Method, device and storage medium for simulating intratumoral flow disturbance device

Abstract

The present disclosure discloses a method, device and storage medium for simulating an intratumoral flow disturbance device, the method comprising: obtaining an aneurysm model and its measurement parameters; determining the intratumoral flow disturbance device to be simulated and its consumable parameters based on the measurement parameters; using discrete elastic rods to model the braided wire in the intratumoral flow disturbance device based on the consumable parameters to obtain an intratumoral flow disturbance device model; based on the aneurysm model and the intratumoral flow disturbance device model, simulating the release process of the intratumoral flow disturbance device in the aneurysm to obtain the intratumoral flow disturbance device model after release as a simulation result. Utilizing the solution disclosed herein, a faster calculation speed can be obtained while ensuring simulation accuracy, thereby reducing the time consumption of the simulation process, improving modeling efficiency, and achieving both accuracy and speed.

Description

Technical Field

[0001] The present disclosure generally relates to the field of neurosurgery imaging and, more particularly, 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 their experience to select interventional consumables, namely intratumoral flow disturbance devices (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 that fail to be selected 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 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 operation time, and reduce potential risks during surgery. Therefore, how to simulate the intratumoral flow disturbance 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 intratumoral flow disturbance devices so that the time consumption of the simulation process can be reduced and the modeling efficiency can be improved 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 intratumoral flow disturbance device in the following aspects.

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

[0007] In some embodiments, according to the consumable parameters, the braided wire in the intratumor flow disruption device is modeled using discrete elastic rods to obtain an intratumor flow disruption device model, which includes: modeling the contour line of the intratumor flow disruption device according to the consumable parameters to obtain a contour curve; determining the braided wire curve of the braided wire according to the contour curve and the rotation angle of the braided wire in the intratumor flow disruption device; based on the braided wire curve, modeling the braided wire using the discrete elastic rods to obtain a braided wire model constituting the intratumor flow disruption device model.

[0008] In some embodiments, based on the aneurysm model and the intra-tumor flow disturbance device model, the release process of the intra-tumor device in the aneurysm is simulated to obtain the intra-tumor flow disturbance device model after release, including: obtaining the aneurysm neck center point and aneurysm neck plane of the aneurysm model; placing the intra-tumor flow disturbance device model at a position matching the aneurysm neck of the aneurysm model so that the proximal end point of the intra-tumor flow disturbance device model coincides with the aneurysm neck center point, and the proximal plane of the intra-tumor flow disturbance device model is in the same direction as the aneurysm neck plane; gradually expanding the aneurysm model until all vertices of the intra-tumor flow 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 flow disturbance device model is less than a preset distance, stopping the simulation, and determining the intra-tumor flow disturbance device model at this time as the intra-tumor flow disturbance device model after release.

[0009] In some embodiments, before gradually compressing the aneurysm model, the method further includes: applying a pulling force at the proximal end point of the intra-tumor flow disrupting device 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 flow disrupting device 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 intratumor spoiler device model after release, the method further includes: optimizing the intratumor spoiler device model after release to obtain a final simulation result.

[0011] In some embodiments, the optimization operation of the released intratumor flow spoiler device model to obtain the final simulation result includes: calculating the outer contour surface of the intratumor flow spoiler device based on the released intratumor flow spoiler device model; interpolating the released intratumor flow spoiler device model according to the total number of braided wires in the intratumor flow spoiler device to obtain the interpolated intratumor flow spoiler device model; and correcting the interpolated intratumor flow spoiler device model based on the outer contour surface to obtain the final simulation result.

[0012] In some embodiments, based on the model of the intratumor flow spoiler device after release, calculating the outer contour surface of the intratumor flow spoiler device includes: based on the model of the intratumor flow spoiler device after release, using a wrapping algorithm to calculate the wrapping surface of the intratumor flow 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 flow spoiler model is corrected to obtain a final simulation result, including: based on the outer contour surface, determining the first vertex and the second vertex on the interpolated intra-tumor flow 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 the 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 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] By using the scheme for simulating the intratumoral flow disturbance device provided above, the braided wire in the intratumoral flow disturbance device can be modeled using discrete elastic rods according to the consumable parameters of the intratumoral flow disturbance device to obtain an intratumoral flow disturbance 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 higher computational efficiency in processing complex geometric models. At the same time, the calculation process of the discrete elastic rod is relatively simple and can quickly process large amounts of data, 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 disturbance device in the aneurysm based on the aneurysm model and the intratumoral flow disturbance 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 a balance between accuracy and speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an illustrative 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 disrupting device according to an embodiment of the present disclosure is shown;

[0019] Figure 2 Shows exemplary consumable parameters of the intratumor flow disturbance device according to an embodiment of the present disclosure;

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

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

[0022] Figure 5 An exemplary diagram illustrating angles and vectors in discrete centerlines according to an embodiment 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 intratumor flow disrupting device according to an embodiment of the present disclosure;

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

[0026] Figure 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] Figure 10 An exemplary result diagram showing a simulation of a release process of an intra-tumor flow disrupting device in an aneurysm according to an embodiment of the present disclosure is shown;

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

[0029] Figure 12 An exemplary schematic diagram of optimizing the intratumoral flow disturbance device model after release according to an embodiment of the present disclosure is shown;

[0030] Figure 13 is a schematic diagram showing an exemplary structure of a device 1300 for simulating an intratumoral flow disturbance device according to an embodiment of the present disclosure;

[0031] Figure 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 clearly and completely describe the technical solutions in the embodiments of this disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this disclosure, not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this 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 preclude 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 terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to limit the disclosure. As used in this disclosure and the claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should be further understood that the term "and / or" as used in this disclosure and the claims refers to any and all possible combinations of one or more of the associated listed items, including and including these combinations.

[0035] As used in this specification and claims, the term "if" can 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" can 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 embodiments of the present disclosure are 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 can be executed by any appropriate device with data processing capabilities, including 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 based on the measurement parameters. Then, at step S103, method 100 can use discrete elastic rods to model the braided wires in the intratumoral flow disturbance device based on the consumable parameters to obtain an 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 enhancement image. Specifically, a three-dimensional vascular model can be constructed based on the vascular enhancement image, and the vascular entry point and vascular exit point can be determined on the vascular model to generate the vascular centerline. After the vascular centerline is generated, the center point of the aneurysm neck can be determined based on the vascular centerline, and the neck plane can be determined based on 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 length, aneurysm height, aneurysm width, diameter and maximum diameter, wherein the diameter refers to the maximum distance from the center point of the aneurysm 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 based on 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, height DimB, height DimC of the distal imaging point, and 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 generally set by default to 0.02 mm.

[0041] Continue to refer Figure 2 To obtain a more refined model of the intratumoral flow disruption device, the consumable parameters of the intratumoral flow disruption device may also include the distal concave depth Sunk, the distal curvature radius R0, and the proximal curvature radius R1. In actual modeling, the three consumable parameters Sunk, R0, and R1 can use default values. These default values ​​can be set by technicians based on actual conditions and are not specifically limited in this disclosure.

[0042] After determining the consumable parameters of the intratumor flow disturbance device to be simulated, in the aforementioned step S103, the method 100 can use discrete elastic rods to model the braided wires in the intratumor flow disturbance device according to the consumable parameters to obtain the intratumor flow disturbance device model. For ease of understanding, the relevant content of the discrete elastic rods is first described here, and how to obtain the intratumor 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 has been 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 the deformation process by discretizing the continuous elastic rod into a series of nodes and edges. These nodes and edges form the center line of the braided wire, which can bend and torsion but cannot stretch, and collision detection and force transmission are carried out 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, m1, m2}. Here, you can refer to Figure 3 Understand the frame curve. Figure 3As shown, γ(s) is a curve parameterized by arc length. At each location on the curve, an orthogonal standard material frame {t(s), m1(s), m2(s)} describes the local rotation, torsion, and bending behavior of each segment. Vector u is perpendicular to t, and vector v is perpendicular to u. The material frame satisfies t(s) = γ′(s), meaning 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 energies of the rod must be considered. The total elastic energy of a discrete elastic rod consists of three parts: bending energy, torsion energy, and stretching energy. In the scheme disclosed herein, 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 torsional 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) 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 on computers, 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 =x i -x i-1 and e i =xi+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 tangential vector of each rod segment, vector u i is perpendicular to t i vector, vector v i is perpendicular to t i vector, 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 as follows:

[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 flexural 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] Torsional energy E twist (Γ) describes the twisting along the axis of the rod. Assume that 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 intratumoral flow disturbance device model, at the aforementioned step S104, method 100 can perform physical simulation based on the aneurysm model and the intratumoral flow disturbance device model, that is, simulate the release process of the intratumoral flow disturbance device in the aneurysm to obtain the intratumoral flow disturbance device model after release as a simulation result. This simulation result can intuitively demonstrate the release effect of the intratumoral flow disturbance device 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 intratumoral flow disturbance device model after release will be combined later. Figure 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 disturbance device is described. Based on the consumable parameters of the intratumoral flow disturbance device, the braided wire in the intratumoral flow disturbance device can be modeled using discrete elastic rods to obtain an intratumoral flow disturbance 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 higher computational efficiency in processing complex geometric models. At the same time, the calculation process of the discrete elastic rod is relatively simple and can quickly process large amounts of data, which helps to reduce the demand for computing resources. Therefore, using the scheme disclosed in this disclosure, when simulating the release process of the intratumoral flow disturbance device in an aneurysm based on the aneurysm model and the intratumoral flow disturbance 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 a balance between 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 disrupting device using discrete elastic rods according to an embodiment of the present disclosure. Figure 6 The description is a specific implementation of the above step S103. Figure 1 The features described can apply analogously here.

[0062] like Figure 6 As shown, at step S601, method 600 can model the contour of the intratumor flow disruption device based on the consumable parameters to obtain a contour curve. At step S602, method 600 can determine a braided wire curve of the braided wire based on the contour curve and the rotation angle of the braided wire in the intratumor flow disruption device. Then, at step S603, method 600 can model the braided wire using discrete elastic rods based on the braided wire curve to obtain a braided wire model that constitutes the intratumor flow disruption 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 based on 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. Here, reference can be made to Figure 7 Understand the contour curve of the intratumoral flow disturbance device. Figure 7 The circle shown in a in FIG 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 intratumor flow disrupting device, at step S602, method 600 generates a braided wire curve for each braided wire on the intratumor flow disrupting device 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 in the intratumor flow disrupting device is 144, the number of braided wires rotating clockwise and counterclockwise is 72 each, and the interval between each braided wire is 2.5°. The value of θ is [0°, 2.5°, 5°, 7.5°, ..., 177.5°]. In addition, the rotation angle angle can be positive or negative 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 [s0,…,s n ], and use [p0,…,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 coordinate values ​​can be determined in the following ways:

[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] p i=(cosθ×r,sinθ×r,h)

[0071] In addition, you can refer to Figure 8 To understand the morphology of the intratumoral disturbance device model generated according to different rotation angles. Figure 8 The rotation angle of the intratumoral flow disturbance device model shown in a 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 Figure 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 exemplified. Figure 9 and 10 The description is a specific implementation of the above step S104. Figure 1 The features described can apply analogously here.

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

[0074] In actual operation, the intra-tumor flow disturbance device 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 disturbance device by compressing the aneurysm. Specifically, in step S903, method 900 can gradually expand the aneurysm model with the center point of the aneurysm neck as the origin, and at the same time calculate whether the vertices on the intra-tumor flow disturbance device model are all inside the aneurysm model. When all the vertices of the intra-tumor flow disturbance model are inside the aneurysm model, the expansion of the aneurysm model is stopped. Figure 10 In one embodiment, the expansion ratio may be set to 1.1 times each time.

[0075] Furthermore, at step S904, the method 300 may compress the aneurysm model step by step. During the compression process of the aneurysm model, pressure is applied to the aneurysm model to cause deformation. When 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. Figure 10As shown in c in FIG. In one embodiment, the compression ratio can be set to 0.99. In another embodiment, to ensure that the proximal end of the intratumoral flow disruptor can always remain at the center of the aneurysm neck, a tensile force can be applied to the proximal end of the intratumoral flow disruptor model before gradually compressing the aneurysm model, with the tensile force directed toward the center of the aneurysm neck.

[0076] Finally, at step S905, method 900 may determine that the simulation is stable if the maximum movement distance of all vertices of the intratumor flow-disrupting device model is less than the preset error range, and then stop the simulation, and determine the intratumor flow-disrupting device model at this time as the intratumor flow-disrupting device model after release. It is understood 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 intratumor flow disruptor is composed of multiple braided wires. If each braided wire changes independently during the simulation process, the shape of the intratumor flow disruptor cannot be controlled. Therefore, the intratumor flow disruptor can be enabled to maintain its 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 intratumor flow disruptor model. The shape constraint may include one or more of a shape-keeping 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 sets on the braided wire at the distal and proximal markers of the intratumoral flow disruptor to remain unchanged from the initial shape during the deformation of the intratumoral flow disruptor 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 center of mass of the two point sets A and B; subtract the center of mass from 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 (x1,x2)=|x1-x2|-l0(7)

[0084] Where x1 and x2 represent the coordinates of two nodes on the braided wire, |x1-x2| represents the Euclidean distance between the two nodes, and l0 represents the initial distance between the 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 flow disruptor device, assuming 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 end of the intratumor flow disruptor device and the center point of the tumor neck. When the proximal end of the intratumor flow disruptor device begins to move away from the center point of the tumor neck, the intratumor flow disruptor 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 to approximate the friction between two contacting edges. The EdgeEdgeDisntace constraint can be expressed as:

[0087] C(d)=d-d0(8)

[0088] Among them, d represents the current shortest distance between the two edges, d0 represents the initial distance between the two edges, and if the distance between the two edges is less than d0, they will repel each other, and if the distance between the two edges is greater than d0, they will attract each other.

[0089] The above details the shape constraints used in the simulation. In practice, collision detection between the braided wire and the vessel wall is a critical component of the simulation, as it is involved in every stage of the catheter's motion. Collision detection is performed regardless of whether the guidewire is translating or rotating to ensure it does not pass through the vessel. This collision detection requires frequent calculations to maintain realistic rendering of the scene. Therefore, 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 object 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. The distance to the boundary point is zero, as shown in Figure 11 The a in the figure shows sampling points with positive distances outside the object. The main advantage of SDF in collision detection is its ability to quickly determine whether objects have collided and calculate the collision depth. SDF also provides the necessary normal information for post-collision response, enabling accurate force feedback and physics simulation.

[0091] Based on this, in the embodiments disclosed herein, SDF technology can be used for collision detection when simulating the release process of the intra-tumor flow disturbance device in an aneurysm. Specifically, we assume that the blood vessel is a rigid body, and we can pre-calculate the directed distance field of the blood vessel model before starting the simulation, and query the distance between the vertex of the braided wire and the blood vessel wall in real time during the simulation to detect in real time whether the vertex and the blood vessel wall collide and penetrate. Figure 11 Figure b shows that during the simulation, the SDF detected that the centerline of the braided wire had contact with the vessel wall. The red points on the curve represent the contact points. Note that because the braided wire moves within the lumen, the distances to points within the lumen are considered positive, while the distances to points outside the lumen are considered negative.

[0092] In the actual simulation, the inventors found that if all the braided wires in the intratumor flow disruption 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 flow disruption 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 the other braided wires can be obtained by interpolation. In short, when obtaining the model of the intratumor flow disruption device, discrete elastic rods can be used to model some of the braided wires in the intratumor flow disruption device. Subsequently, after obtaining the model of the intratumor flow disruption device after release, the model of the intratumor flow disruption device after release can be optimized to obtain the final simulation result.

[0093] The model of the intratumor flow spoiler device after release is optimized. Specifically, the outer contour surface of the intratumor flow spoiler device can be calculated based on the model of the intratumor flow spoiler device after release. Then, the model of the intratumor flow spoiler device after release can be interpolated according to the total number of braided wires in the intratumor flow spoiler device to obtain the interpolated model of the intratumor flow spoiler device. Specifically, linear interpolation can be performed between two adjacent braided wires of the model of the intratumor 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 intratumor flow spoiler device, the interpolated model of the intratumor flow spoiler device can be corrected based on the outer contour surface to obtain the final simulation result. Here, you can refer to Figure 12 Understand optimization operations. Figure 12 a in the figure shows the model of the intratumoral flow disturbance device after release. Figure 12 b shows the outer contour surface of the intratumoral flow disturbance device. Figure 12 Figure c shows the interpolated model of the intratumoral flow disturbance device. Figure 12 Panel d shows the final simulation results.

[0094] In one embodiment, when calculating the outer contour surface of the intratumor flow spoiler device based on the model of the intratumor flow spoiler device after release, the following operations can be performed specifically: based on the model of the intratumor flow spoiler device after release, the wrapping surface of the intratumor flow spoiler device is calculated using a wrapping algorithm; the wrapping surface is mesh-smoothed and re-meshed to obtain the outer contour surface. The surface of the intratumor flow 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 flow spoiler device after release, the wrapping surface of the shape of the intratumor flow spoiler device can be calculated, and then the wrapping surface is mesh-smoothed and re-meshed to generate a smooth outer contour surface of the intratumor flow 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, when the interpolated intratumoral flow disruptor model is corrected based on the outer contour surface to obtain the final simulation result, the following operations can be specifically performed: based on the outer contour surface, the first vertex and the second vertex on the interpolated intratumoral flow disruptor model 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 disruptor and are all inside the aneurysm, thereby generating more realistic simulation results, which is convenient for subsequent consumables wall adhesion analysis, metal coverage analysis at the aneurysm neck, and hemodynamic analysis.

[0096] The above is an exemplary introduction to the method 900 for simulating the release process of the intra-tumor flow disturbance device in the aneurysm according to the embodiment of the present disclosure. Figure 13 The following is an exemplary introduction to a device 1300 for simulating an intratumoral flow disturbance device provided in an embodiment of the present disclosure. Figure 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 herein, the acquisition module 1301 is configured to acquire the aneurysm model and its measurement parameters; the determination module 1302 is configured to determine the intratumoral flow disturbance device to be simulated and its consumable parameters based on the measurement parameters; the modeling module 1303 is configured to use discrete elastic rods to model the braided wire in the intratumoral flow disturbance device based on the consumable parameters to obtain the intratumoral flow disturbance device model; the simulation module 1304 is configured to 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.

[0098] Those skilled in the art will appreciate 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 intratumor flow disturbance device in the aforementioned embodiment, and will not be described in detail here.

[0099] Next, combine Figure 14 An electronic device 1400 provided in an embodiment of the present application is exemplarily introduced. Figure 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 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 device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a CPU, a controller, a microcontroller, and a microprocessor. It is understood that for different devices, the electronic device used to implement the above-mentioned processor functions may also be other electronic devices, 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 Figure 14 The present invention describes an electronic device for simulating an intratumoral flow disturbance device that can be used to perform the present application. It should be understood that the device structure or architecture here is merely exemplary, and the implementation 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 understood that the description of each embodiment in this 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, this disclosure will not go into details 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 software programs. Therefore, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores program instructions for simulating the 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 present method are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in that particular order, or that all of the operations shown must be performed to achieve the desired results. Rather, the steps depicted in the flowcharts may be performed in a different order. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into a single step, and / or a single step may be broken down into multiple steps.

[0105] Although multiple embodiments of the present application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art can conceive 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 accompanying claims are intended to define 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 disrupting device to obtain an intratumor flow disrupting device model; Based on the aneurysm model and the intra-tumor flow disrupting device model, simulating a release process of the intra-tumor flow disrupting device in the aneurysm to obtain a model of the intra-tumor flow disrupting device after release as a simulation result; Wherein, based on the aneurysm model and the intra-tumor flow disrupting device model, simulating the release process of the intra-tumor flow disrupting device in the aneurysm to obtain the intra-tumor flow disrupting device model after release includes: Obtaining the aneurysm neck center point and aneurysm neck plane of the aneurysm model; Placing the intra-tumor flow disrupting device model at a position matching the aneurysm neck of the aneurysm model, so that the proximal end of the intra-tumor flow disrupting device model coincides with the center of the aneurysm neck, and the proximal plane of the intra-tumor flow disrupting device 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 smaller 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 intratumor flow spoiler device model is less than the preset distance, the simulation is stopped, and the intratumor flow spoiler device model at this time is determined as the intratumor flow spoiler device model after release.

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

3. The method according to claim 1, before gradually compressing the aneurysm model, further comprising: Applying a pulling force at the proximal end of the intratumoral flow disturbance device model, wherein the pulling force is directed toward the center point of the tumor neck; Shape constraints are added between different braided wire models in the intratumoral flow disrupting device model, wherein the shape constraints include one or more of shape preservation constraints, node distance constraints, and edge distance constraints.

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

5. The method according to claim 4, wherein Optimizing the released intratumoral flow disturbance device model to obtain the final simulation results includes: calculating an outer contour surface of the intratumor flow disrupting device based on the released intratumor flow disrupting device model; interpolating the released intratumor flow disrupting device model according to the total number of braided wires in the intratumor flow disrupting device to obtain an interpolated intratumor flow disrupting device model; Based on the outer contour surface, the interpolated intra-tumor flow disturbance device model is corrected to obtain a final simulation result.

6. The method according to claim 5, wherein: Calculating the outer contour surface of the intratumor flow disrupting device based on the released intratumor flow disrupting device model includes: Based on the released intratumor flow disrupting device model, using a wrapping algorithm to calculate the wrapping surface of the intratumor flow disrupting device; The wrapped surface is mesh-smoothed and re-meshed to obtain the outer contour surface.

7. The method according to claim 5, wherein: Based on the outer contour surface, the interpolated intra-tumor flow disturbance device 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-aneurysm flow disrupting device 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; 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.

8. 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 7 is implemented.

9. 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 7.

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