Microcatheter automatic shaping method and device, electronic equipment and storage medium

Abstract

The invention discloses an automatic microcatheter shaping method and device, electronic equipment and a storage medium. The microcatheter automatic shaping method comprises the following steps: acquiring craniocerebral image data containing aneurysm, and performing three-dimensional reconstruction processing on the craniocerebral image data to obtain a blood vessel model; performing aneurysm segmentation on the blood vessel model to obtain an aneurysm segmentation result; a tumor-carrying artery center line is obtained based on the blood vessel model and the aneurysm segmentation result, wherein the tumor-carrying artery center line refers to the center line of the artery where the aneurysm is located; the aneurysm is measured based on the aneurysm-carrying artery center line, the aneurysm segmentation result and the blood vessel model, and an aneurysm measurement result is obtained; the aneurysm measurement result is used for representing morphological information of the aneurysm; and obtaining a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result and the aneurysm-carrying artery center line. By means of the micro-catheter shaping device, automatic and accurate shaping of the micro-catheter is achieved, the micro-catheter shaping efficiency is improved, and the success rate of an interventional operation is increased.

Description

Technical Field

[0001] This disclosure generally relates to the field of image processing technology. More specifically, this disclosure relates to a method, apparatus, electronic device, and storage medium for automatically shaping a microcatheter. Background Art

[0002] In the field of neurointervention, microcatheters are key instruments for treating cerebrovascular diseases (such as aneurysms, arteriovenous malformations, vascular stenosis, and acute stroke, etc.). For example, in the interventional embolization surgery of intracranial aneurysms, the corresponding microcatheter needs to be selectively delivered into the aneurysm first. Since there are differences in the vascular morphology and aneurysm morphology among different patients, in order to ensure the treatment effect, it is necessary to customize the design and shaping of the microcatheter morphology (including the morphology of the shaping needle at the front end of the microcatheter and the path where the microcatheter is transported to the aneurysm) to ensure that the microcatheter can be accurately and safely transported to the location of the aneurysm.

[0003] Currently, before performing an interventional operation, doctors will imagine the three-dimensional vascular morphology based on two-dimensional medical images, and then roughly shape the microcatheter manually outside the body. The shaping result depends on the doctor's clinical experience and skills. If the clinician has insufficient experience or encounters complex vascular and hemangioma morphologies, multiple shaping operations are often required, which not only prolongs the operation time, increases the patient's pain, but also affects the final surgical treatment effect.

[0004] In view of this, there is an urgent need to provide a method, apparatus, electronic device, and storage medium for automatically shaping a microcatheter, so as to achieve automatic and precise shaping of the microcatheter, improve the efficiency of microcatheter shaping, and enhance the success rate of interventional operations. Summary of the Invention

[0005] In order to solve at least one or more of the above-mentioned technical problems, this disclosure proposes a method, apparatus, electronic device, and storage medium for automatically shaping a microcatheter in multiple aspects.

[0006] In a first aspect, this disclosure provides a method for automatically shaping a microcatheter, the method comprising: acquiring cranial image data containing an aneurysm, and performing three-dimensional reconstruction processing on the cranial image data to obtain a vascular model; performing aneurysm segmentation on the vascular model to obtain an aneurysm segmentation result; obtaining a carrier artery centerline based on the vascular model and the aneurysm segmentation result, where the carrier artery centerline refers to the centerline of the artery where the aneurysm is located; measuring the aneurysm based on the carrier artery centerline, aneurysm segmentation result, and the vascular model to obtain an aneurysm measurement result; the aneurysm measurement result is used to characterize the morphological information of the aneurysm; obtaining a target microcatheter shaping plan based on the aneurysm segmentation result, the aneurysm measurement result, and the carrier artery centerline.

[0007] In some embodiments, the cranial imaging data is any one of CT angiography data, magnetic resonance angiography data, and digital subtraction angiography data.

[0008] In some embodiments, obtaining the centerline of the parent artery based on the vascular model and the aneurysm segmentation result includes: extracting the centerline of each artery in the vascular model based on the vascular model; determining the centerline of the parent artery based on the position information of the aneurysm in the aneurysm segmentation result and the centerline of each artery.

[0009] In some embodiments, the aneurysm measurement result includes at least one of the following: the aneurysm neck, the aneurysm diameter, the aneurysm height, the aneurysm width, the aneurysm inflow angle, and the aneurysm volume.

[0010] In some embodiments, obtaining the target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery includes: performing matching from a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery to obtain a matching result; the database stores multiple pieces of data, and each piece of data includes at least: a vascular model, an aneurysm measurement result, the centerline of the parent artery, a microcatheter shaping scheme, and a surgical result; if the matching result indicates that data is matched from the database, then using the reference microcatheter shaping scheme in the matched data as the target microcatheter shaping scheme; if the matching result indicates that no data is matched from the database, then generating the target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, the centerline of the parent artery, and a specified microcatheter shaping algorithm.

[0011] In some embodiments, performing matching from a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery to obtain a matching result includes: for each piece of data in the database, calculating the matching degree of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with this data according to the weights configured for the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery.

[0012] If the maximum value of the matching degrees of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database is greater than or equal to a specified threshold, then it is determined that the matching result indicates that data is matched from the database; if the maximum value of the matching degrees of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database is less than the specified threshold, then it is determined that the matching result indicates that no data is matched from the database.

[0013] In some embodiments, after obtaining the target microcatheter shaping scheme, the method further includes: displaying the target microcatheter shaping scheme.

[0014] In a second aspect, the present disclosure provides a microcatheter automatic shaping device, the device includes: a three-dimensional reconstruction module, configured to obtain cranial image data including an aneurysm, and perform three-dimensional reconstruction processing on the cranial image data to obtain a blood vessel model; a segmentation module, configured to perform aneurysm segmentation on the blood vessel model to obtain an aneurysm segmentation result; a centerline extraction module, configured to obtain a parent artery centerline based on the blood vessel model and the aneurysm segmentation result, where the parent artery centerline refers to the centerline of the artery where the aneurysm is located; a measurement module, configured to measure the aneurysm based on the parent artery centerline, the aneurysm segmentation result, and the blood vessel model to obtain an aneurysm measurement result; the aneurysm measurement result is used to characterize the morphological information of the aneurysm; a target microcatheter shaping scheme obtaining module, configured to obtain a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the parent artery centerline.

[0015] In a third aspect, the present disclosure provides an electronic device, including: a processor configured to execute program instructions; and a memory configured to store the program instructions, when the program instructions are loaded and executed by the processor, causing the processor to execute the microcatheter automatic shaping method according to the first aspect or any optional embodiment of the first aspect.

[0016] In a fourth aspect, the present disclosure provides a computer-readable storage medium, in which program instructions are stored, when the program instructions are loaded and executed by a processor, causing the processor to execute the microcatheter automatic shaping method according to the first aspect or any optional embodiment of the first aspect.

[0017] Through the microcatheter automatic shaping method, device, electronic device, and storage medium provided as above, the embodiments of the present disclosure perform three-dimensional reconstruction processing on the obtained cranial image data including an aneurysm to obtain a blood vessel model, and then obtain an aneurysm segmentation result based on the blood vessel model, then extract the parent artery centerline, and then measure the aneurysm based on the parent artery centerline, the aneurysm segmentation result, and the blood vessel model to obtain an aneurysm measurement result, and automatically obtain a microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the parent artery centerline, realizing automatic and accurate shaping of the microcatheter, improving the efficiency of microcatheter shaping, and enhancing the success rate of interventional surgery. Description of the Drawings

[0018] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become readily understandable. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, where:

[0019] Figure 1 An exemplary flowchart of a method for automatically shaping a microcatheter according to some embodiments of the present disclosure is shown;

[0020] Figure 2 An overall flowchart of the automatic shaping of a microcatheter according to some embodiments of the present disclosure is shown;

[0021] Figure 3 An exemplary structural block diagram of an automatic microcatheter shaping device according to some embodiments of the present disclosure is shown;

[0022] Figure 4 An exemplary structural block diagram of an electronic device according to some embodiments of the present disclosure is shown. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present disclosure.

[0024] It should be understood that the terms "including" and "comprising" used in the specification and claims of the present disclosure indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0025] It should also be understood that the terms used in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. As used in the specification and claims of the present disclosure, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms. It should also be further understood that the term "and / or" used in the specification and claims of the present disclosure refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] As used in this specification and the claims, the term "if" can be construed contextually as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be construed contextually to mean "once determined" or "in response to determining" or "once [the described condition or event] is detected" or "in response to detecting [the described condition or event]".

[0027] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0028] Exemplary application scenarios

[0029] Aneurysm embolization is the main method for treating intracranial aneurysms, which requires selectively delivering a microcatheter to the aneurysm. Since there are differences in the vascular morphology and aneurysm morphology among different patients, in order to ensure the treatment effect of the patient, it is necessary to customize the design and shaping of the morphology of the shaping needle at the front end of the microcatheter and the path of the microcatheter transmitted to the aneurysm, so as to ensure that the microcatheter can be accurately and safely transported to the designated position.

[0030] In particular, the morphology of the end of the microcatheter that first enters the blood vessel (the end where the shaping needle is located). The morphology of this end directly determines whether the microcatheter can reach the designated position (i.e., the aneurysm), which is related to the success or failure of the operation. In the past, before performing an aneurysm embolization operation, doctors would imagine the three-dimensional vascular morphology based on two-dimensional medical images, and then roughly shape the morphology of the shaping needle of the microcatheter manually outside the body. The shaping plan depends entirely on the clinical experience of the doctor. If the clinical doctor has insufficient experience or encounters complex vascular and hemangioma morphologies, multiple shaping operations are often required, which not only prolongs the operation time, increases the pain of the patient, but also affects the final surgical treatment effect.

[0031] In view of this, the embodiments of the present disclosure provide an automatic shaping scheme for a microcatheter, so as to achieve automatic and precise shaping of the microcatheter, improve the efficiency of microcatheter shaping, and enhance the success rate of interventional surgery.

[0032] Figure 1 An exemplary flowchart of the microcatheter automatic shaping method 100 according to some embodiments of the present disclosure is shown. It can be understood that the microcatheter automatic shaping method 100 can be executed by any suitable device with data processing capabilities, such as but not limited to terminal devices, processors, and servers, etc.

[0033] As Figure 1As shown, the microcatheter automatic shaping method 100 includes: Step S110: Obtain cranial image data containing an aneurysm, and perform three-dimensional reconstruction processing on the cranial image data to obtain a vascular model; Step S120: Segment the aneurysm from the vascular model to obtain an aneurysm segmentation result; Step S130: Obtain the centerline of the parent artery based on the vascular model and the aneurysm segmentation result; Step S140: Measure the aneurysm based on the centerline of the parent artery, the aneurysm segmentation result, and the vascular model to obtain an aneurysm measurement result; Step S150: Obtain a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery.

[0034] Exemplarily, in the embodiments of the present disclosure, the aneurysm in the above step S110 refers to a local dilation or bulge caused by a lesion or injury to the arterial wall, manifested as a permanent abnormal dilation of the blood vessel wall. The cranial image data refers to the image data of the internal structure of the cranium obtained through medical imaging techniques, which can be any one of CT angiography data (CTA), magnetic resonance angiography data (MRA), or digital subtraction angiography data (DSA), etc.

[0035] In the embodiments of the present disclosure, the above cranial image data containing an aneurysm is collected by a professional medical imaging device. Here, the professional imaging device is, for example, a computed tomography (CT) device, a magnetic resonance imaging (MRI) device, an ultrasound imaging device, a positron emission tomography (PET) device, and so on.

[0036] In specific implementation, a professional imaging device (CT device, MRI device, or DSA device) is used to scan the patient's cranium to collect cranial image data containing an aneurysm, and then the collected cranial image data is transmitted to the computer system of the device that executes the microcatheter automatic shaping method 100 for subsequent processing.

[0037] In the embodiments of the present disclosure, three-dimensional reconstruction is a technology that converts two-dimensional medical image data into a three-dimensional visualization model through computer processing and analysis. Based on this, the vascular model refers to a three-dimensional model generated by three-dimensional reconstruction technology that can intuitively display the spatial structure of blood vessels. In the embodiments of the present disclosure, the specific three-dimensional reconstruction method may be to input the cranial image data into three-dimensional reconstruction software, such as Mimics, 3D Slicer, etc., and process the cranial image data to generate a vascular model.

[0038] In the embodiments of this disclosure, the process of three-dimensional reconstruction may be to perform camera calibration based on cranial imaging data, establish the relationship between the image coordinate system and the world coordinate system, then extract the feature information of key points from the cranial imaging data, use algorithms such as triangulation or surface reconstruction to restore the three-dimensional structure of cranial blood vessels, and then map the texture information of the cranial imaging data onto the three-dimensional structure to obtain the above-mentioned blood vessel model.

[0039] Exemplarily, in the embodiments of this disclosure, the aneurysm segmentation result in the above step S120 refers to the aneurysm marker on the blood vessel model, which can be characterized by a detection box, for example. There are many methods for performing aneurysm segmentation on the blood vessel model to obtain the aneurysm segmentation result. For example, manual segmentation and automatic segmentation. Among them, the automatic segmentation method can further include segmentation by a neural network or by a traditional image segmentation algorithm (for example, conventional threshold segmentation, region growing algorithm, etc.). Among them, segmentation by a neural network can specifically be to input the blood vessel model into a trained aneurysm segmentation model, and the aneurysm segmentation model outputs the aneurysm segmentation result. The manual segmentation method can be to receive the aneurysm manually selected by a doctor on the blood vessel model, so as to extract the aneurysm.

[0040] Exemplarily, in the embodiments of this disclosure, the centerline of the parent artery in the above step S130 refers to the centerline of the artery where the aneurysm is located. Here, the centerline refers to the central path of the artery, which is connected by the geometric center points of the artery. The above centerline of the parent artery can be characterized by a parametric equation in the world coordinate system. In an ideal state, in order to ensure that the microcatheter can move smoothly in the parent vessel and ensure that it will not collide with the vessel wall of the parent vessel and penetrate the vessel wall, the vessel centerline is the ideal movement path of the microcatheter. Therefore, the microcatheter shaping scheme can be determined based on the vessel centerline.

[0041] As for how to obtain the centerline of the parent artery based on the blood vessel model and the aneurysm segmentation result, the following embodiments give examples and descriptions, and will not be elaborated here for the time being.

[0042] Exemplarily, in the embodiments of this disclosure, the aneurysm measurement result in the above step S140 is used to characterize the morphological information of the aneurysm. Here, the aneurysm measurement result may include at least one of the following: aneurysm neck, aneurysm diameter, aneurysm height, aneurysm width, aneurysm inflow angle, aneurysm volume, etc.

[0043] Among them, the aneurysm neck refers to the connection width at the junction of the aneurysm and the parent artery, which has an important impact on the entry of the microcatheter into the aneurysm and the placement of embolization materials; the aneurysm diameter refers to the distance at the widest part of the aneurysm and is an important indicator for measuring the size of the aneurysm; the aneurysm height refers to the vertical distance from the aneurysm neck to the top of the aneurysm, reflecting the size of the aneurysm in the longitudinal direction; the aneurysm width refers to the maximum width perpendicular to the aneurysm height direction and is used to describe the size of the aneurysm in the transverse direction; the aneurysm incidence angle refers to the angle between the aneurysm and the parent artery, which affects the difficulty and method of the microcatheter entering the aneurysm; the aneurysm volume refers to the space size occupied by the aneurysm. It is obtained by calculating the three-dimensional shape of the aneurysm and has reference value for evaluating the severity of the aneurysm and the amount of embolization materials required.

[0044] In the embodiments of this disclosure, the above aneurysm measurement results can be obtained by conventional measurement tools and algorithms. For example, for the measurement of the aneurysm neck, the measurement tool determines the boundary of the neck according to the aneurysm segmentation result and the vascular model, and then calculates the distance between the two boundary points through an algorithm. Another example is the measurement of the aneurysm volume. The measurement tool calculates its volume by using mathematical methods such as integration based on the three-dimensional shape data of the aneurysm. Another example is the calculation of the aneurysm incidence angle. The measurement tool can calculate the angle between the line connecting the point on the parent artery center line corresponding to the upstream positioning point on the parent artery center line and the center point of the aneurysm neck and the parent artery center line.

[0045] Exemplarily, the target microcatheter shaping scheme in the above step S150 may include: the shaping path of the microcatheter and / or the shape of the shaping needle at the front end of the microcatheter. Here, the shape of the shaping needle may include, but is not limited to, the bending shape, bending angle, and length of the shaping needle, etc.

[0046] In the embodiments of the present disclosure, there are many ways to obtain the target microcatheter shaping scheme based on the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery. For example, based on the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery, a match is made from a pre-set database, and the microcatheter shaping scheme in the database that matches the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery is used as the target microcatheter shaping scheme. For another example, the target microcatheter shaping scheme can be generated based on a specified microcatheter shaping algorithm, the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery. For still another example, first, based on the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery, a match is made from a pre-set database. When there is no microcatheter shaping scheme in the database that matches the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery, the target microcatheter shaping scheme is then generated based on the specified microcatheter shaping algorithm, the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery. The embodiments of the present disclosure do not make specific limitations on this.

[0047] The following embodiments give examples of the specific implementation of obtaining the target microcatheter shaping scheme based on the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery, and will not be elaborated here for the time being.

[0048] In the embodiments of the present disclosure, after obtaining the target microcatheter shaping scheme, the target microcatheter shaping scheme can also be displayed so that the doctor can intuitively see the target microcatheter shaping scheme, understand the specific shape and parameter requirements of the microcatheter, thereby providing clear guidance for subsequent shaping of the microcatheter in actual surgery, and then improving the efficiency and accuracy of surgical preparation when performing aneurysm embolization based on the target microcatheter shaping scheme to treat intracranial aneurysms, and reducing operation errors caused by unclear understanding of the scheme.

[0049] In the embodiments of the present disclosure, the obtained cranial image data containing aneurysms is subjected to three-dimensional reconstruction processing to obtain a vascular model. Then, based on the vascular model, an aneurysm segmentation result is obtained. Then, the centerline of the parent artery is extracted. Then, based on the centerline of the parent artery, aneurysm segmentation result, and vascular model, the aneurysm is measured to obtain an aneurysm measurement result. Based on the aneurysm segmentation result, aneurysm measurement result, and the centerline of the parent artery, a microcatheter shaping scheme is automatically obtained, realizing automatic and accurate shaping of the microcatheter, improving the efficiency of microcatheter shaping, and enhancing the success rate of interventional surgery.

[0050] As an alternative embodiment of the present disclosure, obtaining the centerline of the parent artery based on the vascular model and the aneurysm segmentation result in step S130 above includes: extracting the centerline of each artery in the vascular model based on the vascular model; determining the centerline of the parent artery based on the position information of the aneurysm in the aneurysm segmentation result and the centerline of each artery.

[0051] Exemplarily, in the embodiment of the present disclosure, a conventional centerline extraction algorithm (for example, a skeletonization algorithm) can be used to process the vascular model to extract the centerline of each artery in the vascular model.

[0052] In the embodiment of the present disclosure, the position information of the aneurysm can be the coordinates of the center point of the aneurysm in the world coordinate system. In the above embodiment, after obtaining the aneurysm segmentation result, the position information of the aneurysm can be obtained, and then based on the distance from the position information of the aneurysm to the centerline of each artery, the centerline of the parent artery is determined. For example, the centerline of the artery corresponding to the minimum distance is used as the centerline of the parent artery.

[0053] As an alternative embodiment of the present disclosure, obtaining the target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery in step S150 above includes: performing a match from a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery to obtain a matching result; if the matching result indicates that data is matched from the database, using the reference microcatheter shaping scheme in the matched data as the target microcatheter shaping scheme; if the matching result indicates that no data is matched from the database, generating the target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, the centerline of the parent artery, and a specified microcatheter shaping algorithm.

[0054] Exemplarily, in the embodiment of the present disclosure, the above database is pre-set, and it can be constructed based on a large amount of clinical case data to provide a reference for formulating the microcatheter shaping scheme for new cases. In the embodiment of the present disclosure, multiple pieces of data are stored in the above database, and each piece of data at least includes: a vascular model, an aneurysm measurement result, the centerline of the parent artery, a microcatheter shaping scheme, and a surgical result.

[0055] In the embodiments of the present disclosure, when matching the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database, for each piece of data in the database, the matching degree of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with this data is calculated according to the weights already configured for the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery; if the maximum value of the matching degrees of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database is greater than or equal to the specified threshold, it is determined that the matching result indicates that data has been matched from the database; if the maximum value of the matching degrees of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database is less than the specified threshold, it is determined that the matching result indicates that no data has been matched from the database. Here, weights can be set in advance for the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery, and then the matching degree with the data in the database is calculated by weighted average. The matching degree here can be characterized by the Euclidean distance, etc. The embodiments of the present disclosure do not limit the matching degree.

[0056] The above-mentioned specified threshold is any reasonable value set in advance, such as 98%. The embodiments of the present disclosure do not make specific limitations on this. It is used to judge whether the matching degree is high enough. When the maximum value of the matching degree between the current case (i.e., the above-mentioned aneurysm segmentation result, aneurysm measurement result, and centerline of the parent artery) and the data in the database is greater than or equal to the specified threshold, it is considered that appropriate data has been matched from the database.

[0057] When the maximum value of the matching degree between the current medical record and the data in the database is less than the above-mentioned specified threshold, it is considered that no appropriate data has been matched from the database. Based on this, a specified microcatheter shaping algorithm can be adopted to generate a target microcatheter shaping scheme according to information such as the aneurysm segmentation result, aneurysm measurement result, and centerline of the parent artery of the current case.

[0058] Through the above method, the embodiments of the present disclosure can not only utilize the existing clinical experience data, but also generate a reasonable scheme through the algorithm when there is no matching data, improving the accuracy and adaptability of the microcatheter shaping scheme formulation.

[0059] Figure 2 The overall flowchart of the automatic shaping of the microcatheter in some embodiments of the present disclosure is shown.

[0060] As Figure 2As shown in the figure, the scheme for automatic shaping of the microcatheter includes several parts: three-dimensional reconstruction, aneurysm segmentation, centerline extraction, aneurysm measurement, automatic microcatheter shaping recommendation, and display of the microcatheter shaping scheme (microcatheter shaping path and microcatheter shaping form). Among them, three-dimensional reconstruction refers to performing three-dimensional reconstruction processing on the obtained cranial imaging data containing aneurysms to obtain a vascular model; aneurysm segmentation refers to marking aneurysms on the vascular model; centerline extraction refers to extracting the centerline of the parent artery on the vascular model, and aneurysm measurement refers to measuring the morphological information of the aneurysm; automatic microcatheter shaping recommendation refers to matching a microcatheter shaping scheme that matches the aneurysm measurement results, the centerline of the parent artery, and the aneurysm segmentation results from a pre-set database; the microcatheter shaping scheme refers to displaying the microcatheter shaping path and microcatheter shaping form on a display device for doctors to view. For the specific implementation manner, reference may be made to the description of the above embodiments, and details are not described here for the time being.

[0061] Figure 3 FIG. shows a specific example diagram of a microcatheter automatic shaping device 300 according to some embodiments of the present disclosure.

[0062] As Figure 3 shown in the figure, the microcatheter automatic shaping device 300 includes: a three-dimensional reconstruction module 310, configured to obtain cranial imaging data containing aneurysms and perform three-dimensional reconstruction processing on the cranial imaging data to obtain a vascular model; a segmentation module 320, configured to perform aneurysm segmentation on the vascular model to obtain an aneurysm segmentation result; a centerline extraction module 330, configured to obtain the centerline of the parent artery based on the vascular model and the aneurysm segmentation result, where the centerline of the parent artery refers to the centerline of the artery where the aneurysm is located; a measurement module 340, configured to measure the aneurysm based on the centerline of the parent artery, the aneurysm segmentation result, and the vascular model to obtain an aneurysm measurement result; the aneurysm measurement result is used to characterize the morphological information of the aneurysm; a target microcatheter shaping scheme obtaining module 350, configured to obtain a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery.

[0063] As an optional embodiment of the present disclosure, the cranial imaging data is any one of CT angiography data, magnetic resonance angiography data, and digital subtraction angiography data.

[0064] As an optional embodiment of the present disclosure, the above centerline extraction module 330 is specifically configured to: based on the vascular model, extract the arterial centerline of each artery in the vascular model; determine the centerline of the parent artery based on the position information of the aneurysm in the aneurysm segmentation result and the arterial centerline of each artery.

[0065] As an alternative embodiment of the present disclosure, the aneurysm measurement results include at least one of the following: aneurysm neck, aneurysm diameter, aneurysm height, aneurysm width, aneurysm entry angle, and aneurysm volume.

[0066] As an alternative embodiment of the present disclosure, the target microcatheter shaping scheme obtaining module 350 is specifically configured to: perform matching from a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery, and obtain a matching result; the database stores multiple pieces of data, and each piece of data includes at least: a blood vessel model, an aneurysm measurement result, the centerline of the parent artery, a microcatheter shaping scheme, and a surgical result; if the matching result indicates that data is matched from the database, then use the reference microcatheter shaping scheme in the matched data as the target microcatheter shaping scheme; if the matching result indicates that no data is matched from the database, then generate a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, the centerline of the parent artery, and a specified microcatheter shaping algorithm.

[0067] As an alternative embodiment of the present disclosure, the step of performing matching from a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery in the target microcatheter shaping scheme obtaining module 350 to obtain a matching result includes: for each piece of data in the database, calculate the matching degree between the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery and this piece of data according to the weights configured for the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery; if the maximum value of the matching degrees between the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery and the data in the database is greater than or equal to a specified threshold, then determine that the matching result indicates that data is matched from the database; if the maximum value of the matching degrees between the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery and the data in the database is less than the specified threshold, then determine that the matching result indicates that no data is matched from the database.

[0068] For the specific implementation manners and technical effects, reference may be made to the specific descriptions of the embodiments of the above method 100, which will not be elaborated here.

[0069] So far, the description of the Figure 3 shown device is completed.

[0070] Correspondingly, the embodiments of the present disclosure further provide Figure 3 the hardware structure diagram of the shown device, specifically as Figure 4 shown. The electronic device 400 may be the device for implementing the above method 100. As Figure 4As shown, the electronic device 400 includes: a processor 410 and a memory 420. Among them, the memory 420 is configured to store program instructions; the processor 410 is configured to load and execute the program instructions stored in the memory 420 to implement the method embodiment of the automatic shaping of the microcatheter as shown above.

[0071] As an embodiment, the memory 420 can be any electronic, magnetic, optical or other physical storage device that can contain or store information such as program instructions, data, and so on. For example, the memory 420 can be: a volatile memory, a non-volatile memory or a similar storage medium. Specifically, the memory 420 can be a RAM (Random Access Memory), a flash memory, a storage drive (such as a hard disk drive), a solid-state drive, any type of storage disk (such as an optical disk, a DVD, etc.), or a similar storage medium, or a combination thereof.

[0072] Thus far, the description of the Figure 4 shown electronic device is completed.

[0073] Although multiple embodiments of the present disclosure have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many changes, alterations, and alternative ways will occur to those skilled in the art without departing from the spirit and scope of the present disclosure. It should be understood that various alternatives to the embodiments of the present disclosure described herein may be employed in practicing the present disclosure. The appended claims are intended to define the scope of protection of the present disclosure and thus cover equivalents or alternatives within the scope of these claims.

Claims

1. A microcatheter automatic shaping method, characterized in that: The method includes: Obtaining cranial image data containing an aneurysm, and performing three-dimensional reconstruction processing on the cranial image data to obtain a blood vessel model; Performing aneurysm segmentation on the blood vessel model to obtain an aneurysm segmentation result; Extracting the centerline of the parent artery based on the blood vessel model and the aneurysm segmentation result, where the centerline of the parent artery refers to the centerline of the artery where the aneurysm is located; Measuring the aneurysm based on the centerline of the parent artery, the aneurysm segmentation result, and the blood vessel model to obtain an aneurysm measurement result; the aneurysm measurement result is used to characterize the morphological information of the aneurysm; Obtaining a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery.

2. The method according to claim 1, characterized in that: The cranial image data is any one of CT angiography data, magnetic resonance angiography data, and digital subtraction angiography data.

3. The method according to claim 1, characterized in that The extracting the centerline of the parent artery based on the blood vessel model and the aneurysm segmentation result includes: Based on the blood vessel model, extracting the centerline of each artery in the blood vessel model; Determining the centerline of the parent artery based on the position information of the aneurysm in the aneurysm segmentation result and the centerline of each artery.

4. The method according to claim 1, wherein The aneurysm measurement result includes at least one of the following: aneurysm neck, aneurysm diameter, aneurysm height, aneurysm width, aneurysm entry angle, and aneurysm volume.

5. The method according to claim 1, characterized in that, The obtaining a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery includes: Based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery, performing matching in a pre-set database to obtain a matching result; the database stores multiple pieces of data, and each piece of data at least includes: blood vessel model, aneurysm measurement result, centerline of the parent artery, microcatheter shaping scheme, and surgical result; If the matching result indicates that data is matched from the database, then using the reference microcatheter shaping scheme in the matched data as the target microcatheter shaping scheme; If the matching result indicates that no data is matched from the database, then generating the target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, the centerline of the parent artery, and a specified microcatheter shaping algorithm.

6. The method according to claim 5, characterized in that, The performing matching in a pre-set database based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery to obtain a matching result includes: For each piece of data in the database, calculating the matching degree of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with this data according to the weights configured for the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery; If the maximum value of the matching degrees of the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery with the data in the database is greater than or equal to a specified threshold, then determining that the matching result indicates that data is matched from the database; If the maximum matching degree between the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery and the data in the database is less than a specified threshold, it is determined that the matching result indicates that no data can be matched from the database.

7. The method according to claim 1, characterized in that, After obtaining the target microcatheter shaping scheme, the method further includes: Displaying the target microcatheter shaping scheme.

8. An automatic shaping device for a microcatheter, characterized in that, The device includes: A three-dimensional reconstruction module, configured to obtain cranial image data including an aneurysm, and perform three-dimensional reconstruction processing on the cranial image data to obtain a vascular model; A segmentation module, configured to perform aneurysm segmentation on the vascular model to obtain an aneurysm segmentation result; A centerline extraction module, configured to obtain the centerline of the parent artery based on the vascular model and the aneurysm segmentation result, where the centerline of the parent artery refers to the centerline of the artery where the aneurysm is located; A measurement module, configured to measure the aneurysm based on the centerline of the parent artery, the aneurysm segmentation result, and the vascular model to obtain the aneurysm measurement result; the aneurysm measurement result is used to characterize the morphological information of the aneurysm; A target microcatheter shaping scheme obtaining module, configured to obtain a target microcatheter shaping scheme based on the aneurysm segmentation result, the aneurysm measurement result, and the centerline of the parent artery.

9. An electronic device, characterized in that, Including: A processor, configured to execute program instructions; And A memory, configured to store the program instructions, and when the program instructions are loaded and executed by the processor, the processor is caused to execute the microcatheter automatic shaping method according to any one of claims 1-7.

10. A computer-readable storage medium storing program instructions, characterized in that: When the program instructions are loaded and executed by the processor, the processor is caused to execute the microcatheter automatic shaping method according to any one of claims 1-7.

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