Method and equipment for simulating intra-tumor turbulence device and storage medium

Abstract

The invention discloses a method and equipment for simulating an intra-tumor turbulence device and a storage medium. The method comprises the following steps: acquiring an aneurysm model and measurement parameters thereof; according to the measurement parameters, determining a to-be-simulated intra-tumor turbulent flow device and consumable parameters of the to-be-simulated intra-tumor turbulent flow device; according to the consumable parameters, a discrete elastic rod is used for conducting modeling on weaving wires in the intra-tumor turbulence device to obtain an intra-tumor turbulence device model; and based on the aneurysm model and the intra-tumor turbulence device model, simulating the release process of the intra-tumor turbulence device in the aneurysm to obtain the released intra-tumor turbulence device model as a simulation result. By utilizing the scheme disclosed by the invention, on the premise of ensuring the simulation accuracy, a higher calculation speed can be obtained, so that the time consumption of the simulation process can be reduced, the modeling efficiency can be improved, and both the accuracy and the speed are realized.

Description

Technical Field

[0001] The present disclosure generally relates to the field of neurosurgery imaging. More specifically, the present disclosure relates to a method, electronic device and computer-readable storage medium for simulating an intratumoral flow disturbance device. Background Art

[0002] In current vascular interventional surgeries, clinical doctors generally perform simple manual measurements of blood vessels or aneurysms before surgery and rely on experience to select interventional consumables, namely the intratumoral flow disturbance device (Woven EndoBridge, WEB). However, the experience of doctors at different levels varies greatly, resulting in a considerable number of patients being unable to receive the most appropriate treatment. In addition, if the selected consumable is too large or too small, the consumable can only be removed and replaced with a new one. On the one hand, the operation time is prolonged, and doctors and patients need to withstand more radiation. On the other hand, it will increase patient expenses, and the cost of consumables for failed selection will also need to be borne by the patient. More importantly, inappropriate consumable selection will deteriorate the quality of the operation, affect the patient's prognosis, and cause recurrence.

[0003] With the advancement of medical technology, intracranial lesions can be determined through quantitative analysis of medical images. Using the cranial and brain data of intracranial lesions for the preparation of preoperative instruments and equipment and intraoperative process planning can effectively improve the quality of surgery, shorten the duration of surgery, and reduce potential intraoperative risks. Therefore, how to simulate the intratumoral spoiler device through imaging data before surgery, so that doctors can more intuitively see the effect of consumables released in blood vessels or tumors, can greatly improve the success rate of intraoperative selection. At present, the common consumables simulation scheme is to reconstruct blood vessels and aneurysms from vascular images, and then use Finite Element Analysis (FEA) to simulate the consumables release process. This method is highly accurate, but the modeling takes a long time, ranging from a few hours to dozens of hours, and it is difficult to use in actual clinical use.

[0004] In view of this, there is an urgent need to provide a solution for simulating the intratumoral spoiler device, so as to reduce the time consumption of the simulation process and improve the modeling efficiency while ensuring the accuracy of the simulation, thereby taking into account both accuracy and speed. Summary of the invention

[0005] In order to at least solve one or more of the technical problems mentioned above, the present disclosure proposes a solution for simulating an intra-tumor flow disturbance device in the following aspects.

[0006] In a first aspect, the present disclosure provides a method for simulating an intra-tumor flow spoiler device, comprising: obtaining an aneurysm model and its measurement parameters; determining the intra-tumor flow spoiler device to be simulated and its consumable parameters based on the measurement parameters; modeling the braided wires in the intra-tumor flow spoiler device using discrete elastic rods based on the consumable parameters to obtain an intra-tumor flow spoiler device model; based on the aneurysm model and the intra-tumor flow spoiler device model, simulating the release process of the intra-tumor flow spoiler device in the aneurysm to obtain the intra-tumor flow spoiler device model after release as a simulation result.

[0007] In some embodiments, according to the consumable parameters, the braided wires in the intratumor spoiler device are modeled using discrete elastic rods to obtain the intratumor spoiler device model, including: according to the consumable parameters, the contour line of the intratumor spoiler device is modeled to obtain a contour curve; according to the contour curve and the rotation angle of the braided wires in the intratumor spoiler device, a braided wire curve of the braided wire is determined; based on the braided wire curve, the braided wires are modeled using the discrete elastic rods to obtain a braided wire model constituting the intratumor spoiler device model.

[0008] In some embodiments, based on the aneurysm model and the intra-tumor spoiler device model, the release process of the intra-tumor device in the aneurysm is simulated to obtain the intra-tumor spoiler device model after release, including: obtaining the center point and neck plane of the aneurysm model; placing the intra-tumor spoiler device model at a position matching the neck of the aneurysm model, so that the proximal end point of the intra-tumor spoiler device model coincides with the center point of the neck, and the proximal plane of the intra-tumor spoiler device model is in the same direction as the neck plane; gradually expanding the aneurysm model until all vertices of the intra-tumor spoiler model are located within the aneurysm model, and then the expansion is stopped; gradually compressing the aneurysm model until the size of the aneurysm model is less than or equal to the original size, resetting the size of the aneurysm model to the original size, and stopping compression; when the maximum moving distance of all vertices of the intra-tumor spoiler device model is less than a preset distance, the simulation is stopped, and the intra-tumor spoiler device model at this time is determined as the intra-tumor spoiler device model after release.

[0009] In some embodiments, before gradually compressing the aneurysm model, the method also includes: applying a pulling force at the proximal end point of the intra-tumor spoiler model, the pulling force pointing to the center point of the aneurysm neck; adding shape constraints between different braided wire models in the intra-tumor spoiler model, wherein the shape constraints include one or more of shape preservation constraints, node distance constraints and edge distance constraints.

[0010] In some embodiments, modeling the braided wires in the intratumor spoiler device using discrete elastic rods includes: modeling part of the braided wires in the intratumor spoiler device using discrete elastic rods; and after obtaining the model of the intratumor spoiler device after release, the method further includes: optimizing the model of the intratumor spoiler device after release to obtain a final simulation result.

[0011] In some embodiments, the model of the intratumor spoiler device after release is optimized to obtain the final simulation result, including: calculating the outer contour surface of the intratumor spoiler device based on the model of the intratumor spoiler device after release; interpolating the model of the intratumor spoiler device after release according to the total number of braided wires in the intratumor spoiler device to obtain the interpolated model of the intratumor spoiler device; and correcting the interpolated model of the intratumor spoiler device based on the outer contour surface to obtain the final simulation result.

[0012] In some embodiments, based on the model of the intra-tumor spoiler device after release, calculating the outer contour surface of the intra-tumor spoiler device includes: based on the model of the intra-tumor spoiler device after release, using a wrapping algorithm to calculate the wrapping surface of the intra-tumor spoiler device; and meshing and re-meshing the wrapping surface to obtain the outer contour surface.

[0013] In some embodiments, based on the outer contour surface, the interpolated intra-tumor spoiler model is corrected to obtain a final simulation result, including: based on the outer contour surface, determining a first vertex and a second vertex on the interpolated intra-tumor spoiler model, wherein the first vertex is a vertex not on the outer contour surface, and the second vertex is a vertex beyond the aneurysm model; correcting the first vertex to the projection point closest to the outer contour surface, and correcting the second vertex to the projection point closest to the surface of the aneurysm model to obtain a final simulation result.

[0014] In a second aspect, the present disclosure provides an electronic device, comprising: a processor; and a memory storing program instructions for simulating an intratumoral flow disturbance device, wherein when the program instructions are executed by the processor, the method described in the aforementioned first aspect and its multiple embodiments are implemented.

[0015] In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon program instructions for simulating an intratumoral flow disturbance device, wherein when the program instructions are executed by a processor, the method described in the first aspect and its multiple embodiments are implemented.

[0016] Through the scheme for simulating the intratumoral flow spoiler device provided above, the braided wire in the intratumoral flow spoiler device can be modeled using discrete elastic rods according to the consumable parameters of the intratumoral flow spoiler device to obtain the intratumoral flow spoiler device model. The discrete elastic rod can describe the axial, bending and torsional strains of the rod in a discrete manner, which makes it have high computational efficiency in processing complex geometric models. At the same time, the calculation process of the discrete elastic rod is relatively simple, and a large amount of data can be processed quickly, which helps to reduce the demand for computing resources. Therefore, using the scheme disclosed in the present invention, when simulating the release process of the intratumoral flow spoiler device in the aneurysm based on the aneurysm model and the intratumoral flow spoiler device model, a faster calculation speed can be obtained while ensuring the accuracy of the simulation, thereby reducing the time consumption of the simulation process, improving the modeling efficiency, and achieving both accuracy and speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By reading the detailed description below with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0018] Figure 1 An exemplary flow chart of a method for simulating an intratumoral flow disturbance device according to an embodiment of the present disclosure is shown;

[0019] Figure 2 Exemplary consumable parameters of the intratumoral flow disturbance device according to the disclosed embodiment are shown;

[0020] Figure 3 An exemplary schematic diagram showing a frame curve of an embodiment of the present disclosure;

[0021] Figure 4 An exemplary schematic diagram showing discretization of a continuous centerline according to an embodiment of the present disclosure;

[0022] Figure 5 An exemplary schematic diagram showing angles and vectors in discrete centerlines of embodiments of the present disclosure;

[0023] Figure 6 An exemplary flow chart showing a method for modeling braided wires in an intratumoral flow disrupting device using discrete elastic rods according to an embodiment of the present disclosure;

[0024] Figure 7 An exemplary schematic diagram showing a contour curve of the intra-tumor flow disturbance device according to an embodiment of the present disclosure;

[0025] Figure 8 An exemplary morphological diagram of the intratumoral flow disturbance device model according to an embodiment of the present disclosure is shown;

[0026] Fig. 9 An exemplary flow chart showing a method for simulating the release process of an intra-tumor flow disrupting device in an aneurysm according to an embodiment of the present disclosure;

[0027] Fig.10 An exemplary result diagram of simulating the release process of the intra-tumor flow disrupting device in an aneurysm according to an embodiment of the present disclosure is shown;

[0028] Fig.11 An exemplary schematic diagram showing collision detection using a signed distance field according to an embodiment of the present disclosure is shown;

[0029] Fig.12 An exemplary schematic diagram of optimizing the model of the intra-tumor flow disturbance device after release according to an embodiment of the present disclosure is shown;

[0030] Fig.13 is a schematic diagram showing an exemplary structure of a device 1300 for simulating an intra-tumor flow disturbance device according to an embodiment of the present disclosure;

[0031] Fig.14 An exemplary structural block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0033] It should be understood that the terms "include" and "comprising" used in the specification and claims of the present disclosure indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0034] It should also be understood that the terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. As used in this disclosure and claims, the singular forms of "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in this disclosure and claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations.

[0035] As used in this specification and claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0036] The specific implementation of the present disclosure is described in detail below with reference to the accompanying drawings.

[0037] Figure 1 An exemplary flow chart of a method 100 for simulating an intratumoral flow disturbance device according to an embodiment of the present disclosure is shown. It is understood that the method 100 may be executed by any appropriate device with data processing capabilities, such as but not limited to a terminal device, a processor, and a server.

[0038] like Figure 1 As shown, at step S101, method 100 can obtain an aneurysm model and its measurement parameters. Then, at step S102, method 100 can determine the intratumoral flow disturbance device to be simulated and its consumable parameters according to the measurement parameters. Then, at step S103, method 100 can model the braided wire in the intratumoral flow disturbance device using discrete elastic rods according to the consumable parameters to obtain the intratumoral flow disturbance device model. Further, at step S104, method 100 can simulate the release process of the intratumoral flow disturbance device in the aneurysm based on the aneurysm model and the intratumoral flow disturbance device model to obtain the intratumoral flow disturbance device model after release as a simulation result.

[0039] At the aforementioned step S101, method 100 can obtain an aneurysm model and its measurement parameters based on the vascular enhanced image. Specifically, a three-dimensional vascular model can be first constructed based on the vascular enhanced image, and the vascular entry point and the vascular exit point can be determined on the vascular model, thereby generating a vascular centerline. After the vascular centerline is generated, the center point of the aneurysm neck can be determined according to the vascular centerline, and the neck plane can be determined according to the center point of the aneurysm neck. Thereafter, the vascular model is segmented using the neck plane to obtain the aneurysm model. Next, the measurement parameters of the aneurysm (also referred to as morphological parameters) can be obtained by performing morphological measurements on the aneurysm model. The measurement parameters may include aneurysm diameter length, aneurysm height, aneurysm width, diameter, and maximum diameter, wherein the diameter refers to the maximum distance from the center point of the neck to the aneurysm sac, and the maximum diameter refers to the maximum distance between any two points in the aneurysm sac.

[0040] In the aforementioned step S102, the method 100 can determine the model of an appropriate and feasible intra-tumor flow disturbance device according to the measured parameters of the aneurysm model, that is, determine the intra-tumor flow disturbance device to be simulated, that is, determine the consumable parameters of the intra-tumor flow disturbance device to be simulated. Figure 2 Understand the consumable parameters of the intratumoral flow disturbance device. Figure 2 As shown, the consumable parameters of the intratumoral flow disturbance device may include the maximum width DimA, the height DimB, the height DimC of the distal imaging point, and the diameter DimD of the proximal imaging point. In actual operation, DimA, DimB, DimC, and DimD are parameters provided by the manufacturer. In particular, DimC is usually defaulted to 0.02 mm.

[0041] Continue to refer Figure 2 In order to obtain a more refined model of the intratumoral flow disturbance device, the consumable parameters of the intratumoral flow disturbance device may also include the distal depression depth Sunk, the distal curvature radius R0, and the proximal curvature radius R1. In actual modeling, the three consumable parameters Sunk, R0, and R1 may use default values, which may be set by technicians according to actual conditions, and this disclosure does not specifically limit this.

[0042] After determining the consumable parameters of the intratumoral flow disturbance device to be simulated, in the aforementioned step S103, the method 100 can use the discrete elastic rods to model the braided wires in the intratumoral flow disturbance device according to the consumable parameters to obtain the intratumoral flow disturbance device model. For ease of understanding, the relevant contents of the discrete elastic rods are first described here, and how to obtain the intratumoral flow disturbance device model will be described later in conjunction with Figure 6 The method 600 for modeling the braided wires in the intratumoral flow disrupting device using discrete elastic rods is described in detail and will not be repeated here.

[0043] The intratumoral flow disturbance device is woven from hundreds of braided wires, which are soft, slender rod-shaped objects. Therefore, in the scheme disclosed herein, the braided wire is regarded as a discrete elastic rod model (Discrete Elastic Rods, DER). Discrete elastic rods are an effective computational model for simulating the deformation of slender structures (such as guide wires, cables or elastomers). The model captures complex phenomena such as bending, torsion and stretching that occur during deformation by discretizing continuous elastic rods into a series of nodes and edges. These nodes and edges form the center line of the braided wire, which can bend and twist but cannot stretch, and collision detection and force transmission are based on these connection points.

[0044] In practice, the continuous center line of the braided wire can be described as a frame curve Γ = {γ; t,m 1 ,m 2 Here, you can refer to Figure 3Understand the frame curve. Figure 3 As shown in the figure, γ(s) is a curve with arc length as parameter. The orthogonal standard material frame {t(s),m 1 (s),m 2 (s)} describes the local rotation, torsion and bending behavior of each segment, vector u is the vector perpendicular to t, and vector v is the vector perpendicular to u. The material frame satisfies t(s) = γ′(s), that is, it is adapted to the centerline so that the first material axis is tangent to the curve and the centerline curvature vector k = t′.

[0045] In order to capture the deformation of the rod, the bending, torsion and stretching energy of the rod must be considered. The total elastic energy of the discrete elastic rod consists of three parts: bending energy, torsion energy and stretching energy. In the scheme disclosed in the present invention, the braided wire can be considered to be inextensible, so the stretching energy can be ignored. Assuming that the braided wire is an isotropic discrete elastic rod model, its elastic energy can be expressed as:

[0046] E total (Γ) = E bend (Γ)+E twist (Γ)

[0047]

[0048]

[0049] Among them, E total (Γ) is the total energy, E bend (Γ) is the bending energy, E twist (Γ) is the torsion energy, K b is the bending stiffness, ω is the curvature, is the mean curvature, K t is the torsional stiffness and m is the torsional angle.

[0050] In practice, the goal of solving the discrete elastic rod problem is to minimize the total energy E total (Γ) is used to obtain the equilibrium shape of the rod, and can be solved using the variational method or gradient descent method.

[0051] In order to facilitate numerical calculations by computer, the continuous center line of the braided wire needs to be discretized into a series of vertices and rod segments connecting these vertices. Figure 4 and Figure 5 Understand the discretization of continuous center lines. Figure 4 As shown, the continuous center line is discretized into vertices {x i-1 ,x i ,x i+1} and the rod segments e connecting these vertices i-1 =xi -x i-1 and e i =x i+1 -x i , rod segment e i-1 and rod segment e i The angle between like Figure 5 As shown, the material frame can be expressed as Among them, t i Represents the tangent vector of each rod segment, vector u i is perpendicular to t i The vector of i is perpendicular to t i The vector of are two orthogonal directions perpendicular to the rod segment.

[0052] Continue to refer Figure 5 , bending energy E bend (Γ) describes the relative bending between the rod segments. The bending energy can be expressed by the following formula:

[0053]

[0054] Where i represents the rod segment index after the centerline of the braided wire is discretized, l i＝ |e i-1 |+|e i |, B i is the bending modulus related to the stiffness of the material, kb i is the curvature normal vector of the vertex and can be expressed by the following formula:

[0055]

[0056] Torsion Energy E twist (Γ) describes the torsion along the axis of the rod. Assume θ i is the relative torsion angle of the material frame around the rod axis. The torsional energy can be expressed by the following formula:

[0057]

[0058] Among them, T i is the torsional modulus, θ i is the relative torsion angle of the material frame around the rod axis, m i =θ i -θ i-1 .

[0059] After obtaining the model of the intratumoral flow spoiler, at the aforementioned step S104, method 100 can perform physical simulation based on the aneurysm model and the intratumoral flow spoiler model, that is, simulate the release process of the intratumoral flow spoiler in the aneurysm to obtain the model of the intratumoral flow spoiler after release as a simulation result. The simulation result can intuitively show the release effect of the intratumoral flow spoiler to be simulated in the aneurysm, which helps to greatly improve the success rate of intraoperative selection. In order to facilitate understanding, how to obtain the model of the intratumoral flow spoiler after release will be combined later. Fig. 9 The method 900 for simulating the release process of the intra-tumor flow disrupting device in the aneurysm based on the aneurysm model and the intra-tumor flow disrupting device model is described in detail and will not be repeated here.

[0060] Combination of the above Figure 1 A scheme for simulating an intratumoral flow spoiler device is described. According to the consumable parameters of the intratumoral flow spoiler device, the braided wire in the intratumoral flow spoiler device can be modeled using discrete elastic rods to obtain an intratumoral flow spoiler device model. The discrete elastic rod can describe the axial, bending and torsional strains of the rod in a discrete manner, which makes it have high computational efficiency in processing complex geometric models. At the same time, the calculation process of the discrete elastic rod is relatively simple, and a large amount of data can be processed quickly, which helps to reduce the demand for computing resources. Therefore, using the scheme disclosed in the present invention, when simulating the release process of the intratumoral flow spoiler device in the aneurysm based on the aneurysm model and the intratumoral flow spoiler device model, a faster calculation speed can be obtained while ensuring the accuracy of the simulation, thereby reducing the time consumption of the simulation process, improving the modeling efficiency, and achieving both accuracy and speed.

[0061] Figure 6 FIG. 6 is an exemplary flow chart of a method 600 for modeling a braided wire in an intratumoral flow disturbance device using discrete elastic rods according to an embodiment of the present disclosure. Figure 6 The description is a specific implementation of the aforementioned step S103. Figure 1 The features described can analogously apply here.

[0062] like Figure 6 As shown, at step S601, the method 600 can model the contour line of the intratumoral flow disturbance device according to the consumable parameters to obtain a contour curve. At step S602, the method 600 can determine the braided wire curve of the braided wire according to the contour curve and the rotation angle of the braided wire in the intratumoral flow disturbance device. Then, at step S603, the method 600 can model the braided wire based on the braided wire curve using discrete elastic rods to obtain a braided wire model constituting the intratumoral flow disturbance device model.

[0063] In one embodiment, when modeling the contour curve of the intratumoral flow disturbance device, the control points on the contour curve of the intratumoral flow disturbance device can be calculated according to the consumable parameters. Then, a uniform and smooth contour curve is obtained by using Bezier interpolation based on the control points on the contour curve. Figure 7 Understand the contour curve of the intratumoral flow disturbance device. Figure 7 The dot a in the figure is the control point on the calculated contour curve of the intratumoral flow disturbance device. Figure 7 The curve shown in b is the contour curve Γ(s) obtained by interpolating the control points on the contour curve.

[0064] After obtaining the contour curve of the intratumoral flow spoiler, at step S602, method 600 can generate a braided wire curve of each braided wire on the intratumoral flow spoiler according to the rotation angle of the braided wire. The calculation method of a braided wire is as follows, θ is the starting angle, which can be obtained by calculating the number of braided wires. For example, assuming that the number of braided wires of the intratumoral flow spoiler is 144, the number of braided wires rotating clockwise and counterclockwise is 72 each, and each braided wire is spaced 2.5°, and θ takes a value of [0°, 2.5°, 5°, 7.5°, ..., 177.5°]. In addition, the rotation angle angle can be a positive value or a negative value depending on whether it is clockwise or counterclockwise.

[0065] After determining the starting angle θ of each braided wire, the braided wire curve of each braided wire can be determined according to the contour curve, the starting angle θ and the rotation angle of the braided wire. Figure 7 To illustrate, first determine n sampling points [s 0 ,…,s n ], and use [p 0 ,…,p n ] represents the n coordinate points on the braided wire curve, and angle is the rotation angle of the braided wire. Then, for the coordinate point p on the braided wire curve i , its coordinates can be determined in the following way:

[0066] interval=angle / n

[0067] for(i=1;i≤n;i++)do

[0068] θ=θ+inerval / / Calculate the current angle (5)

[0069] r=Γ(s i ) x , h = Γ(s i ) y

[0070] pi =(cosθ×r,sinθ×r,h)

[0071] In addition, you can refer to Figure 8 To understand the morphology of the intratumor spoiler device model generated according to different rotation angles. Figure 8 The rotation angle of the intratumor disturbance device model shown in a in FIG is 0°. Figure 8 The rotation angle of the intratumoral flow disturbance device model shown in b is 90°. Figure 8 The rotation angle corresponding to the intratumor disturbance device model shown in c is 180°.

[0072] Next, combine Fig. 9 and 10 The method 900 for simulating the release process of the intra-tumor flow disturbance device in an aneurysm according to the embodiment of the present disclosure is exemplarily described. Fig. 9 and 10 The description is a specific implementation of the aforementioned step S104. Figure 1 The features described can analogously apply here.

[0073] like Fig. 9 As shown, at step S901, method 900 can obtain the center point of the aneurysm neck and the aneurysm neck plane of the aneurysm model. At step S902, method 900 can place the intra-tumor flow spoiler model at a position matching the aneurysm neck of the aneurysm model, so that the proximal end point of the intra-tumor flow spoiler model coincides with the center point of the aneurysm neck, and the proximal end plane of the intra-tumor flow spoiler model is in the same direction as the aneurysm neck plane, as shown in FIG. Fig.10 As shown in a in .

[0074] In actual operation, the intra-tumor flow spoiler is generally slightly larger than the size of the aneurysm. In order to simplify the actual release process and make the simulation controllable, we simulate the final shape of the intra-tumor flow spoiler by compressing the aneurysm. Specifically, at step S903, method 900 can gradually expand the aneurysm model with the center point of the aneurysm neck as the origin, and calculate whether the vertices on the intra-tumor flow spoiler model are all inside the aneurysm model, until all the vertices of the intra-tumor flow spoiler model are inside the aneurysm model, then stop expanding the aneurysm model. Fig.10 In one embodiment, the expansion ratio may be set to be 1.1 times each time.

[0075] Further, at step S904, the method 300 may gradually compress the aneurysm model, and during the compression process of the aneurysm model, pressure is applied to the model of the flow disturbance device in the aneurysm to cause it to deform, until the size of the aneurysm model is less than or equal to the original size, the size of the aneurysm model is reset to the original size, and the compression is stopped. Fig.10In one embodiment, the compression ratio can be set to 0.99. In another embodiment, in order to ensure that the proximal end of the intratumoral flow spoiler can always be maintained at the center point of the aneurysm neck, before the aneurysm model is gradually compressed, a pulling force can be applied to the proximal end of the intratumoral flow spoiler model, and the pulling force is directed to the center point of the aneurysm neck.

[0076] Finally, at step S905, method 900 may consider that the simulation is stable when the maximum moving distance of all vertices of the intratumor spoiler device model is less than the preset error range, and then stop the simulation, and determine the intratumor spoiler device model at this time as the intratumor spoiler device model after release. It is understandable that those skilled in the art can set the specific value of the preset error range according to actual needs, and this disclosure does not specifically limit this.

[0077] In addition, the intratumoral flow spoiler is composed of a plurality of braided wires. If each braided wire changes independently during the simulation process, the morphology of the intratumoral flow spoiler cannot be controlled. Thus, the intratumoral flow spoiler can still maintain the overall shape during the deformation process by increasing the constraints between the braided wires. In one embodiment, shape constraints can be added between different braided wire models in the intratumoral flow spoiler model. The shape constraint may include one or more of a shape retention constraint (ShapeMatching constraint), a node distance constraint (Distance constraint), and an edge distance constraint (EdgeEdgeDistance constraint).

[0078] The ShapeMatching constraint is used to constrain the point set on the braided wire at the distal and proximal marker points of the intratumoral flow spoiler device, which remains unchanged from the initial shape during the deformation of the intratumoral flow spoiler device model, that is, there can be no scaling, stretching or rotation changes. The rigid constraint formula is defined as follows:

[0079] q i =Rp i +t(6)

[0080] where q i is the target point set, p i is the original point set, R is the rotation matrix, and t is the translation vector. In fact, it is to find a rotation matrix and translation vector so that the difference between the point sets at two moments after transformation is minimized. The commonly used method is the least squares method.

[0081] Here, taking the two point sets A and B as an example, the calculation steps of the rigid constraint are described: calculate the centroid of the two point sets A and B; subtract the centroid of the point sets A and B respectively to obtain the decentralized point sets A' and B' to remove the translation effect and align the point sets; calculate the covariance matrix H of the decentralized point sets A' and B' fingertips; perform singular value decomposition SVD on the covariance matrix H to obtain the rotation matrix R; based on the rotation matrix R, use t=B'-RA' to calculate the translation vector t.

[0082] The distance constraint is defined as follows:

[0083] C dist (x 1 ,x 2 )=|x 1 -x 2 |-l 0 (7)

[0084] Among them, x 1 and x 2 represents the coordinates of two nodes on the braided wire, |x 1 -x 2 | represents the Euclidean distance between two nodes, l 0 Represents the initial distance between two nodes.

[0085] In one implementation scenario, the Distance constraint can be used to constrain the distance between the braided wire nodes of the intratumor spoiler device, where it is assumed that the nodes are inextensible and incompressible. Therefore, in this implementation scenario, the stiffness coefficient stiffness can be set to 1.0. In another implementation scenario, the Distance constraint can be used to constrain the distance between the proximal position of the intratumor spoiler device and the center point of the tumor neck. When the proximal point of the intratumor spoiler device begins to move away from the center point of the tumor neck, the intratumor spoiler device will be pulled toward the center point of the tumor neck. Therefore, in this implementation scenario, the stiffness coefficient stiffness can be set to 0.8, that is, there can be a certain range of movement.

[0086] The EdgeEdgeDisntace constraint is used to limit the distance between edges to prevent penetration between edges, and can also approximate the friction between two contacting edges. The EdgeEdgeDisntace constraint can be expressed as:

[0087] C(d)=dd 0 (8)

[0088] Among them, d represents the current shortest distance between two edges, d 0 Represents the initial distance between two edges. The distance between two edges is less than d 0 will repel each other, greater than d 0Will attract each other.

[0089] The shape constraints in the simulation process are described in detail above. In practice, collision detection between the braided wire and the vessel wall is a key part of the simulation because it is involved in every stage of the catheter's motion. Whether the guidewire is translated or rotated, a collision detection step is performed to ensure that the guidewire does not pass through the vessel. This detection requires frequent calculations to maintain a realistic rendering of the scene. Therefore, the calculation of collision detection must be efficient and accurate.

[0090] In the field of physical simulation, Signed Distance Field (SDF) is a technology commonly used for collision detection. It describes the shape of a geometric body by calculating the closest distance from each point in space to the surface of the object. For each point, if the point is inside the object, the distance is negative; if it is outside the object, the distance is positive, and the distance to the boundary point is zero, as shown in Fig.11 a in , which shows the sampling points with positive distance outside the object. In collision detection, the main advantage of SDF is that it can quickly determine whether objects collide and calculate the collision depth. At the same time, SDF can also provide the necessary normal information for the response after the collision, thereby achieving accurate force feedback and physical simulation.

[0091] Based on this, in the embodiments disclosed herein, the SDF technology can be used to perform collision detection when simulating the release process of the intra-tumor spoiler in the aneurysm. Specifically, we assume that the blood vessel is a rigid body, so the directed distance field of the blood vessel model can be pre-calculated before starting the simulation, and the distance between the vertex of the braided wire and the blood vessel wall can be queried in real time during the simulation to detect in real time whether the vertex and the blood vessel wall collide and penetrate. Fig.11 b in the figure shows that during the simulation, SDF detected that the center line of the braided wire was in contact with the blood vessel wall, and the red point on the curve is the contact point between the center line and the blood vessel wall. It should be noted that since the braided wire moves in the lumen, we consider the distance of the point inside the lumen to be positive and the distance of the point outside the lumen to be negative.

[0092] In the actual simulation, the inventor found that if all the braided wires in the intratumor spoiler device are modeled, the real-time performance of the simulation will be affected. Based on this, in order to improve the real-time performance of the simulation, it is not necessary to model all the braided wires in the intratumor spoiler device during the actual simulation process. Instead, the overall morphological changes of the WEB can be simulated by modeling only a part of the braided wires, and other braided wires can be obtained by interpolation. In short, when obtaining the model of the intratumor spoiler device, discrete elastic rods can be used to model some of the braided wires in the intratumor spoiler device. Subsequently, after obtaining the model of the intratumor spoiler device after release, the model of the intratumor spoiler device after release can be optimized to obtain the final simulation result.

[0093] The model of the intra-tumor flow spoiler device after release is optimized. Specifically, the outer contour surface of the intra-tumor flow spoiler device can be calculated based on the model of the intra-tumor flow spoiler device after release. Then, the model of the intra-tumor flow spoiler device after release can be interpolated according to the total number of braided wires in the intra-tumor flow spoiler device to obtain the interpolated model of the intra-tumor flow spoiler device. Specifically, linear interpolation can be performed between two adjacent braided wires of the model of the intra-tumor flow spoiler device after release to calculate the position of the missing braided wires. Since the interpolated braided wires cannot be guaranteed to be on the surface of the intra-tumor flow spoiler device, the interpolated model of the intra-tumor flow spoiler device can be corrected based on the outer contour surface to obtain the final simulation result. Here, reference can be made to Fig.12 Understand optimization operations. Fig.12 a in the figure shows the model of the intratumoral flow disturbance device after release. Fig.12 b shows the outer contour surface of the intra-tumoral flow disturbance device. Fig.12 c shows the interpolated model of the intra-tumor disturbance device. Fig.12 Figure d shows the final simulation results.

[0094] In one embodiment, when calculating the outer contour surface of the intratumor spoiler device based on the model of the intratumor spoiler device after release, the following operations can be performed specifically: based on the model of the intratumor spoiler device after release, the wrapping surface of the intratumor spoiler device is calculated using a wrapping algorithm; the wrapping surface is meshed and re-meshed to obtain the outer contour surface. The surface of the intratumor spoiler device is formed by cross-weaving of braided wires, which is approximately a curved surface, and the vertices of all braided wires should approximately fall on the surface of the device. Based on the model of the intratumor spoiler device after release, the wrapping surface of the shape of the intratumor spoiler device can be calculated, and then the wrapping surface is meshed and re-meshed to generate a smooth outer contour surface of the intratumor spoiler device. In actual operation, the Alpha-Wrap algorithm can be used to calculate the wrapping surface, which is used to generate an external closed envelope for point clouds, sparse data or complex geometric structures.

[0095] In another embodiment, based on the outer contour surface, the model of the intratumoral flow spoiler after interpolation is corrected to obtain the final simulation result, and the following operations can be specifically performed: based on the outer contour surface, the first vertex and the second vertex on the model of the intratumoral flow spoiler after interpolation are determined, where the first vertex is a vertex that is not on the outer contour surface, and the second vertex is a vertex that exceeds the aneurysm model; the first vertex is corrected to the projection point closest to the outer contour surface, and the second vertex is corrected to the projection point closest to the surface of the aneurysm model to obtain the final simulation result. Through correction, it can be ensured that the interpolated braided wires are all on the surface of the intratumoral flow spoiler and are all inside the aneurysm, so that a more realistic simulation result can be generated, which is convenient for subsequent analysis of the wall adhesion of consumables, analysis of metal coverage at the neck of the aneurysm, and analysis of hemodynamics.

[0096] The above is an exemplary introduction to the method 900 for simulating the release process of the intra-tumor flow disturbance device in an aneurysm according to the embodiment of the present disclosure. Fig.13 An exemplary introduction is given to a device 1300 for simulating an intratumoral flow disturbance device provided in an embodiment of the present disclosure. Fig.13 As shown, the apparatus 1300 may include an acquisition module 1301 , a determination module 1302 , a modeling module 1303 and a simulation module 1304 .

[0097] In the scheme disclosed in the present invention, the acquisition module 1301 is configured to acquire the aneurysm model and its measurement parameters; the determination module 1302 is configured to determine the intra-tumor flow disturbance device to be simulated and its consumable parameters according to the measurement parameters; the modeling module 1303 is configured to model the braided wires in the intra-tumor flow disturbance device using discrete elastic rods according to the consumable parameters to obtain the intra-tumor flow disturbance device model; the simulation module 1304 is configured to simulate the release process of the intra-tumor flow disturbance device in the aneurysm based on the aneurysm model and the intra-tumor flow disturbance device model to obtain the intra-tumor flow disturbance device model after release as a simulation result.

[0098] Those skilled in the art can understand that the operations performed by the modules and units included in the device 1300 correspond one-to-one to the steps of the method for simulating the intratumoral flow disturbance device in the aforementioned embodiment, and will not be repeated here.

[0099] Next, combine Fig.14 An electronic device 1400 provided in an embodiment of the present application is exemplarily introduced. Fig.14 As shown, the electronic device 1400 of the embodiment of the present application may include a processor 1401 , a memory 1402 and a communication bus 1403 .

[0100] In the process of a specific embodiment, the processor 1401 may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing image processing device (DSPD), a programmable logic image processing device (PLD), a field programmable gate array (FPGA), a CPU, a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic device used to implement the function of the processor may also be other, which is not specifically limited in this embodiment.

[0101] In the embodiment of the present application, the communication bus 1403 is used to realize the connection and communication between the processor 1401 and the memory 1402; the memory 1402 stores program instructions for adjusting the scanning electron microscope image; when the processor 1401 executes the program instructions stored in the memory 1402, the present application is realized. Figures 1 to 12 A method for simulating an intratumoral flow perturbation device is described.

[0102] Combination of the above Fig.14 An electronic device for simulating an intratumoral flow disturbance device that can be used to perform the present application is described. It should be understood that the device structure or architecture here is merely exemplary, and the implementation mode and implementation entity of the present application are not limited thereto, but can be changed without departing from the spirit of the present application. It is understandable that the description of each embodiment in the present disclosure emphasizes the differences between the various embodiments, and the same or corresponding parts can be referenced to each other. For the purpose of brevity, the present disclosure will not be repeated one by one.

[0103] According to the above description in combination with the accompanying drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by a software program. Therefore, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores program instructions for simulating an intratumoral flow disturbance device, and the program instructions can be used to implement the present application in combination with Figures 1 to 12 A method for simulating an intratumoral flow perturbation device is described.

[0104] It should be noted that although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be performed in a different order. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0105] Although multiple embodiments of the present application have been shown and described herein, it is obvious to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art can think of many changes, modifications and alternatives without departing from the thought and spirit of the present application. It should be understood that in the process of practicing the present application, various alternatives to the embodiments of the present application described herein can be adopted. The attached claims are intended to limit the scope of protection of the present application, and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A method for simulating an intratumoral flow disturbance device, comprising: Obtaining an aneurysm model and its measurement parameters; Determining parameters of an intratumoral flow disturbance device and consumables thereof to be simulated according to the measurement parameters; According to the consumables parameters, using discrete elastic rods to model the braided wires in the intratumor flow disturbance device to obtain an intratumor flow disturbance device model; Based on the aneurysm model and the intra-tumor flow disrupting device model, the release process of the intra-tumor flow disrupting device in the aneurysm is simulated to obtain the intra-tumor flow disrupting device model after release as a simulation result.

2. The method according to claim 1, wherein: According to the consumable parameters, the braided wire in the intratumor flow disturbance device is modeled using discrete elastic rods to obtain an intratumor flow disturbance device model, which includes: Modeling the contour line of the intratumoral flow disturbance device according to the consumable parameters to obtain a contour curve; Determining a braided wire curve of the braided wire according to the contour curve and the rotation angle of the braided wire in the intra-tumor flow disturbance device; Based on the braided wire curve, the braided wire is modeled using the discrete elastic rod to obtain a braided wire model constituting the intra-tumor flow disturbance device model.

3. The method according to claim 1, wherein: Based on the aneurysm model and the intra-tumor flow disturbance device model, simulating the release process of the intra-tumor flow disturbance device in the aneurysm to obtain the intra-tumor flow disturbance device model after release includes: Acquiring the aneurysm neck center point and aneurysm neck plane of the aneurysm model; Placing the intra-tumor flow spoiler model at a position matching the aneurysm neck of the aneurysm model, so that the proximal end of the intra-tumor flow spoiler model coincides with the center of the aneurysm neck, and the proximal plane of the intra-tumor flow spoiler model is in the same direction as the plane of the aneurysm neck; gradually expanding the aneurysm model until all vertices of the intra-aneurysm disturbance model are located within the aneurysm model, and then stopping the expansion; gradually compressing the aneurysm model until the size of the aneurysm model is less than or equal to the original size, resetting the size of the aneurysm model to the original size, and stopping compression; When the maximum moving distance of all vertices of the intra-tumor spoiler device model is less than the preset distance, the simulation is stopped, and the intra-tumor spoiler device model at this time is determined as the intra-tumor spoiler device model after release.

4. The method according to claim 3, before gradually compressing the aneurysm model, the method further comprises: Applying a pulling force at the proximal end of the intratumoral flow disturbance device model, wherein the pulling force points to the center point of the tumor neck; Shape constraints are added between different braided wire models in the intra-tumor spoiler model, wherein the shape constraints include one or more of shape preservation constraints, node distance constraints and edge distance constraints.

5. The method according to claim 1, wherein: Modeling the braided wires in the intratumoral flow disrupting device using discrete elastic rods includes: modeling part of the braided wires in the intratumoral flow disrupting device using discrete elastic rods; and After obtaining the model of the intratumoral flow disturbance device after release, the method further includes: performing an optimization operation on the model of the intratumoral flow disturbance device after release to obtain a final simulation result.

6. The method according to claim 5, wherein: The optimization operation of the released intratumoral flow disturbance device model is performed to obtain the final simulation result including: Based on the model of the intra-tumor flow-disturbing device after the release, calculating the outer contour surface of the intra-tumor flow-disturbing device; interpolating the released model of the intratumor flow disrupting device according to the total number of braided wires in the intratumor flow disrupting device to obtain an interpolated model of the intratumor flow disrupting device; Based on the outer contour surface, the interpolated intra-tumor flow disturbance device model is corrected to obtain a final simulation result.

7. The method according to claim 6, wherein: Based on the released intra-tumor flow-disturbing device model, calculating the outer contour surface of the intra-tumor flow-disturbing device includes: Based on the model of the intratumor flow-disturbing device after release, using a wrapping algorithm to calculate the wrapping surface of the intratumor flow-disturbing device; The wrapped surface is mesh-smoothed and re-meshed to obtain the outer contour surface.

8. The method according to claim 6, wherein: Based on the outer contour surface, the interpolated intra-tumor spoiler device model is corrected to obtain the final simulation result, including: Based on the outer contour surface, determining a first vertex and a second vertex on the interpolated intra-tumor flow disturbance device model, wherein the first vertex is a vertex that is not on the outer contour surface, and the second vertex is a vertex that exceeds the aneurysm model; The first vertex is corrected to the projection point closest to the outer contour surface, and the second vertex is corrected to the projection point closest to the surface of the aneurysm model to obtain a final simulation result.

9. An electronic device, comprising: processor; as well as A memory storing program instructions for simulating an intratumoral flow disturbance device, wherein when the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium storing program instructions for simulating an intratumoral flow disturbance device, wherein the program instructions, when executed by a processor, implement the method according to any one of claims 1 to 8.

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