the length of the target vessel, L 1 With L 2 is a metric function used to evaluate the similarity between the current lumen and the reconstructed lumen, the current media and the reconstructed media, respectively. i , M i Reconstruction of lumen and media. real-time With M real-time is the current lumen and the current media. T is the rigid transformation function.

[0098] Step 207 , determining the current position of the current IVUS image in the target blood vessel based on the matching evaluation value.

[0099] Among all the matching evaluation values, a matching evaluation value that meets the conditions can be selected. Based on the matching evaluation value that meets the conditions, the reconstructed vascular image used to calculate the matching evaluation value can be determined. Since different reconstructed vascular images are located at different positions in the blood vessel, after determining the reconstructed vascular image, the position corresponding to the reconstructed vascular image can be determined. The determined position can be considered as the current position of the current IVUS image in the target blood vessel.

[0100] In an optional embodiment of the present application, the reconstructed blood vessel image has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image. Step 207 includes:

[0101] Sub-step S11, determining a minimum value among the matching evaluation values, and a reconstructed blood vessel image corresponding to the minimum value;

[0102] In the reconstructed blood vessel model, the reconstructed blood vessel image of the target blood vessel has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image, and each reconstructed blood vessel image has a one-to-one correspondence with the position. In one example, the characteristic information may be a frame sequence of the reconstructed blood vessel image.

[0103] When the matching evaluation value is the minimum, the error between the current lumen and the reconstructed lumen, and between the current media and the reconstructed media is the minimum, and it can be considered that the current IVUS image and the reconstructed vascular image are the most matched. Therefore, the minimum value in the matching evaluation value and the reconstructed vascular image used when calculating the minimum value can be determined.

[0104] Sub-step S12, based on the mapping relationship, determine the current position of the current IVUS image in the target blood vessel according to the feature information of the reconstructed blood vessel image.

[0105] Based on the mapping relationship between the feature information and the position of the reconstructed vascular image, the position of the reconstructed vascular image in the target vessel can be determined through the feature information, and the position of the reconstructed vascular image in the target vessel is used as the current position of the current IVUS image in the target vessel.

[0106] Step 208, detecting whether the current IVUS image contains a conductive device by using a preset detection model;

[0107] After determining the current position of the current IVUS image in the target blood vessel, a preset detection model can also be used to detect whether the current IVUS image contains a conduction device. In one example, the conduction device can be a guidewire for opening the CTO. The preset detection model can be obtained by model training through a large amount of labeled sample data.

[0108] Step 209, in the case where a conducting device is included, determining the relative position and angle between the conducting device and the center of the current IVUS image;

[0109] If the current IVUS image contains a conductive device, the position of the conductive device can be further determined. Generally, the center of the current IVUS image is the position of the IVUS probe. For easy calculation, the center of the current IVUS image can be used as a reference to determine the relative position and angle between the conductive device and the center of the current IVUS image.

[0110] Step 2010, determining the position and direction of the conductive device in the target blood vessel according to the current position, relative position and angle of the center of the current IVUS image.

[0111] The position and direction of the guidewire in the target vessel are determined based on the current position, relative position and angle of the center of the current IVUS image. Therefore, when performing CTO opening, the specific position and direction of the guidewire in the vessel can be known.

[0112] In an optional embodiment of the present application, the matching function includes a normalization algorithm, and the method further includes:

[0113] The current IVUS image and the reconstructed vascular image are normalized and calculated using a matching function.

[0114] Normalization is a way to simplify calculations, which is to transform a dimensional expression into a dimensionless expression, thus becoming a scalar.

[0115] In order to eliminate the interference caused by the operator's cardiac cycle during the matching process, a normalization algorithm can be introduced into the matching function when matching the current IVUS image with the reconstructed vascular image, thereby performing normalization calculation on the current IVUS image and the reconstructed vascular image.

[0116] In an optional embodiment of the present application, the method further includes:

[0117] The images in the rotation image set and the reconstructed blood vessel images are segmented by using a preset segmentation model.

[0118] When segmenting the images in the rotating image set and the reconstructed blood vessel image, a preset segmentation model can be used to segment the images in the rotating image set and the reconstructed blood vessel image, thereby obtaining the current lumen and the current media of the images in the rotating image set, and the reconstructed lumen and the reconstructed media of the reconstructed blood vessel image. The preset segmentation model can be obtained by model training through a large amount of labeled sample data.

[0119] The embodiment of the present application discloses a method for determining a position in a blood vessel, by acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set composed of reconstructed blood vessel images at different positions in the target blood vessel, determining the rotation center of the current IVUS image, rotating the current IVUS image multiple times according to a preset rotation angle based on the rotation center of the current IVUS image, generating a rotation image set of the current IVUS image, segmenting the images in the rotation image set to generate a current lumen and a current tunica media, segmenting the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed tunica media, calculating a matching evaluation value based on the current lumen and the current tunica media, and the reconstructed lumen and the reconstructed tunica media based on a preset matching function, determining the current position of the current IVUS image in the target blood vessel based on the matching evaluation value, detecting whether the current IVUS image contains a conduction device through a preset detection model, and determining the relative position and angle of the conduction device and the center of the current IVUS image if the conduction device is contained, and determining the position and direction of the conduction device in the target blood vessel based on the current position and the relative position and angle of the center of the current IVUS image. Thereby, the specific real-time situation inside the blood vessel can be obtained, which facilitates the determination of the current IVUS position in the blood vessel, and the relative position and direction of the conduction device in the blood vessel can be further determined based on the current IVUS position.

[0120] Corresponding to the aforementioned application function realization method embodiment, the present application also provides a device for determining a position in a blood vessel, an electronic device and corresponding embodiments.

[0121] Figure 3 It is a schematic diagram of the structure of a device for determining a position in a blood vessel shown in an embodiment of the present application.

[0122] See also Figure 3 , the device comprises:

[0123] An acquisition module 301 is used to acquire a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set composed of reconstructed blood vessel images at different positions in the target blood vessel;

[0124] The target vessel may be a vessel that has a lesion and needs CTO opening. Before obtaining the current IVUS image of the target vessel, the target vessel may be completely retracted using IVUS to obtain a reconstructed vessel model of the complete structure of the target vessel. The reconstructed vessel model may be a three-dimensional model. The reconstructed vessel model includes reconstructed vessel images of various positions in the target vessel.

[0125] The IVUS probe can obtain an IVUS image of the position of the probe in the operator's target blood vessel in real time, thereby obtaining a current IVUS image of the target blood vessel.

[0126] A matching module 302, used to sequentially match the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculate matching evaluation values ​​respectively;

[0127] When matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, a traversal method can be used to take the reconstructed vascular images in the reconstructed vascular image set as a reference, match the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set one by one, and calculate the matching evaluation value of each match.

[0128] The first determination module 303 is used to determine the current position of the current IVUS image in the target blood vessel based on the matching evaluation value.

[0129] Among all the calculated matching evaluation values, a matching evaluation value that meets the conditions can be selected. Based on the matching evaluation value that meets the conditions, the reconstructed vascular image used to calculate the matching evaluation value can be determined. Since different reconstructed vascular images are located at different positions in the blood vessel, after the reconstructed vascular image is determined, the position corresponding to the reconstructed vascular image in the target blood vessel can be determined, and the determined position can be considered as the current position of the current IVUS image in the target blood vessel.

[0130] In an optional embodiment of the present application, the matching module 302 includes:

[0131] A rotation center submodule is used to determine the rotation center of the current IVUS image;

[0132] At the same position of the target blood vessel, the probe direction when generating the current IVUS image may be different from the probe direction when generating the reconstructed blood vessel image. In order to eliminate the influence caused by the different angles of the two images generated due to the different probe directions, the current IVUS image can be rotated. Before rotating the current IVUS image, the rotation center of the IVUS image can be determined first.

[0133] A rotation submodule, for performing multiple rotations of the current IVUS image according to a preset rotation angle based on the rotation center of the current IVUS image to generate a rotation image set of the current IVUS image;

[0134] After determining the rotation center of the current IVUS image, the current IVUS image can be rotated. During the rotation, a traversal method can be used to rotate the current IVUS image once at intervals of a preset rotation angle based on the rotation center, thereby obtaining rotated images of the current IVUS image at different angles, as well as a rotated image set composed of rotated images at different angles.

[0135] The matching submodule is used to sequentially match the images in the rotation image set with the reconstructed blood vessel images in the reconstructed blood vessel image set, and calculate matching evaluation values ​​respectively.

[0136] In an optional embodiment of the present application, the matching submodule includes:

[0137] A first segmentation unit is used to segment the image in the rotation image set to generate a current lumen and a current media;

[0138] The second segmentation unit is used to segment the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed media;

[0139] The calculation unit is used to calculate the matching evaluation value according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media based on a preset matching function.

[0140] In an optional embodiment of the present application, the reconstructed blood vessel image has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image. The first determination module 303 includes:

[0141] A determination submodule, used to determine a minimum value among the matching evaluation values, and a reconstructed blood vessel image corresponding to the minimum value;

[0142] The position submodule is used to determine the current position of the current IVUS image in the target blood vessel based on the mapping relationship and the feature information of the reconstructed blood vessel image.

[0143] In an optional embodiment of the present application, the device further includes:

[0144] A detection module, used to detect whether a conduction device is included in the current IVUS image through a preset detection model;

[0145] A second determination module is used to determine the relative position and angle between the conduction device and the center of the current IVUS image when the conduction device is included;

[0146] The position module is used to determine the position and direction of the conduction device in the target blood vessel according to the current position and relative position and angle of the center of the current IVUS image.

[0147] In an optional embodiment of the present application, the matching function includes a normalization algorithm, and the device further includes:

[0148] The normalization module is used to perform normalization calculation on the current IVUS image and the reconstructed vascular image through a matching function.

[0149] In an optional embodiment of the present application, the device further includes:

[0150] The segmentation module is used to segment the images in the rotation image set and the reconstructed blood vessel image by using a preset segmentation model.

[0151] An embodiment of the present application discloses a device for determining a position in a blood vessel, by acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a reconstructed blood vessel image set consisting of reconstructed blood vessel images at different positions in the target blood vessel, and sequentially matching the current IVUS image with the reconstructed blood vessel images in the reconstructed blood vessel image set, calculating matching evaluation values ​​respectively, and determining the current position of the current IVUS image in the target blood vessel based on the matching evaluation values, thereby being able to obtain the specific real-time situation inside the blood vessel, facilitating determination of the current IVUS position in the blood vessel, and thereby being able to determine the accurate position and direction of the conduction device in the blood vessel based on the current IVUS position.

[0152] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0153] Figure 4 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0154] See also Figure 4 , the electronic device 400 includes a memory 410 and a processor 420.

[0155] The processor 420 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0156] The memory 410 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage. Among them, ROM can store static data or instructions required by the processor 420 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 410 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 410 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0157] The memory 410 stores executable codes, and when the executable codes are processed by the processor 420 , the processor 420 can execute part or all of the methods described above.

[0158] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0159] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0160] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining a position in a blood vessel, characterized in that: include: Acquire a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model includes a set of reconstructed blood vessel images composed of reconstructed blood vessel images at different positions in the target blood vessel; sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculating matching evaluation values ​​respectively; The current position of the current IVUS image in the target blood vessel is determined based on the matching evaluation value.

2. The method according to claim 1, characterized in that The step of sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set and calculating matching evaluation values ​​respectively comprises: Determining the rotation center of the current IVUS image; Based on the rotation center of the current IVUS image, the current IVUS image is rotated multiple times according to a preset rotation angle to generate a rotation image set of the current IVUS image; The images in the rotation image set are matched with the reconstructed blood vessel images in the reconstructed blood vessel image set in sequence, and matching evaluation values ​​are calculated respectively.

3. The method according to claim 2, characterized in that The sequentially matching the images in the rotation image set with the reconstructed blood vessel images in the reconstructed blood vessel image set and respectively calculating matching evaluation values ​​comprises: Segmenting the images in the rotation image set to generate a current lumen and a current media; Segmenting the reconstructed blood vessel image to generate a reconstructed lumen and a reconstructed media; Based on a preset matching function, the matching evaluation value is calculated according to the current lumen and the current media, and the reconstructed lumen and the reconstructed media.

4. The method according to claim 1, characterized in that: The reconstructed blood vessel image has characteristic information, and the characteristic information has a mapping relationship with the position of the reconstructed blood vessel image. The determining the current position of the current IVUS image at the target blood vessel based on the matching evaluation value includes: Determine a minimum value among the matching evaluation values, and a reconstructed blood vessel image corresponding to the minimum value; Based on the mapping relationship, the current position of the current IVUS image in the target blood vessel is determined according to the feature information of the reconstructed blood vessel image.

5. The method according to claim 1 or 4, characterized in that: The method further comprises: Detecting whether the current IVUS image contains a conduction device by using a preset detection model; In the case where the conducting device is included, determining the relative position and angle between the conducting device and the center of the current IVUS image; The position and direction of the conductive device in the target blood vessel are determined according to the current position of the center of the current IVUS image and the relative position and angle.

6. The method according to claim 3, characterized in that The matching function includes a normalization algorithm, and the method further includes: The current IVUS image and the reconstructed vascular image are normalized and calculated by using the matching function.

7. The method according to claim 3, characterized in that The method further comprises: The images in the rotation image set and the reconstructed blood vessel image are segmented by using a preset segmentation model.

8. A device for determining a position in a blood vessel, characterized in that: include: An acquisition module, used for acquiring a current IVUS image of a target blood vessel and a reconstructed blood vessel model of the target blood vessel; wherein the reconstructed blood vessel model comprises a set of reconstructed blood vessel images composed of reconstructed blood vessel images at different positions in the target blood vessel; A matching module, used for sequentially matching the current IVUS image with the reconstructed vascular images in the reconstructed vascular image set, and calculating matching evaluation values ​​respectively; The first determination module is used to determine the current position of the current IVUS image in the target blood vessel based on the matching evaluation value.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 7.

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