Method and device for adjusting DSA ray frame rate, equipment and storage medium

Abstract

The invention belongs to the field of medical robots, and relates to a method, device and equipment for adjusting a DSA ray frame rate and a storage medium, and the method comprises the steps: obtaining a current exposure frame rate of a DSA; acquiring operation parameters of an operator end; and generating an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sending the updated DSA exposure frame rate to the DSA, so that the DSA performs imaging according to the updated DSA exposure frame rate. The DSA ray frame rate can be adjusted according to the related motion parameters of the interventional instrument, so that the radiation dose received by an operation object, an operator and an assistant is reduced, and damage caused by radiation is relieved.

Description

Technical Field

[0001] The present application relates to the technical field of medical robots, and particularly to a method, device, computer device and storage medium for adjusting the DSA ray frame rate. Background Art

[0002] Digital Subtraction Angiography (DSA) is a widely used angiography technique in clinical practice at present. It can clearly show the structure and pathological conditions of blood vessels and is an important imaging basis. However, the control of DSA ray dose and frame rate during interventional surgery has always been a technical problem to be solved urgently.

[0003] At present, most DSA devices use fixed ray dose and frame rate for imaging, and cannot be adjusted in real time according to the individual differences of surgical objects and different stages of the surgical process. This leads to two problems: on the one hand, for surgical objects with a smaller body size or higher sensitivity, the fixed ray dose may cause too high radiation risk; on the other hand, for surgical objects with complex vascular structures and faster blood flow velocities, the fixed frame rate may not meet the requirements of clear imaging, affecting the accuracy and safety of surgical operations.

[0004] Therefore, how to comprehensively consider and effectively adjust the DSA rays so as to reduce the radiation dose of rays while ensuring clear images is an urgent technical problem. Summary of the Invention

[0005] The purpose of the present application is to propose a method, device, computer device and storage medium for adjusting the DSA ray frame rate to solve the problem that the DSA exposure frame rate cannot be flexibly and effectively adjusted according to the actual situation during interventional surgery.

[0006] To solve the above technical problems, an embodiment of the present application provides a method for adjusting the DSA ray frame rate, which adopts the following technical solutions:

[0007] Obtain the current exposure frame rate of the DSA;

[0008] Obtain the operation parameters at the operator end;

[0009] Generate an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and send the updated DSA exposure frame rate to the DSA so that the DSA can image according to the updated DSA exposure frame rate.

[0010] Further, the operation parameters include a position mode parameter, a speed mode parameter, a variable speed mode parameter or a linkage mode parameter.

[0011] Further, the updated DSA exposure frame rate is an absolute DSA exposure frame rate value, or the updated DSA exposure frame rate is a relative value of the current exposure frame rate of the DSA.

[0012] A method for adjusting the DSA ray frame rate includes:

[0013] The DSA images at the current exposure frame rate to obtain DSA image images;

[0014] Identify the DSA image images to obtain the motion characteristic parameters of the intervention instrument of the intervention robot;

[0015] Generate an updated DSA exposure frame rate according to the current exposure frame rate and the motion characteristic parameters;

[0016] Image according to the updated DSA exposure frame rate.

[0017] Further, the step of the DSA imaging at the current exposure frame rate to obtain DSA image images specifically includes:

[0018] The DSA images at the current exposure frame rate to obtain initial DSA vascular image images;

[0019] Perform image preprocessing on the initial DSA vascular image images to obtain the DSA vascular image images.

[0020] Further, the step of performing image preprocessing on the initial DSA vascular image images to obtain the DSA vascular image images specifically includes:

[0021] Perform image annotation on the initial DSA vascular image images to obtain annotated vascular image information;

[0022] Perform smoothing and noise reduction processing on the annotated vascular image information based on the Gaussian filtering algorithm to obtain first vascular image information;

[0023] Perform salt-and-pepper noise removal processing on the annotated vascular image information based on the median filtering algorithm to obtain second vascular image information;

[0024] Fuse the first vascular image information and the second vascular image information to obtain the DSA vascular image images.

[0025] Further, the step of identifying the DSA vascular image images to obtain the motion characteristic parameters of the intervention instrument of the intervention robot specifically includes:

[0026] Obtain the motion characteristic parameters of the intervention instrument of the intervention robot by performing feature extraction on the DSA vascular image images.

[0027] To solve the above technical problems, an embodiment of the present application further provides a device for adjusting the DSA ray frame rate, including:

[0028] An exposure frame rate acquisition module for acquiring the current exposure frame rate of the DSA;

[0029] A parameter acquisition module for acquiring operation parameters at the operator end or for acquiring motion characteristic parameters of the interventional instrument;

[0030] An exposure frame rate update module for generating an updated DSA exposure frame rate according to the current exposure frame rate in combination with the operation parameters or the motion characteristic parameters;

[0031] A DSA imaging module for imaging according to the updated DSA exposure frame rate.

[0032] To solve the above technical problems, an embodiment of the present application further provides a computer device, adopting the following technical solution:

[0033] A computer device includes a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the steps of the method for adjusting the DSA ray frame rate described above are implemented.

[0034] To solve the above technical problems, an embodiment of the present application further provides a computer-readable storage medium, adopting the following technical solution:

[0035] A computer-readable storage medium has a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for adjusting the DSA ray frame rate described above are implemented.

[0036] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects:

[0037] The present application acquires the current exposure frame rate of the DSA; acquires the operation parameters at the operator end; generates an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sends the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate. Thus, it effectively realizes adjusting the DSA ray frame rate according to the relevant motion parameters of the interventional instrument, reduces the radiation dose received by the surgical object and the operator, and reduces the harm caused by radiation. Description of the Drawings

[0038] To more clearly illustrate the solutions in this application, the following provides a brief introduction to the accompanying drawings required for the description of the embodiments of this application. Obviously, the accompanying drawings in the following description are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0039] Figure 1 Flowchart of an embodiment of the method for adjusting the DSA ray frame rate according to this application;

[0040] Figure 2 Flowchart of another embodiment of the method for adjusting the DSA ray frame rate according to this application;

[0041] Figure 3 is Figure 2 Flowchart of a specific implementation manner of step S40 in

[0042] Figure 4 Structural schematic diagram of an embodiment of the method for adjusting the DSA ray frame rate according to this application;

[0043] Figure 5 Structural schematic diagram of an embodiment of the computer device according to this application. Specific implementation manner

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification, claims, and above-mentioned accompanying drawing descriptions of this application are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification, claims, or above-mentioned accompanying drawings of this application are used to distinguish different objects and are not used to describe a specific order.

[0045] Referring to "embodiment" herein means that the specific features, structures, or characteristics described in connection with the embodiment can be included in at least one embodiment of this application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] To enable those skilled in the technical field to better understand the solutions of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings.

[0047] This embodiment provides a method for adjusting the DSA ray frame rate. The method for adjusting the DSA ray frame rate is applied to the scenario of an interventional surgical robot. During an interventional surgery, the DSA ray frame rate is adjusted by combining the operation parameters of the manipulator end of the interventional robot, thereby reducing the harm caused by radiation. The flowchart of an embodiment of the method for adjusting the DSA ray frame rate is as shown in Figure 1 shown, and specifically includes the following steps:

[0048] Step S10, obtain the current exposure frame rate of the DSA;

[0049] In this embodiment, the exposure frame rate of the DSA refers to the number of images that the DSA can capture per second, and the current exposure frame rate refers to the number of images captured by the DSA at the current time point, which is generally the default exposure frame rate of the DSA. In this embodiment, the interventional robot is used to obtain the current exposure frame rate of the DSA. All DSA devices provide interfaces for communicating with external systems, such as network interfaces, USB interfaces, etc. The interventional robot can establish a connection with the DSA device through these interfaces and send a request to obtain the current exposure frame rate. Alternatively, the DSA device is usually equipped with control software, which can display various status information of the device, including the exposure frame rate. The interventional robot can be integrated with the control software to obtain the current exposure frame rate through the API or other interfaces provided by the software.

[0050] Step S20, obtain the operation parameters of the manipulator end;

[0051] In this embodiment, the manipulator end of the interventional robot is a key part for the operator to interact with the robot, and it includes various components such as control buttons, sensors, and displays. The operation parameters refer to various settings and status information of these components during the surgery. Among them, the interventional robot is generally equipped with an advanced control system, which can monitor and record all the operation parameters of the manipulator end. Alternatively, various sensors on the manipulator end (such as force sensors, position sensors, etc.) can monitor the doctor's operations on the robot in real time and feed back this information to the control system. The interventional robot can obtain the operation parameters through these sensors.

[0052] Step S30, generate an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and send the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate.

[0053] In this embodiment, the operation parameters include position mode parameters, speed mode parameters, variable speed mode parameters or linkage mode parameters, which respectively correspond to different working modes of the interventional robot. These working modes include speed mode, position mode, variable speed mode and linkage mode. The interventional robot obtains the current exposure frame rate of the DSA and fits a new exposure frequency according to the actual running speed of the current interventional instrument. This exposure frequency is related to the running speed of the interventional instrument. The higher the running speed of the interventional instrument, the lower the new exposure frame rate relative to the current exposure frame rate of the DSA. The calculation formula for the relationship between the DSA exposure frequency and the running speed of the interventional instrument is: where k is a constant, F new is the new exposure frame rate, and F default is the current exposure frame rate. k is used to adjust the speed or proportion of the decrease in the exposure frequency. This constant can be calibrated or determined according to the actual situation and historical data to ensure that the new exposure frequency can meet the surgical requirements at different running speeds of the interventional instrument. When the running speed of the interventional instrument is high, in order to reduce motion blur and ensure the clarity of the image, the newly set exposure frame rate will be relatively low. This helps to capture the moment of the instrument movement, reduce the image blur caused by high-speed movement, and at the same time reducing the frame rate can reduce the number of X-ray exposures, thereby reducing the radiation dose to the patient and the operator. On the contrary, when the running speed of the interventional instrument is low, in order to improve the continuity and smoothness of the image, the newly set exposure frame rate will be relatively high. This helps the doctor to more clearly observe the subtle changes of the instrument during the operation.

[0054] In this embodiment, the interventional robot obtains the current exposure frame rate of the DSA; obtains the operation parameters at the manipulator end of the interventional robot; generates an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sends the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate. Thus, it effectively realizes adjusting the DSA ray frame rate according to the operation parameters at the manipulator end, reduces the radiation dose received by the surgical object, the operator and the assistant, and reduces the harm caused by radiation.

[0055] In some optional implementation manners of this embodiment, the operation parameters include position mode parameters, speed mode parameters, variable speed mode parameters or linkage mode parameters.

[0056] In this embodiment, the specific speed value of the intervention instrument of the intervention robot in the speed mode can be controlled and selected by the operator, and it moves at a constant speed according to the speed set by the operator; in the variable speed mode, the speed value of the intervention instrument of the intervention robot can be determined by the position of the robot joystick relative to the origin, specifically, it is in a proportional relationship with the displacement of the joystick relative to the origin; in the position mode, the speed value of the intervention instrument of the intervention robot is determined by the real-time movement speed of the joystick; the linkage mode is that the manipulator controls multiple intervention instruments to move according to the same speed or displacement command based on the command information generated according to the currently selected intervention instrument.

[0057] In this embodiment, by setting operation parameters including position mode parameters, speed mode parameters, variable speed mode parameters or linkage mode parameters, the exposure frame rate of DSA can be effectively adjusted correspondingly according to different mode parameters, so as to improve the flexibility of the exposure frame rate generated by DSA.

[0058] In some optional implementation manners of this embodiment, generating an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and sending the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate includes the following steps:

[0059] Generate an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and send the updated DSA exposure frame rate to the DSA through a wired transmission method or a wireless transmission method, so that the DSA can image according to the updated DSA exposure frame rate;

[0060] In this embodiment, by operating on the updated DSA exposure frame rate such as adding header information, check code, etc., the updated DSA exposure frame rate is encapsulated into an appropriate data format for transmission. Then, according to the system configuration or selection, it is determined whether to send data through a wired or wireless channel. After the channel is selected, steps such as establishing a connection, sending data packets, and confirming reception are performed through the selected transmission channel to send the encapsulated data. Finally, the DSA system receives the sent data and parses it to extract the updated DSA exposure frame rate. The DSA system updates its exposure settings according to the received DSA exposure frame rate and starts to expose at the new exposure frame rate.

[0061] The wired transmission method includes CAN or LAN, etc., and the wireless transmission method includes WIFI or Bluetooth, etc.

[0062] In this embodiment, if it is selected to transmit in a wired transmission method, it can be connected to the CAN bus or LAN network according to the system configuration or user selection. If it is selected to transmit in a wireless manner, a Wi-Fi or Bluetooth connection is established according to the system configuration or user selection.

[0063] In this embodiment, an updated DSA exposure frame rate is generated according to the current exposure frame rate and the operation parameters, and the updated DSA exposure frame rate is sent to the DSA by means of wired transmission or wireless transmission, so that the DSA can image according to the updated DSA exposure frame rate; the wired transmission method includes CAN or LAN, and the wireless transmission method includes WIFI or Bluetooth. Thus, it is effectively realized to transmit the updated DSA exposure frame rate to the DSA system completely and stably, so as to improve the reliability of the DSA exposure frame rate transmission.

[0064] In some optional implementation manners of this embodiment, the updated DSA exposure frame rate is an absolute DSA exposure frame rate value, or the updated DSA exposure frame rate is a relative value of the current exposure frame rate of the DSA.

[0065] In this embodiment, when the updated DSA exposure frame rate is an absolute DSA exposure frame rate value, the updated DSA exposure frame rate is a specific and fixed number, which directly represents the number of exposures per second. For example, if the updated DSA exposure frame rate is 30 frames per second (fps), then the DSA system will perform exposures at a speed of 30 times per second. When the updated DSA exposure frame rate is a relative value of the current exposure frame rate of the DSA, the updated DSA exposure frame rate can be a percentage or ratio relative to the current exposure frame rate of the DSA. For example, if the current exposure frame rate of the DSA is 60 fps and the updated DSA exposure frame rate is 50% of the default value, then the DSA system will perform exposures at a speed of 30 times per second. The mathematical expression of this percentage or ratio can be expressed as: F newrel = F default × relative value; where F newrel represents the updated DSA exposure frame rate, F default is the default exposure frame rate of the DSA, and the relative value is a number between 0 and 1 (or 0% and 100%). In this embodiment, when sending the updated DSA exposure frame rate, it is necessary to clearly inform the DSA system whether this frame rate is an absolute value or a relative value. This can be achieved by adding an additional flag bit or field in the data packet. For example, the data packet sent by wired or wireless means contains the following information: frame rate type flag (absolute / relative), updated DSA exposure frame rate value.

[0066] In this embodiment, by setting the updated DSA exposure frame rate as an absolute DSA exposure frame rate value, or the updated DSA exposure frame rate as a relative value of the current exposure frame rate of the DSA, the DSA exposure frame rate can be sent and saved efficiently and conveniently.

[0067] ReferenceFigure 2 , showing a flowchart of another embodiment of a method for adjusting the DSA ray frame rate according to the present application. The method for adjusting the DSA ray frame rate includes the following steps:

[0068] Step S40, the DSA images at the current exposure frame rate to obtain a DSA vascular image;

[0069] In this embodiment, the DSA vascular image is a digital subtraction angiography image obtained in real time by the DSA system. In a vascular interventional operation, the surgical object is placed under an X-ray, and after the X-ray penetrates the human body, it is received by the corresponding image collector to obtain an image containing a contrast agent. Then, the background image in the image containing the contrast agent is subtracted by the corresponding system software to obtain an image that is imaged at the current exposure frame rate and highlights the vascular structure. Among them, the current exposure frame rate is generally the default exposure frame rate of the DSA. The default exposure frame rate refers to the number of frames captured per second by the DSA when no manual adjustment is made. This parameter affects the ability of the DSA to capture the scene and the clarity of the image; default exposure frame rate imaging means that the DSA captures and records images at the default exposure frame rate.

[0070] Step S50, identify the DSA image to obtain the motion characteristic parameters of the interventional instrument of the interventional robot;

[0071] In this embodiment, through image processing techniques and algorithms, these images are identified and analyzed to detect and identify key interventional instruments in the image, such as guide wires, catheters, and stent balloons. After successfully identifying the interventional instruments, further use image processing algorithms to identify the relative positional relationship between these instruments. This includes extracting the contours of the instruments, positioning key feature points, and determining the relative positions of the instruments by calculating and analyzing the distances and angles between these feature points to obtain the motion characteristic parameters of the interventional instruments.

[0072] Step S60, generate an updated DSA exposure frame rate according to the current exposure frame rate and the motion characteristic parameters;

[0073] In this embodiment, when it is recognized that an instrument such as a guide wire or a stent balloon is moving inside a catheter, since the requirements for image details are relatively high at this time, but the moving speed of the instrument is relatively slow, a new DSA exposure frame rate that is slightly lower than the DSA default exposure frame rate can be generated. The calculation formula for this DSA exposure frame rate can be: F new = α × F default; where α is an adjustment coefficient, and 0 < α < 1. α represents the degree of adjustment to the frame rate due to the movement of the instrument within the catheter, which can be set and adjusted according to the actual situation. In this embodiment, α is set to 0.7 and can be adjusted correspondingly according to the actual situation; F default is the default exposure frame rate of the DSA system; F new is the updated DSA exposure frame rate. When it is recognized that interventional instruments such as guide wires / stent balloons have left the distal end of the catheter, in order to more accurately capture the rapid or complex movements of these instruments and ensure the visibility of details during the operation, a new exposure frame rate higher than the DSA default exposure frame rate will be selected. The calculation formula for the DSA exposure frame rate can be: F new = β × F default ; where β is an adjustment coefficient, and 1 < β < 2. β represents the degree of adjustment to the frame rate due to the movement of the instrument outside the catheter, which can be set and adjusted according to the actual situation. In this embodiment, β is set to 1.3 and can be adjusted correspondingly according to the actual situation; F default is the default exposure frame rate of the DSA system; F new is the updated DSA exposure frame rate.

[0074] Step S70, image according to the updated DSA exposure frame rate.

[0075] In this embodiment, the DSA system can directly perform DSA imaging operations according to the updated DSA exposure frame rate to obtain DSA image images corresponding to the exposure frame rate. Then, by displaying the generated DSA image images on the display screen of the system in real time for the operator to observe and analyze. At the same time, these DSA image images will also be stored in the storage area or database of the system for subsequent viewing.

[0076] In this embodiment, the DSA images at the default exposure frame rate to obtain DSA vascular image images; identify the DSA vascular image images to obtain the motion characteristic parameters of the interventional instruments of the interventional robot; generate an updated DSA exposure frame rate according to the default exposure frame rate and the motion characteristic parameters; image according to the updated DSA exposure frame rate. Thus, it effectively realizes the adjustment of the DSA exposure frame rate according to the motion characteristic parameters of the interventional instruments of the interventional robot, so as to reduce the radiation dose received by the surgical object, the operator and the assistant, and reduce the harm caused by radiation.

[0077] Continue to refer to Figure 3 , in some alternative implementation manners of this embodiment, step S40 includes the following steps:

[0078] Step S401, the DSA images at the current exposure frame rate to obtain initial DSA vascular image images;

[0079] In this embodiment, the DSA system performs imaging operations at a preset default exposure frame rate. Through the projection and reception of X-rays and subsequent image processing, a preliminary image containing the patient's blood vessels and surrounding tissue structures is generated. At the default exposure frame rate, the DSA system continuously captures and generates a series of image frames, and these captured frames are the initial DSA image frames.

[0080] Step S402: Perform image preprocessing on the initial DSA blood vessel image frames to obtain the DSA blood vessel image frames.

[0081] In this embodiment, the image preprocessing steps for the initial DSA blood vessel image frames include image enhancement, noise removal, contrast adjustment, edge detection, etc. By preprocessing the initial DSA image frames through the above steps, the blood vessel structure can be highlighted, the interference of non-blood vessel tissues can be reduced, and the DSA image frames can be made clearer and easier to interpret. After image preprocessing, the obtained image frames are the final DSA image frames. The DSA blood vessel image frames not only have higher clarity but also can more accurately reflect the structure and lesion conditions of the patient's blood vessels.

[0082] In this embodiment, the DSA performs imaging at the default exposure frame rate to obtain the initial DSA blood vessel image frames; perform image preprocessing on the initial DSA blood vessel image frames to obtain the DSA blood vessel image frames. Thus, standard and reliable DSA blood vessel image frames can be effectively obtained to facilitate the subsequent acquisition of motion feature parameters.

[0083] In some optional implementation manners of this embodiment, step S402 includes the following steps: The step of performing image preprocessing on the initial DSA blood vessel image frames to obtain the DSA blood vessel image frames specifically includes:

[0084] S4021: Perform image annotation on the initial DSA blood vessel image frames to obtain annotated blood vessel image information;

[0085] In this embodiment, image annotation refers to annotating the sample blood vessel image information according to the results of image processing to achieve the acquisition of effective annotated blood vessel image information.

[0086] S4022: Perform smoothing and noise reduction processing on the annotated blood vessel image information based on the Gaussian filtering algorithm to obtain the first blood vessel image information;

[0087] In this embodiment, the Gaussian filtering algorithm is a linear smoothing filter, and its core lies in the Gaussian function. Among them, the Gaussian function is a bell-shaped curve, and its shape is determined by the standard deviation (σ) parameter. The Gaussian filter replaces the pixel value by calculating the weighted average of the pixels in the neighborhood around each pixel, and the weights are given by the Gaussian function. The pixels closer to the central pixel have larger weights. By setting the standard deviation (σ) of the Gaussian function, a Gaussian kernel (filter) is generated according to the standard deviation, and the Gaussian kernel is applied to each pixel of the angiography image, and the weighted average is calculated and the original pixel value is replaced to achieve the smoothing and noise reduction processing of the labeled vascular image information.

[0088] S4023, perform salt-and-pepper noise removal processing on the labeled vascular image information based on the median filtering algorithm to obtain the second vascular image information;

[0089] Perform salt-and-pepper noise removal processing on the labeled vascular image information based on the median filtering algorithm to obtain the second vascular image information;

[0090] In this embodiment, salt-and-pepper noise is randomly appearing bright spots (salt noise) or dark spots (pepper noise) in the image. The median filtering algorithm is a non-linear filtering technique that replaces the value of the pixel at the center of the window by calculating the median of the pixel values within the sliding window. The steps of salt-and-pepper noise removal processing include: setting the size of the sliding window (such as 3x3, 5x5, etc.); for each pixel in the image, taking the pixel values within its surrounding window; calculating the median of these pixel values; and replacing the value of the pixel at the center of the window with the calculated median.

[0091] S4024, fuse the first vascular image information and the second vascular image information to obtain the DSA vascular image.

[0092] In this embodiment, the vascular structure information in the first vascular image information and the second vascular image information can be used for precise registration, and then multi-resolution fusion or wavelet fusion is adopted to obtain the fusion step. The steps for precise registration of the vascular structure information include: extracting the vascular structure information from the vascular images of the first surgical object and the second surgical object, such as the centerline, edge, bifurcation point, etc. of the blood vessels, which can be achieved by techniques such as edge detection and corner detection; based on the extracted vascular structure information, registering the two images, and a registration method based on feature matching, such as machine learning methods like support vector machine (SVM) and convolutional neural network (CNN), can be used to find the corresponding feature points in the two images, and the image registration is achieved by solving the transformation model. Multi-resolution fusion is to perform multi-resolution decomposition on the two registered images to obtain image information at different scales, and at each scale, the information of the two images is fused according to the fusion rules of weighted average or maximum value selection, and then the fused images at different scales are reconstructed to obtain the final fused image. Wavelet fusion is to perform wavelet transform on the two registered images to obtain data in different frequency bands (such as high-frequency band and low-frequency band), and at each frequency band, the information of the two images is fused according to the fusion rules based on coefficients or the fusion rules based on regions, and then the inverse wavelet transform is performed on the fused data in different frequency bands to obtain the final fused image.

[0093] In some alternative implementation manners of this embodiment, the steps of identifying the DSA vascular image to obtain the motion feature parameters of the intervention instrument of the intervention robot include the following steps:

[0094] By extracting features from the DSA vascular image, the motion feature parameters of the intervention instrument of the intervention robot are obtained.

[0095] In this embodiment, the motion feature parameters include the position, velocity, acceleration, motion trajectory, etc. of the interventional device. The feature extraction module can be used to perform feature extraction processing on the DSA vascular image. The feature extraction module uses image processing techniques and algorithms to extract the feature parameters related to the motion of the interventional device of the interventional robot from the image. Among them, the specific position of the interventional device in the DSA vascular image can be determined through image segmentation and recognition techniques to obtain the position feature. Threshold segmentation and edge detection can be used for image segmentation and recognition techniques. Threshold segmentation is based on the pixel value differences in the image, and one or more thresholds are set to divide the image into different regions or objects. For DSA images, threshold segmentation can be used to distinguish blood vessels, interventional devices, and background tissues. Edge detection is to identify the boundaries of objects by detecting the points where the pixel values in the image change significantly. Commonly used edge detection algorithms include Sobel, Canny, etc. In DSA images, edge detection can be used to identify the edges of the interventional device, thereby determining its position and shape. The motion speed of the interventional device can be calculated through the comparative analysis between consecutive frames to obtain the speed feature of the interventional device. The acceleration information of the interventional device can be obtained by analyzing the speed changes between consecutive frames, and this acceleration information is the acceleration feature of the interventional device. By connecting the position information in consecutive frames, the motion trajectory of the interventional device can be drawn to obtain the motion trajectory feature of the interventional device.

[0096] In this embodiment, the motion feature parameters can also be obtained according to the following steps: perform edge detection on the DSA image to extract the contour of the interventional device; between consecutive frames, use feature point matching algorithms (such as SIFT, SURF, etc.) to find the corresponding points on the contour of the interventional device; based on the matched feature points, calculate the optical flow field between consecutive frames to obtain the motion direction and speed of the interventional device at each moment; by analyzing the optical flow field, motion parameters such as the motion trajectory, speed, and acceleration of the interventional device can be extracted.

[0097] In this embodiment, the above steps are used to perform feature extraction on the DSA vascular image to obtain the motion feature parameters of the interventional device of the interventional robot, so as to effectively capture the motion features of the interventional device to obtain the motion feature parameters, which is convenient for subsequent updating of the DSA exposure frame rate according to the motion feature parameters.

[0098] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. This computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disc, a Read-Only Memory (ROM), etc., or a Random Access Memory (RAM), etc.

[0099] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit and can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. Their execution order does not necessarily have to be sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0100] Further reference Figure 4 to Figure 1 As an implementation of the method shown above, an embodiment of an apparatus for adjusting the DSA ray frame rate is provided in this application. This apparatus embodiment corresponds to the method embodiment shown in Figure 1 and can be specifically applied to various electronic devices.

[0101] As shown in Figure 4 , the apparatus 800 for adjusting the DSA ray frame rate described in this embodiment includes: an exposure frame rate acquisition module 801, a parameter acquisition module 802, an exposure frame rate update module 803, and a DSA imaging module 804. Among them:

[0102] The exposure frame rate acquisition module 801 is configured to acquire the current exposure frame rate of the DSA;

[0103] The parameter acquisition module 802 is configured to acquire the operation parameters at the operator end or to acquire the motion characteristic parameters of the interventional instrument;

[0104] The exposure frame rate update module 803 is configured to generate an updated DSA exposure frame rate according to the current exposure frame rate in combination with the operation parameters or the motion characteristic parameters;

[0105] The DSA imaging module 804 is configured to perform imaging according to the updated DSA exposure frame rate.

[0106] In this embodiment, by setting up a device module corresponding to the method of adjusting the DSA ray frame rate, it is possible to obtain the current exposure frame rate of the DSA through the exposure frame rate acquisition module 801; obtain the operation parameters of the operator end of the interventional robot through the operation parameter acquisition module 802; generate an updated DSA exposure frame rate through the exposure frame rate update module 803 according to the current exposure frame rate in combination with the operation parameters or the motion feature parameters; and perform imaging through the DSA imaging module 804 according to the updated DSA exposure frame rate. Thus, it effectively realizes adjusting the DSA ray frame rate according to the operation parameters of the operator end of the interventional robot or the motion feature parameters of the interventional instrument of the interventional robot, so as to reduce the radiation dose received by the surgical object, the operator and the assistant, and reduce the harm caused by radiation.

[0107] To solve the above technical problems, the embodiments of the present application also provide a computer device. For details, please refer to Figure 5 , Figure 5 which is the basic structural block diagram of the computer device in this embodiment.

[0108] The computer device 9 includes a memory 91, a processor 92, and a network interface 93 that are communicatively connected to each other through a system bus. It should be noted that only the computer device 9 with components 91-93 is shown in the figure, but it should be understood that it is not required to implement all the shown components, and more or fewer components can be alternatively implemented. Among them, those skilled in the art of the present technology can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0109] The computer device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The computer device can perform human-computer interaction with the user through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0110] The memory 91 includes at least one type of readable storage medium, which includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disc, etc. In some embodiments, the memory 91 may be an internal storage unit of the computer device 9, such as the hard disk or memory of the computer device 9. In other embodiments, the memory 91 may also be an external storage device of the computer device 9, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc. equipped on the computer device 9. Of course, the memory 91 may also include both the internal storage unit and the external storage device of the computer device 9. In this embodiment, the memory 91 is generally used to store the operating system and various application software installed on the computer device 9, such as the program code of the method for adjusting the DSA ray frame rate. In addition, the memory 91 may also be used to temporarily store various types of data that have been output or will be output.

[0111] In some embodiments, the processor 92 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 92 is generally used to control the overall operation of the computer device 9. In this embodiment, the processor 92 is used to run the program code stored in the memory 91 or process data, such as running the program code of the method for adjusting the DSA ray frame rate.

[0112] The network interface 93 may include a wireless network interface or a wired network interface, and this network interface 93 is generally used to establish a communication connection between the computer device 9 and other electronic devices.

[0113] In this embodiment, by setting a computer device corresponding to the method for adjusting the DSA ray frame rate, it is possible to obtain the current exposure frame rate of the DSA through the intervention robot; obtain the operation parameters of the operator end of the intervention robot; generate an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and send the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate. Thus, it effectively realizes adjusting the DSA ray frame rate according to the current exposure frame rate of the DSA, so as to reduce the radiation dose received by the surgical object, the operator and the assistant, and reduce the harm caused by radiation.

[0114] The present application also provides another implementation manner, that is, to provide a computer-readable storage medium storing a program for adjusting the DSA ray frame rate. The program for adjusting the DSA ray frame rate can be executed by at least one processor, so that the at least one processor executes the steps of the method for adjusting the DSA ray frame rate as described above.

[0115] In this embodiment, by setting a computer-readable storage medium corresponding to the method for adjusting the DSA ray frame rate, it is possible to obtain the current exposure frame rate of the DSA through the intervention robot; obtain the operation parameters of the manipulator end of the intervention robot; generate an updated DSA exposure frame rate according to the current exposure frame rate and the operation parameters, and send the updated DSA exposure frame rate to the DSA, so that the DSA can image according to the updated DSA exposure frame rate. Thus, it effectively realizes adjusting the DSA ray frame rate according to the current exposure frame rate of the DSA, so as to reduce the radiation dose received by the surgical object, the operator and the assistant, and reduce the harm caused by radiation.

[0116] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation manner. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

[0117] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The accompanying drawings show the preferred embodiments of the present application, but do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosed content of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structure made directly or indirectly using the specification and drawings of the present application in other related technical fields is equally within the scope of the patent protection of the present application.

Claims

1. A method for adjusting the frame rate of a DSA ray, characterized in that: include: Get the current exposure frame rate of DSA; Get the operation parameters of the operator end; An updated DSA exposure frame rate is generated according to the current exposure frame rate and the operating parameters, and the updated DSA exposure frame rate is sent to the DSA, so that the DSA can form images according to the updated DSA exposure frame rate.

2. The method for adjusting the DSA ray frame rate according to claim 1, characterized in that: The operating parameters include position mode parameters, speed mode parameters, speed change mode parameters or linkage mode parameters.

3. The method for adjusting the DSA ray frame rate according to claim 1, characterized in that: The updated DSA exposure frame rate is an absolute DSA exposure frame rate value, or the updated DSA exposure frame rate is a relative value of the current exposure frame rate of the DSA.

4. A method for adjusting the frame rate of a DSA ray, characterized in that: include: The DSA is imaged at a current exposure frame rate to obtain a DSA vascular image; Identify the DSA vascular image to obtain motion characteristic parameters of the interventional instrument of the interventional robot; generating an updated DSA exposure frame rate according to the current exposure frame rate and the motion characteristic parameter; Imaging is performed according to the updated DSA exposure frame rate.

5. The method for adjusting the DSA ray frame rate according to claim 4, characterized in that: The step of obtaining a DSA vascular image by imaging at the current exposure frame rate specifically includes: The DSA is imaged at a current exposure frame rate to obtain an initial DSA vascular image; The initial DSA vascular image is subjected to image preprocessing to obtain the DSA vascular image.

6. The method for adjusting the DSA ray frame rate according to claim 5, characterized in that: The step of performing image preprocessing on the initial DSA vascular image to obtain the DSA vascular image specifically includes: Annotating the initial DSA vascular image to obtain annotated vascular image information; Performing smoothing and noise reduction processing on the labeled blood vessel image information based on a Gaussian filtering algorithm to obtain first blood vessel image information; Performing salt and pepper noise removal processing on the labeled blood vessel image information based on a median filtering algorithm to obtain second blood vessel image information; The first blood vessel image information and the second blood vessel image information are fused to obtain the DSA blood vessel imaging image.

7. The method for adjusting the DSA ray frame rate according to claim 4, characterized in that: The step of identifying the DSA vascular image to obtain the motion characteristic parameters of the interventional instrument of the interventional robot specifically includes: The motion characteristic parameters of the interventional instrument of the interventional robot are obtained by extracting features from the DSA vascular image.

8. A device for adjusting the frame rate of DSA rays, characterized in that: include: An exposure frame rate acquisition module is used to obtain the current exposure frame rate of the DSA; A parameter acquisition module, used to acquire the operation parameters of the manipulator end or the motion characteristic parameters of the interventional device; an exposure frame rate updating module, configured to generate an updated DSA exposure frame rate according to the current exposure frame rate and in combination with the operation parameter or the motion feature parameter; The DSA imaging module is used for imaging according to the updated DSA exposure frame rate.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the steps of the method for adjusting the DSA ray frame rate according to any one of claims 1 to 3 when executing the computer-readable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the steps of the method for adjusting the DSA ray frame rate according to any one of claims 1 to 3 are implemented.

Images