OCT automatic control system and method

Abstract

The invention relates to the technical field of OCT imaging, and discloses an OCT automatic control system and method, and the system comprises a pushing and injecting device which is used for pushing and injecting a medium to be pushed and injected into a blood vessel through an injector connected with a catheter; the OCT pullback device is used for rotating the pullback catheter; and the OCT control module is connected with the injection device and the OCT pull-back device, is used for sending an injection instruction to the injection device and is also used for sending a pull-back instruction to the OCT pull-back device. The OCT control module is used for sending the control instruction, automatic synchronous work of the injection device and the OCT pull-back device can be achieved, injection of the contrast agent is accurately controlled, waste of the contrast agent and influence on life safety of a patient are avoided, meanwhile, OCT imaging quality can be effectively improved, and then the accuracy of subsequent diagnosis result judgment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of OCT imaging, and particularly relates to an OCT automatic control system and method. Background Art

[0002] Optical Coherence Tomography (OCT) technology has become a key tool for evaluating vascular lesions and guiding stent implantation due to its high-resolution imaging ability. However, during the OCT imaging process, it is necessary to rapidly inject a medium, such as a contrast agent, to briefly displace the blood in the blood vessel, so as to obtain a clear image of the blood vessel wall.

[0003] However, in existing clinical operations, there are some significant pain points in the process of injecting the contrast agent. For example: The manual operation has low efficiency and poor coordination. Currently, injecting the contrast agent requires the cooperation of two medical staff. One person manipulates the OCT catheter, and the other person manually injects the contrast agent. The synchronization of their actions highly depends on experience, and it is easy to have problems such as the mismatch between the image acquisition timing and the contrast agent filling due to the cooperation delay, directly affecting the OCT imaging quality. In addition, there may also be situations where the contrast agent is injected in excess, resulting in waste of the contrast agent and affecting the patient's life safety. Summary of the Invention

[0004] In view of this, the present invention provides an OCT automatic control system and method to solve the problems in the prior art that it is difficult to accurately inject the contrast agent, affecting the OCT imaging quality and the patient's life safety.

[0005] In a first aspect, the present invention provides an OCT automatic control system, which includes:

[0006] An injection device for injecting a medium to be injected into a blood vessel through a syringe connected to a catheter;

[0007] An OCT retraction device for rotating and retracting the catheter;

[0008] An OCT control module, connected to the injection device and the OCT retraction device, for sending an injection instruction to the injection device according to the acquired OCT image, and also for sending a retraction instruction to the OCT retraction device according to the acquired OCT image.

[0009] In the present invention, the OCT control module can control the coordinated operation of the injection device and the OCT retraction device. Among them, the injection device is responsible for injecting a contrast agent during the OCT scan to enhance the clarity of the image, while the OCT retraction device can control the movement path of the OCT probe while injecting, so as to be able to collect and display clear images inside the blood vessel in real time. By sending control instructions through the OCT control module, the automated synchronous operation of the injection device and the OCT retraction device can be achieved, effectively improving the control accuracy and surgical safety. It avoids relying on manual experience and situations such as manual operation delay, contrast agent waste, and repeated injection, which affect the patient's life safety. At the same time, it can also effectively improve the OCT imaging quality and the accuracy of subsequent diagnosis result judgment.

[0010] In an alternative embodiment, the OCT control module includes:

[0011] A coaxiality judgment unit, which is used to determine the coaxiality between the catheter and the blood vessel according to the OCT image; it is also used to generate an injection instruction when the coaxiality meets a preset threshold;

[0012] And / or, a smoke flushing effect judgment module, which is used to judge the smoke flushing effect according to the OCT image; it is also used to generate a retraction instruction or a retraction-injection instruction when the smoke flushing effect meets the preset requirements, and the retraction-injection instruction includes a retraction instruction and an injection instruction.

[0013] In this embodiment, the relative position between the catheter and the blood vessel is judged by the coaxiality, and imaging acquisition is carried out when the coaxiality meets the conditions, which can effectively improve the imaging quality and ensure the clarity and comprehensiveness of the image. The smoke flushing effect can be used to judge whether the flushing effect reaches the preset requirements. When the preset requirements are met, retraction or retraction while injecting can be carried out, which can ensure high-quality imaging acquisition under the condition that the flushing process is effective, and at the same time can avoid the occurrence of contrast agent waste.

[0014] In an alternative embodiment, the system further includes:

[0015] A pressure monitoring module, which is connected to the injection device and is used to monitor the injection pressure of the injection device;

[0016] And / or, a bubble monitoring module, which is connected to the injection device and is used to monitor whether there are bubbles in the syringe.

[0017] In this embodiment, the pressure monitoring module is used to monitor the injection pressure to prevent problems such as poor injection caused by excessive pressure. The bubble monitoring module is used to monitor whether there are bubbles in the syringe to prevent bubbles from entering the human body.

[0018] In an alternative embodiment, the system further includes:

[0019] An injection parameter automatic memory storage module is used to store the injection instructions generated by the OCT control module according to the surgical type.

[0020] In this embodiment, the injection parameter automatic memory storage module can automatically save the smoking injection parameters generated by the OCT control module according to the surgical type, which can be conveniently called quickly during subsequent operations. This not only simplifies the operation process but also improves the surgical accuracy and efficiency.

[0021] In a second aspect, the present invention provides an OCT automatic injection method, which is applicable to the OCT control module described in any of the above embodiments. The method includes:

[0022] Obtain an OCT image;

[0023] Based on the OCT image, control the injection device to inject the medium to be injected, and / or control the OCT retraction device to rotate and retract the catheter.

[0024] In the present invention, the automatic synchronous operation of the injection device and the OCT retraction device can be realized, effectively improving the control accuracy and surgical safety. It avoids relying on manual experience and situations such as manual operation delay, contrast agent waste, and repeated injection.

[0025] In an optional embodiment, based on the OCT image, controlling the injection device to inject the medium to be injected includes:

[0026] Based on the OCT image, determine the coaxiality between the catheter and the blood vessel;

[0027] When the coaxiality meets the preset threshold, generate an injection instruction, and the injection instruction is used to control the injection device.

[0028] In this embodiment, the relative position between the catheter and the blood vessel is judged by the coaxiality, and imaging acquisition is performed when the coaxiality meets the conditions, which can effectively improve the imaging quality and ensure the clarity and comprehensiveness of the image.

[0029] In an optional embodiment, based on the OCT image, controlling the OCT retraction device to rotate and retract the catheter includes:

[0030] Based on the OCT image, judge the smoking flushing effect;

[0031] When the smoking flushing effect meets the preset requirements, generate a retraction instruction or a retraction and injection instruction. The retraction and injection instruction includes a retraction instruction and an injection instruction, and the retraction instruction is used to control the OCT retraction device to retract the catheter.

[0032] In this embodiment, the flushing effect can be judged by the smoke flushing effect. When the preset requirements are met, retraction or retraction while injecting can be carried out, which can ensure high-quality imaging acquisition when the flushing process is effective, and at the same time can avoid the waste of contrast agent.

[0033] In an alternative embodiment, based on the OCT image, the coaxiality between the catheter and the blood vessel is determined, including:

[0034] Input the OCT image into a preset segmentation model to segment the blood vessel and the catheter in the OCT image;

[0035] Perform skeletonization on the blood vessel and the catheter to obtain blood vessel geometric data and catheter geometric data;

[0036] Calculate the tangent direction of the blood vessel based on the blood vessel geometric data;

[0037] Calculate the tangent direction of the catheter based on the catheter geometric data;

[0038] Calculate the angle between the catheter and the blood vessel based on the tangent direction of the blood vessel and the tangent direction of the catheter;

[0039] Determine the coaxiality between the catheter and the blood vessel based on the angle.

[0040] In this embodiment, through skeletonization, the geometric features of the blood vessel and the catheter can be accurately extracted. Using the least squares fitting can effectively reduce noise interference and improve the stability of tangent direction calculation, and thus can effectively ensure the accuracy of coaxiality calculation.

[0041] In an alternative embodiment, based on the OCT image, the smoke flushing effect is judged, including:

[0042] Input the OCT image into a preset segmentation model to segment the blood vessel and the catheter in the OCT image to obtain an OCT segmentation image;

[0043] Based on the adaptive edge enhancement filtering algorithm, enhance the gray-scale features of the boundaries between the blood vessel and the catheter in the OCT segmentation image;

[0044] Based on the dynamic programming algorithm, segment the blood vessel boundary and the catheter boundary in the enhanced OCT segmentation image;

[0045] Determine the boundary distance between the blood vessel boundary and the catheter boundary;

[0046] Judge the smoke flushing effect based on the boundary distance.

[0047] In this embodiment, the gray-scale features of the blood vessel and catheter boundaries are enhanced through adaptive filtering, and boundary segmentation is performed using the dynamic programming algorithm, effectively improving the image segmentation accuracy, ensuring the accuracy of the tube wall boundary segmentation, improving the evaluation accuracy of the flushing effect, achieving automated standard determination, and effectively improving the operation efficiency.

[0048] In an alternative embodiment, the preset segmentation model adopts an improved U-Net network model, where the preset segmentation model uses a boundary-sensitive hybrid loss function; the boundary-sensitive hybrid loss function is:

[0049] Loss Total = αLoss CE + βLoss Dice + γLoss Boundary

[0050] where Loss CE is the cross-entropy loss, Loss Dice is the Dice loss, Loss Boundary is the boundary-weighted loss; α, β, and γ are all weight coefficients.

[0051] Using the preset segmentation model provided in this embodiment can effectively improve the segmentation accuracy of blood vessels and catheters, and further improve the accuracy of contrast agent injection and OCT imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0053] Figure 1 is a structural block diagram of an OCT automatic control system according to an embodiment of the present invention;

[0054] Figure 2 is a structural schematic diagram of an injection device according to an embodiment of the present invention;

[0055] Figure 3 is a flowchart of an OCT automatic control method according to an embodiment of the present invention;

[0056] Figure 4 is another flowchart of an OCT automatic control method according to an embodiment of the present invention;

[0057] Figure 5 is a structural schematic diagram of a preset segmentation model according to an embodiment of the present invention. Detailed implementation manners

[0058] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0059] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0060] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0061] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0062] In this embodiment, an OCT automatic control system is provided, which can be used for the automatic linkage of contrast agent injection and OCT catheter retraction to achieve the intelligent control of coronary OCT. Figure 1 is a schematic structural diagram of the OCT automatic control system according to the embodiment of the present invention, including an injection device, an OCT retraction device, and an OCT control module, specifically as follows.

[0063] The injection device is used to inject the medium to be injected into the blood vessel through a syringe connected to the catheter. The injection device can adopt an injection pump, and the injection device can refer to Figure 2As shown in the figure, it includes a motor, a lead screw, and a syringe. The motor can drive the lead screw to rotate, and the rotation of the lead screw drives the piston of the syringe to move, thereby completing the injection of the medium to be injected, such as a contrast agent. The catheter connected to the syringe is used to push the contrast agent to a specific part of the body, such as blood vessels or the heart, etc., to assist in obtaining clear OCT images.

[0064] An OCT retraction device for rotating and retracting the catheter.

[0065] Generally, one end of the catheter is connected to the syringe in the injection device, and the other end of the catheter is provided with an OCT imaging device, that is, an Optical Coherence Tomography (OCT for short) device, which is used to collect blood vessel or tissue images in real time and send the collected images to the terminal.

[0066] In this embodiment, the OCT retraction device is mainly used to start rotating and retracting the catheter when the flushing effect of the contrast agent meets the requirements, that is, when a retraction instruction is received. And while rotating and retracting the catheter, the OCT imaging device collects high-definition images in real time.

[0067] An OCT control module is connected to the injection device and the OCT retraction device, and is used to send an injection instruction to the injection device according to the obtained OCT image, and is also used to send a retraction instruction to the OCT retraction device according to the obtained OCT image. The OCT control module can not only control the injection device to perform smoke injection only, but also control the injection device to perform injection while controlling the OCT retraction device to perform catheter retraction.

[0068] Generally, the OCT imaging device provided at the other end of the catheter will perform imaging in real time. The OCT control module in this embodiment can directly obtain the OCT images collected by the OCT imaging device. Before injecting the contrast agent, the catheter generally only rotates to collect a certain frame of image in the blood vessel. The OCT control module can generate a corresponding injection instruction according to the coaxiality between the catheter and the blood vessel in the obtained OCT image to control the injection device to inject the contrast agent. When the flushing effect of the contrast agent reaches a certain requirement, such as when the proportion of the area where the wall spacing meets the standard exceeds 75% of the total detection area, the OCT control module can generate an injection instruction and a retraction instruction at the same time to control the injection device and the OCT retraction device to perform injection while retracting. When the flushing effect of the contrast agent reaches a specific requirement, such as when the proportion of the area where the wall spacing meets the standard exceeds 75% of the total detection area for a preset continuous time, the OCT control module can only generate a retraction instruction to control the OCT retraction device to perform automatic retraction. The above process can accurately control the injection of the contrast agent, avoid waste of the contrast agent and affect the patient's life safety, and at the same time can effectively improve the quality of OCT imaging.

[0069] Specifically, when image scanning is required, the OCT control module can control the injection device to inject the contrast agent through a bolus injection instruction according to the scanning progress, the condition of blood vessels, and the doctor's needs. At the same time, it can also adjust the injection rate and injection volume of the injection device through the bolus injection instruction, etc., to achieve precise automatic control of the injection device. Among them, the adjustment of the bolus injection parameters can be based on the OCT system interface. In addition, during the bolus injection and OCT scanning processes, the OCT control device can also be controlled to dynamically adjust the catheter path. When the injection device injects the contrast agent, the OCT retraction device can ensure the clarity and integrity of the imaging data by precisely controlling the probe position.

[0070] In this embodiment, the OCT control module can control the coordinated operation of the injection device and the OCT retraction device. Among them, the injection device is responsible for injecting the contrast agent during the OCT scanning process to enhance the clarity of the image, while the OCT retraction device can control the movement path of the OCT probe during the bolus injection, so as to be able to collect and display clear images inside the blood vessel in real time. By sending control instructions through the OCT control module, the automatic synchronous operation of the injection device and the OCT retraction device can be achieved, effectively improving the control accuracy and surgical safety. It avoids relying on manual experience and situations such as manual operation delay, contrast agent waste, and repeated bolus injection, which affect the patient's life safety. At the same time, it can also effectively improve the OCT imaging quality and the accuracy of subsequent diagnostic result judgment.

[0071] In some optional embodiments, the OCT control module includes:

[0072] A coaxiality judgment unit, which is used to determine the coaxiality between the catheter and the blood vessel according to the OCT image; it is also used to generate a bolus injection instruction when the coaxiality meets a preset threshold. For example, when the coaxiality meets 90%, a bolus injection instruction is generated.

[0073] And / or, a smoke flushing effect judgment module, which is used to judge the smoke flushing effect according to the OCT image; it is also used to generate a retraction instruction or a retraction bolus injection instruction when the smoke flushing effect meets the preset requirements. The retraction bolus injection instruction includes a retraction instruction and a bolus injection instruction. For example, when the proportion of the area where the wall distance meets the standard exceeds 75% of the total detection area, a retraction instruction or a retraction bolus injection instruction is generated.

[0074] The OCT control module can control the bolus injection of the injection device. And as the injection device injects the contrast agent, the OCT control module will also perform real-time detection of the smoke effect, use an artificial intelligence algorithm to judge in real time whether the catheter is coaxial with the blood vessel; at the same time, it can also use an algorithm to judge the flushing state. Once the flushing effect meets the requirements, the OCT retraction is immediately started to avoid contrast agent waste.

[0075] In this embodiment, the relative position of the catheter and the blood vessel is judged by the coaxiality, and imaging acquisition is performed when the coaxiality meets the conditions, which can effectively improve the imaging quality and ensure the clarity and comprehensiveness of the image. The flushing effect can be judged by the smoke flushing effect. When the preset requirements are met, pulling back or pushing while pulling back can ensure high-quality imaging acquisition under the condition of effective flushing, and at the same time, it can also avoid the waste of contrast agent.

[0076] In some alternative embodiments, the system further includes:

[0077] A pressure monitoring module, connected to the injection device, for monitoring the injection pressure of the injection device;

[0078] And / or, a bubble monitoring module, connected to the injection device, for monitoring whether there are bubbles in the syringe.

[0079] The pressure monitoring module is used to monitor the injection pressure, mainly by detecting the injection pressure of the lead screw, to prevent problems such as poor injection caused by excessive pressure. The pressure monitoring module monitors the injection pressure in real time. Once the pressure exceeds the limit value, the main control module in the injection device will control the motor to stop running, preventing excessive pressure from affecting the injection effect and avoiding the occurrence of the sandwich problem, which brings safety risks to patients.

[0080] The bubble monitoring module is used to monitor whether there are bubbles in the syringe to prevent bubbles from entering the human body. Once bubbles are detected, the main control module in the injection device will issue an alarm to remind the operator to handle it.

[0081] The injection device further includes: a motor drive module, and the motor drive module is used to drive the motor to run. The injection device controls the motor drive module according to the instructions of the OCT control module, thereby controlling the movement speed and injection dose of the motor.

[0082] The system further includes a power management module for managing the power supply of the entire system.

[0083] The system further includes an abnormal state grading warning module, which is used to remind the operator through sound and light signals in the case of abnormal states of the injection device, the OCT retraction device, and the OCT control module.

[0084] In addition, in some alternative embodiments, real-time data interaction between the OCT control module and the injection device can be achieved through high-speed communication protocols, such as USB connection and / or Bluetooth connection, etc., to achieve millisecond-level synchronization of image detection and injection actions.

[0085] In some alternative embodiments, the system further includes:

[0086] An injection parameter automatic memory storage module is used to store the bolus instructions generated by the OCT control module according to the surgical type.

[0087] The injection parameter automatic memory storage module can automatically store the bolus parameters according to the surgical type and call the bolus parameters when needed.

[0088] In this embodiment, the injection parameter automatic memory storage module can automatically save the smoking bolus parameters generated by the OCT control module according to the surgical type, which can facilitate quick call during subsequent operations. This not only simplifies the operation process but also improves the surgical accuracy and efficiency.

[0089] According to an embodiment of the present invention, an embodiment of an OCT automatic bolus method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0090] In this embodiment, an OCT automatic bolus method is provided, which can be executed by the OCT automatic control system described in any of the above embodiments, and can also be executed by devices such as a server, a terminal, and a mobile terminal. Figure 1 It is a flowchart of the OCT automatic bolus method according to an embodiment of the present invention. As Figure 3 shown, the process includes the following steps:

[0091] Step S101, obtain an OCT image. The OCT image is an image of the part to be detected obtained by optical coherence tomography technology. This OCT image can be acquired by a probe at the catheter head.

[0092] Step S102, based on the OCT image, control the bolus device to bolus the medium to be bolused, and / or control the OCT retraction device to retract the catheter.

[0093] Under normal circumstances, one end of the catheter is connected to the syringe in the injection device, and an OCT imaging device is provided at the other end of the catheter. The OCT imaging device provided at the other end of the catheter will perform imaging in real time, and the OCT control module in the OCT automatic control system can directly obtain the OCT images collected by the OCT imaging device. Before injecting the contrast agent, the catheter generally only rotates to collect a certain frame of image inside the blood vessel. The OCT control module can generate corresponding injection instructions according to the coaxiality between the catheter and the blood vessel in the obtained OCT images to control the injection device to inject the contrast agent. When the flushing effect of the contrast agent reaches a certain requirement, the OCT control module can generate an injection instruction and a retraction instruction at the same time to control the injection device and the OCT retraction device to perform injection while retracting. When the flushing effect of the contrast agent reaches a specific requirement, the OCT control module can only generate a retraction instruction to control the OCT retraction device to perform automatic retraction. The above process can accurately control the injection of the contrast agent, avoid waste of the contrast agent and affect the patient's life safety, and at the same time can effectively improve the OCT imaging quality.

[0094] In this embodiment, through automatic control, not only can the injection device be controlled to perform smoke injection only, or only the OCT retraction device be controlled to retract the catheter, but also the injection device can be controlled to perform injection while controlling the OCT retraction device to retract the catheter.

[0095] Specifically, when image scanning is required, according to the scanning progress, the condition of the blood vessel, and the doctor's needs, the injection device can be controlled by an injection instruction to inject the contrast agent and wait for the injection medium. At the same time, the injection rate and injection volume of the injection device can also be adjusted through the injection instruction, etc., to achieve precise automatic control of the injection device. In addition, during the injection and OCT scanning processes, the OCT control device can also be controlled to dynamically adjust the catheter path. When the injection device injects the contrast agent, the OCT retraction device can ensure the clarity and integrity of the imaging data by precisely controlling the probe position.

[0096] In this embodiment, the injection device and the OCT retraction device can be controlled to work in coordination. Among them, the injection device is responsible for injecting the contrast agent during the OCT scanning process to enhance the clarity of the image, while the OCT retraction device can control the movement path of the OCT probe while injecting to be able to collect and display clear images inside the blood vessel in real time. By sending control instructions, the automatic synchronous work of the injection device and the OCT retraction device can be achieved, effectively improving the control accuracy and surgical safety. Avoid relying on manual experience and situations such as manual operation delay, waste of contrast agent, and repeated injection, which affect the patient's life safety, and at the same time can effectively improve the OCT imaging quality and improve the accuracy of subsequent diagnosis result judgment.

[0097] In some alternative embodiments, the above step S102, that is, based on the OCT image, controlling the injection device to inject the medium to be injected, includes:

[0098] Step S1021, based on the OCT image, determining the coaxiality between the catheter and the blood vessel;

[0099] Step S1022, when the coaxiality meets a preset threshold, generating an injection instruction for controlling the injection device.

[0100] In this embodiment, the relative position between the catheter and the blood vessel is judged by the coaxiality, and imaging acquisition is performed when the coaxiality meets the conditions, which can effectively improve the imaging quality and ensure the clarity and comprehensiveness of the image.

[0101] In some alternative embodiments, the above step S102, that is, based on the OCT image, controlling the OCT retraction device to retract the catheter, includes:

[0102] Step S1023, based on the OCT image, judging the effect of smoke flushing;

[0103] Step S1024, when the smoke flushing effect meets the preset requirements, generating a retraction instruction or a retraction-injection instruction, where the retraction-injection instruction includes a retraction instruction and an injection instruction, and the retraction instruction is used to control the OCT retraction device to retract the catheter.

[0104] In this embodiment, the flushing effect can be judged by the smoke flushing effect. When the preset requirements are met, retraction or retraction while injecting can be performed, which can ensure high-quality imaging acquisition when the flushing process is effective, and at the same time, avoid the waste of contrast agent.

[0105] As a complete embodiment, referring to Figure 4 As shown, specifically, when the OCT device starts scanning, calculates the coaxiality between the catheter and the blood vessel wall, when the coaxiality is greater than 90%, triggers the smoke injection mode, confirms the smoke flushing effect based on the OCT image, when the smoke flushing effect meets the requirement that the proportion of the area where the wall spacing meets the standard exceeds 75% of the total detection area, triggers the retraction-injection mode, confirms the retraction flushing effect of the OCT image, and when the retraction flushing effect continuously meets 75%, starts the automatic retraction of the OCT.

[0106] In some alternative embodiments, the above step S1021, that is, based on the OCT image, determining the coaxiality between the catheter and the blood vessel, includes:

[0107] Inputting the OCT image into a preset segmentation model to segment the blood vessel and the catheter in the OCT image;

[0108] Skeletonize the blood vessel and the catheter to obtain the blood vessel geometric data and the catheter geometric data;

[0109] Calculate the blood vessel tangent direction based on the blood vessel geometric data;

[0110] Calculate the catheter tangent direction based on the catheter geometric data;

[0111] Calculate the angle between the catheter and the blood vessel based on the blood vessel tangent direction and the catheter tangent direction;

[0112] Determine the coaxiality of the catheter and the blood vessel based on the angle.

[0113] Adopt a coaxiality calculation algorithm to respectively skeletonize the segmented blood vessel wall and catheter wall. One point can be sampled every 5 pixels along the skeleton line, and the least squares fitting is used to calculate the local tangent direction. According to the tangent direction, calculate the angle between the catheter and the blood vessel, so as to judge the coaxiality of the blood vessel and the catheter.

[0114] In this embodiment, through skeletonization processing, the geometric features of the blood vessel and the catheter can be accurately extracted. The least squares fitting can effectively reduce noise interference and improve the stability of the tangent direction calculation, and thus can effectively ensure the accuracy of the coaxiality calculation.

[0115] In some alternative embodiments, the above step S1023, that is, based on the OCT image, judge the effect of the smoke flushing, includes:

[0116] Input the OCT image into a preset segmentation model to segment the blood vessel and the catheter in the OCT image to obtain an OCT segmentation image;

[0117] Based on the adaptive edge enhancement filtering algorithm, strengthen the gray-scale features of the boundaries between the blood vessel and the catheter in the OCT segmentation image;

[0118] Segment the blood vessel boundary and the catheter boundary of the enhanced OCT segmentation image based on the dynamic programming algorithm;

[0119] Determine the boundary spacing between the blood vessel boundary and the catheter boundary;

[0120] Judge the effect of the smoke flushing based on the boundary spacing.

[0121] Based on the adaptive algorithm of the horizontal boundary enhancement filtering kernel, strengthen the gray-scale features of the boundaries between the blood vessel and the catheter in the OCT image. The dynamic programming algorithm is used to realize the real-time and accurate segmentation of the tube wall boundary, and the flushing effect is judged by quantifying the blood vessel-catheter boundary spacing. When the proportion of the area where the tube wall spacing meets the standard exceeds 75% of the total detection area, the system automatically determines that the effective flushing standard is reached. This algorithm effectively adapts to the boundary recognition requirements under different imaging conditions through a dynamic threshold adjustment mechanism.

[0122] In this embodiment, the gray-scale features of the blood vessel and catheter boundaries are enhanced through adaptive filtering, and boundary segmentation is performed using the dynamic programming algorithm, effectively improving the image segmentation accuracy, ensuring the accuracy of the tube wall boundary segmentation, improving the evaluation accuracy of the flushing effect, achieving automated standard determination, and effectively improving the operation efficiency.

[0123] In some alternative embodiments, the preset segmentation model adopts an improved U-Net network model, where the preset segmentation model adopts a boundary-sensitive hybrid loss function; the boundary-sensitive hybrid loss function is:

[0124] Loss Total = αLoss CE + βLoss Dice + γLoss Boundary

[0125] where Loss CE is the cross-entropy loss, Loss Dice is the Dice loss, Loss Boundary is the boundary-weighted loss; α, β, and γ are all weight coefficients.

[0126] In this embodiment, the preset segmentation model adopts an improved U-Net network to achieve precise segmentation of the blood vessel and catheter boundaries. The network structure is as shown in Figure 5 . Specifically, the encoder uses 4 levels of downsampling. Each level includes 2 3×3 convolutions (ReLU activation) and batch normalization (BatchNorm), and the number of feature channels doubles gradually (64 → 128 → 256 → 512). The decoder uses 4 levels of upsampling. Each level uses a transposed convolution (2×2 stride) and a skip connection (concatenated with the encoder feature map). The output layer outputs a 1×1 convolution to generate a binary segmentation map of the blood vessel wall (Class 1) and the catheter wall (Class 2).

[0127] where the preset segmentation model adopts a boundary-sensitive hybrid loss function, Loss CE is used for the conventional pixel-level classification loss, Loss Dice is used to optimize the overall overlap rate of the blood vessel / catheter region, Loss Boundary introduces the Sobel operator to extract boundary pixels and assigns them a weight of 3 times. α = 0.4, β = 0.3, γ = 0.3.

[0128] Adopting the preset segmentation model provided in this embodiment can effectively improve the segmentation accuracy of blood vessels and catheters, and further improve the accuracy of contrast agent injection and OCT imaging.

[0129] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. An OCT automatic control system, characterized in that The system includes: A bolus injection device for injecting a medium to be injected into a blood vessel through a syringe connected to a catheter; An OCT retraction device for rotating and retracting the catheter; An OCT control module connected to the bolus injection device and the OCT retraction device, configured to send a bolus injection instruction to the bolus injection device according to the acquired OCT image, and further configured to send a retraction instruction to the OCT retraction device according to the acquired OCT image.

2. The system according to claim 1, wherein The OCT control module includes: A coaxiality judgment unit for determining the coaxiality between the catheter and the blood vessel according to the OCT image; and further for generating the bolus injection instruction when the coaxiality meets a preset threshold; And / or, a smoke flushing effect judgment module for judging the smoke flushing effect according to the OCT image; and further for generating the retraction instruction or the retraction and bolus injection instruction when the smoke flushing effect meets a preset requirement, where the retraction and bolus injection instruction includes the retraction instruction and the bolus injection instruction.

3. The system according to claim 1, characterized in that The system further includes: A pressure monitoring module connected to the bolus injection device for monitoring the bolus injection pressure of the bolus injection device; And / or, a bubble monitoring module connected to the bolus injection device for monitoring whether there are bubbles in the syringe.

4. The system according to claim 1, wherein The system further includes: An injection parameter automatic memory storage module for storing the bolus injection instruction generated by the OCT control module according to the surgical type.

5. An OCT automatic injection method, characterized in that, For the OCT control module according to any one of the above claims 1-4, the method includes: Acquiring an OCT image; Based on the OCT image, controlling the bolus injection device to inject the medium to be injected, and / or controlling the OCT retraction device to rotate and retract the catheter.

6. The method according to claim 5, wherein The controlling the bolus injection device to inject the medium to be injected based on the OCT image includes: Determining the coaxiality between the catheter and the blood vessel based on the OCT image; When the coaxiality meets a preset threshold, generating a bolus injection instruction for controlling the bolus injection device.

7. The method according to claim 6, wherein The controlling the OCT retraction device to rotate and retract the catheter based on the OCT image includes: Judging the smoke flushing effect based on the OCT image; When the smoke flushing effect meets a preset requirement, generating a retraction instruction or a retraction and bolus injection instruction, where the retraction and bolus injection instruction includes the retraction instruction and the bolus injection instruction, and the retraction instruction is used to control the OCT retraction device to retract the catheter.

8. The method according to claim 6, wherein The determining the coaxiality between the catheter and the blood vessel based on the OCT image includes: Inputting the OCT image into a preset segmentation model to segment the blood vessel and the catheter in the OCT image; Performing skeletonization processing on the blood vessel and the catheter to obtain blood vessel geometric data and catheter geometric data; Calculating the blood vessel tangent direction based on the blood vessel geometric data; Calculating the catheter tangent direction based on the catheter geometric data; Calculating the angle between the catheter and the blood vessel based on the blood vessel tangent direction and the catheter tangent direction; Determining the coaxiality between the catheter and the blood vessel based on the angle.

9. The method according to claim 6, wherein The judging the smoke flushing effect based on the OCT image includes: Input the OCT image into a preset segmentation model to segment blood vessels and catheters in the OCT image and obtain an OCT segmentation image; Based on the adaptive edge enhancement filtering algorithm, enhance the gray-scale features of the boundaries of blood vessels and catheters in the OCT segmentation image; Based on the dynamic programming algorithm, segment the blood vessel boundaries and catheter boundaries of the enhanced OCT segmentation image; Determine the boundary spacing between the blood vessel boundaries and the catheter boundaries; Based on the boundary spacing, judge the effect of the smoke flushing; 10. The method according to any one of claims 8 or 9, characterized in that The preset segmentation model adopts an improved U-Net network model. Among them, the preset segmentation model adopts a boundary-sensitive hybrid loss function; the boundary-sensitive hybrid loss function is: Loss Total = αLoss CE + βLoss Dice + γLoss Boundary Among them, Loss CE is the cross-entropy loss, Loss Dice is the Dice loss, and Loss Boundary is the boundary weighted loss; α, β, and γ are all weight coefficients.

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