Blood vessel walking display method and device, storage medium and electronic equipment

Abstract

The invention provides a blood vessel walking display method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring a medical projection image collected for a target blood vessel segment; acquiring blood vessel walking display data of a target blood vessel segment corresponding to the CTA image, wherein the blood vessel walking display data and the medical projection image are registered; and displaying the blood vessel walking display data on the medical projection image in an overlapping manner, and prompting the blood vessel walking of a target blood vessel section corresponding to the medical projection image through the blood vessel walking display image. By acquiring the blood vessel walking display data of the target blood vessel section in the CTA image and displaying the blood vessel walking display data of the target blood vessel section in the medical projection image, blood vessel walking of the target blood vessel section is displayed in the medical projection image, and the display effect of the target blood vessel section is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of image processing technology, and in particular to a method, device, storage medium, and electronic device for displaying the course of a blood vessel. Background Art

[0002] Cardiovascular disease is the disease with the highest morbidity and mortality. Currently, percutaneous coronary intervention (PCI) is a very important means of treating coronary heart disease.

[0003] During PCI, medical projection images such as coronary angiography (CAG) are routinely used in clinical practice to observe vascular structures.

[0004] In the process of implementing the present disclosure, it was found that there are at least the following technical problems in the prior art: the above-mentioned medical projection images have certain limitations and cannot display the course of blood vessels in the presence of vascular lesions or without angiography injection. Summary of the Invention

[0005] The present disclosure provides a method, device, storage medium and electronic device for displaying the course of blood vessels in angiography images, thereby achieving a visual display of the course of blood vessels and improving the display effect of target blood vessel segments.

[0006] According to one aspect of the present disclosure, a method for displaying the course of a blood vessel is provided, comprising:

[0007] Acquiring a medical projection image collected for a target blood vessel segment;

[0008] Acquiring vascular course display data corresponding to the target vascular segment of the CTA image, and registering the vascular course display data with the medical projection image;

[0009] The blood vessel course display data is superimposed and displayed on the medical projection image, and the blood vessel course of the target blood vessel segment corresponding to the medical projection image is indicated by the blood vessel course display diagram.

[0010] Optionally, the medical projection image includes a key-frame angiography image; and the blood vessel course display data includes at least one of a maximum intensity projection image, a volume reconstruction image, and a first registration centerline that are registered with the key-frame angiography image.

[0011] Optionally, the maximum intensity projection image and / or the volume rendering image includes an occluded blood vessel segment on the target blood vessel segment;

[0012] The rendering attribute of the occluded blood vessel segment is different from the rendering attribute of the non-occluded blood vessel segment;

[0013] The morphology and properties of the occluded blood vessel segment are also displayed through the maximum intensity projection image and / or the volume rendering image.

[0014] Optionally, the medical projection image includes a blood vessel perspective view, which is acquired without injecting a contrast agent into the target blood vessel segment;

[0015] The blood vessel course display data includes at least one of a second registration centerline registered with the blood vessel perspective view, a maximum intensity projection image, a volume reconstruction image, and a key frame angiography image.

[0016] Optionally, the method for obtaining the second registration centerline includes: obtaining a first registration centerline corresponding to the key frame angiography image, the first registration centerline being obtained based on the registration processing between the key frame angiography image and the CTA image; obtaining a deformation matrix between the key frame angiography image and the vascular perspective view, the projection angle of the key frame angiography image and the projection angle of the vascular perspective view being the same; and deforming the first registration centerline based on the deformation matrix to obtain the second registration centerline.

[0017] Optionally, the key frame angiography image and the blood vessel perspective view each include an angiography catheter;

[0018] Obtaining a deformation matrix between the key-frame angiography image and the vascular perspective view includes: determining the deformation matrix with a goal of maximizing similarity between the angiography catheter in the key-frame angiography image and the angiography catheter in the vascular perspective view, wherein the deformation matrix is used to achieve registration between the key-frame angiography image and the vascular perspective view.

[0019] Optionally, the vascular perspective view is a plurality of vascular perspective views collected during the guidewire puncture process, and the plurality of vascular perspective views form a vascular perspective view sequence;

[0020] The method further includes: sequentially displaying a plurality of vascular perspective images in the vascular perspective image sequence, and superimposing and displaying the second registration centerline on each of the vascular perspective images.

[0021] According to another aspect of the present disclosure, a device for displaying the course of a blood vessel is provided, comprising:

[0022] A medical projection image acquisition module, used to acquire a medical projection image collected for a target blood vessel segment;

[0023] A vascular course display data acquisition module is used to acquire vascular course display data of a target vascular segment corresponding to a CTA image, and the vascular course display data is registered with the medical projection image;

[0024] The blood vessel course display module is used to superimpose the blood vessel course display data on the medical projection image, and prompt the blood vessel course of the target blood vessel segment corresponding to the medical projection image through the blood vessel course display diagram.

[0025] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0026] at least one processor; and

[0027] a memory communicatively connected to the at least one processor; wherein,

[0028] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the blood vessel course display method described in any embodiment of the present disclosure.

[0029] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the blood vessel course display method described in any embodiment of the present disclosure when executed.

[0030] The technical solution of the embodiment of the present disclosure obtains the vascular course display data of the target vascular segment in the CTA image, and displays the vascular course display data of the target vascular segment in the medical projection image, thereby realizing the display of the vascular course of the target vascular segment in the medical projection image and improving the display effect of the target vascular segment.

[0031] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0033] Figure 1 This is a flow chart of a method for displaying the course of blood vessels provided by an embodiment of the present disclosure;

[0034] Figure 2 is a schematic diagram of a key frame angiography image provided by an embodiment of the present disclosure;

[0035] Figure 3This is a schematic diagram showing the course of blood vessels provided by an embodiment of the present disclosure;

[0036] Figure 4 This is a schematic diagram showing the course of blood vessels provided by an embodiment of the present disclosure;

[0037] Figure 5 This is a schematic diagram showing the course of blood vessels provided by an embodiment of the present disclosure;

[0038] Figure 6 This is a flow chart of a method for displaying the course of blood vessels provided by an embodiment of the present disclosure;

[0039] Figure 7 This is a schematic diagram showing the course of blood vessels provided by an embodiment of the present disclosure;

[0040] Figure 8 This is a schematic structural diagram of a blood vessel course display device provided by an embodiment of the present disclosure;

[0041] Figure 9 It is a structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] Figure 1This is a flow chart of a blood vessel course display method provided by an embodiment of the present disclosure. This embodiment can be applied to display blood vessel course display data in angiography images to provide prompts for the blood vessel course of a target blood vessel segment in the angiography image. This method can be executed by a blood vessel course display device, which can be implemented in the form of hardware and / or software. The blood vessel course display device can be configured in electronic devices such as terminal devices, computer devices, and servers, wherein the terminal devices include but are not limited to mobile phones, tablet computers, PCs, and surgical robots. Figure 1 As shown, the method includes:

[0045] S110 : Acquire a medical projection image collected for the target blood vessel segment.

[0046] S120 , obtaining blood vessel course display data corresponding to the target blood vessel segment in the CTA image, and registering the blood vessel course display data with the medical projection image.

[0047] S130 , superimposing and displaying the blood vessel course display data on the medical projection image, and indicating the blood vessel course of the target blood vessel segment corresponding to the medical projection image through the blood vessel course display diagram.

[0048] In this embodiment, the medical projection image and the CTA (CT Angiography) image may be acquired from the same subject, which may be a human or an animal. The medical projection image and the CTA image each include the same target vascular segment, which may be a coronary artery or a localized segment within a coronary artery. The angiography image and the CTA image may be acquired using corresponding acquisition devices, read from a database based on an object identifier, or imported from an external storage device. The acquisition method of the angiography image and the CTA image is not limited herein.

[0049] A medical projection image can be understood as a medical image obtained by capturing an image of a target blood vessel segment of a target object at a set projection angle using an image capture device. The medical projection image is a two-dimensional medical image.

[0050] In some embodiments of the present disclosure, the medical projection image is an angiographic image, which can be any frame of an angiographic image sequence. Taking the target vascular segment as a coronary artery or a localized segment thereof as an example, the acquisition process for the angiographic image sequence is as follows: when a contrast agent is injected into the subject for image acquisition, the contrast agent rapidly fills the coronary artery with blood flow, causing it to be visualized under X-rays. The image acquisition system of the cardiovascular angiography machine is activated, and angiographic images of the coronary arteries are acquired at different projection angles and time phases according to preset procedures and parameters. That is, through the above acquisition method, an angiographic image sequence can be acquired, which includes multiple frames of angiographic images corresponding to multiple time points in the time series.

[0051] In some embodiments of the present disclosure, the medical projection image includes a keyframe angiography image. The keyframe angiography image is determined from an angiography image sequence. Optionally, the keyframe angiography image may be the angiography image frame with the highest vascular clarity in the angiography image sequence. The vascular clarity of the angiography image may be identified based on an image quality assessment model. Optionally, the keyframe angiography image may be the angiography image frame with the highest similarity to the CTA image in the angiography image sequence. Specifically, the first centerline of the target vascular segment in each angiography image frame in the angiography image sequence is extracted, and the second centerline of the target vascular segment in the CTA image is extracted. A similarity metric is determined between the first and second centerlines of the target vascular segment in each angiography image frame, and the angiography image frame corresponding to the maximum similarity metric is determined as the keyframe angiography image. The projection angle of the second centerline is consistent with the projection angle of the angiography image. The second centerline of the target vascular segment in the CTA image may be obtained by projecting the three-dimensional centerline of the target vascular segment in the CTA image at the projection angle of the angiography image sequence.

[0052] By identifying the key frame angiography images in the angiography image sequence, high-quality angiography images are provided for displaying the target vascular segment, thereby improving the display effect of the target vascular segment. Figure 2 , Figure 2 This is a schematic diagram of a keyframe angiography image provided by an embodiment of the present disclosure. In this keyframe angiography image, the course of a localized segment within the target vessel segment is not displayed, such as the segment between the two yellow arrows. This segment may be a diseased segment, including but not limited to CTO (Chronic Total Occlusion) lesions.

[0053] Vascular course display data can be understood as data that can characterize the vascular course of a target vascular segment. The vascular course display data can be in the form of an image or a dataset, without limitation herein. The vascular course display data can be obtained by analyzing and processing CTA images. For example, the vascular course display data can be obtained by processing CTA images using a pre-defined vascular course generation algorithm.

[0054] Optionally, the vascular course display data includes, but is not limited to, at least one of a maximum intensity projection image, a volume rendering image, and a first registration centerline. A generation algorithm for each type of vascular course display data can be pre-set, and the corresponding generation algorithm is invoked based on the type of vascular course display data to obtain the corresponding vascular course display data.

[0055] A maximum intensity projection (MIP) can be understood as a 2D image formed by projecting the maximum density value of a CTA image along the projection direction onto a 2D plane. This 3D projection is formed from 2D images corresponding to multiple projection angles. This MIP can highlight the outlines and boundaries of objects and clearly show the morphology and course of blood vessels.

[0056] Volume rendering (VR) can be understood as generating realistic three-dimensional images by classifying and calculating the voxels in the CTA image. It can display the surface and internal structure of the target vascular segment and provide rich three-dimensional spatial information. It can support the display of the target vascular segment from different angles and show the stereoscopic visual effect of the vascular course of the target vascular segment.

[0057] The first registration centerline can be understood as the registration centerline obtained by registering the second centerline of the target vessel segment in the CTA image. This first registration centerline is registered with the keyframe angiography image, and the vascular course of the target vessel segment in the keyframe angiography image can be represented by the first registration centerline. The vascular course display data can include a dataset that can include multiple vessel points, and the information of the multiple vessel points can form the first registration centerline.

[0058] Similarly, the maximum density projection image and the volume reconstruction image are images that have been registered with the key-frame angiography image. By superimposing at least one of the maximum density projection image, the volume reconstruction image, and the first registration centerline that have been registered with the key-frame angiography image on the key-frame angiography image, problems such as confusion or mismatch between any of the maximum density projection image, the volume reconstruction image, and the first registration centerline and the target blood vessel segment in the key-frame angiography image can be avoided.

[0059] The first registration centerline can be obtained by extracting the first centerline of the target vascular segment in the keyframe angiography image and the second centerline of the corresponding target vascular segment in the CTA image, and constructing a displacement field to achieve registration of the first centerline and the second centerline. The second centerline is deformed and processed by the constructed displacement field so that the deformed centerline is aligned with the first centerline, that is, the similarity data between the deformed centerline and the first centerline converges or meets the similarity threshold. The deformed centerline aligned with the first centerline is the first registration centerline. Accordingly, the displacement field of the first registration centerline obtained by deforming the second centerline can be used as the target displacement field. The target displacement field can be obtained through multiple iterative optimizations based on the initial displacement field. It can be obtained by optimizing the maximum similarity function between the registration centerline and the first centerline as the target function. Specifically, the previous displacement field is updated by the gradient descent method in each iteration until the target function converges or the set number of iterations is reached. The displacement field obtained in the last iteration can be determined as the target displacement field. The initial displacement field may be a zero displacement field or a random displacement field, or may be obtained based on key vascular points (such as at least one of a stenosis point and a branch point) having a matching relationship in the target vascular segment in the key frame angiography image and the CTA image.

[0060] Optionally, a pre-set registration model is obtained, which can be a machine learning model. The first center line of the target vascular segment in the key frame angiography image and the second center line of the target vascular segment in the CTA image are input into the registration model to obtain a first registration center line that completes the registration segment with the first center line. On this basis, the target displacement field is obtained based on the second center line and the first registration center line. The essence of the target displacement field is the nonlinear transformation matrix between the image coordinate systems of the key frame angiography image and the CTA image. The identification and position information of each vascular point in the second center line and the identification and position information of each vascular point in the first registration center line can be used to determine the displacement vector corresponding to each vascular point for the position information of each vascular point with the same identification, and the target displacement field is formed by the displacement vector corresponding to each vascular point.

[0061] Based on the target displacement field, an initial maximum intensity projection image is obtained from the CTA image. This initial maximum intensity projection image is deformed using the target displacement field to obtain a maximum intensity projection image that is fully registered with the keyframe angiogram. Similarly, an initial volumetric reconstruction image is obtained from the CTA image. This initial volumetric reconstruction image is deformed using the target displacement field to obtain a volumetric reconstruction image that is fully registered with the keyframe angiogram.

[0062] It is understandable that the maximum density projection image and the volume reconstruction image are three-dimensional images. In order to achieve superimposed display on the key frame angiography image, the maximum density projection image or the volume reconstruction image is projected based on the projection angle of the key frame angiography image to obtain the maximum density projection image or the volume reconstruction image with the same projection angle as the initial maximum density projection image or the initial volume reconstruction image.

[0063] The at least one item of vascular course display data is superimposed and displayed on the keyframe angiography image to display the vascular course of the target vascular segment in the keyframe angiography image, thereby providing an indication of the vascular course of the target vascular segment. Specifically, the vascular course display can be achieved through two layers, wherein the first layer displays the keyframe angiography image, and the second layer displays the vascular course display data, with the second layer positioned above the first layer. It is understood that when there are multiple items of vascular course display data, the second layer can be multiple. Optionally, the second layer can be set to a transparency to avoid obstruction of the keyframe angiography image.

[0064] Exemplary, participating Figure 3 and Figure 4 , Figure 3 and Figure 4 They are respectively schematic diagrams showing the course of blood vessels provided by an embodiment of the present disclosure. Figure 3 In the key frame angiography image, the first registration centerline is superimposed and displayed. Figure 4 The maximum intensity projection image is superimposed on the key frame angiography image.

[0065] The technical solution provided by the embodiments of the present disclosure obtains the vascular course display data of the target vascular segment in the CTA image, and displays the vascular course display data of the target vascular segment in the medical projection image, thereby realizing the display of the vascular course of the target vascular segment in the medical projection image and improving the display effect of the target vascular segment.

[0066] In some embodiments of the present disclosure, the target vascular segment may include an abnormal vascular segment, and the abnormal vascular segment may be a local vascular segment corresponding to at least one abnormal type, wherein the abnormal type may include but is not limited to stenosis and plaque. When the maximum intensity projection image and / or volume reconstruction image are superimposed to display the key frame angiography image, the rendering attributes of the abnormal vascular segment are different from the rendering attributes of the non-abnormal vascular segment. The rendering attributes include but are not limited to at least one of color, texture and brightness. For example, the color of the abnormal vascular segment is different from the color of the non-abnormal vascular segment. On the basis of displaying the vascular course in the key frame angiography image, the abnormal vascular segment is highlighted to provide a prompt for vascular abnormalities.

[0067] In some embodiments of the present disclosure, the maximum density projection image and / or the volume reconstruction image include an occluded vascular segment on the target vascular segment; the occluded vascular segment is a local vascular segment with occlusion abnormalities. The rendering properties of the occluded vascular segment are different from those of the non-occluded vascular segment, for example, the color of the occluded vascular segment may be different from that of the non-occluded vascular segment. The morphology and properties of the occluded vascular segment are also displayed by the maximum density projection image and / or the volume reconstruction image, wherein the properties may include but are not limited to the length and degree of occlusion of the occluded vascular segment. Among them, vascular occlusion may be caused by conditions such as vascular stenosis and / or plaques, which are not limited here. For example, see Figure 5 , Figure 5 This is a schematic diagram of the course of a blood vessel provided by an embodiment of the present disclosure. Figure 5 The blood vessel course rendered in medium pink may be any image that can display the blood vessel course, and is not limited here. Figure 5 The white mass in the target vessel segment represents the blockage caused by plaque formation. Figure 5 The local vascular segments whose vascular course cannot be displayed in the key frame angiography images are intuitively displayed to improve the display effect of the target vascular segments.

[0068] In the disclosed embodiments, the vascular course of the target vascular segment is displayed to assist guidewire puncture. The vascular course can be used to indicate the guidewire puncture path. Specifically, the vascular course of the target vascular segment is used as the guidewire puncture path to reduce the difficulty of guidewire puncture. Optionally, the keyframe angiography image superimposed with the vascular course display data is displayed on the display interface of the surgical robot, or on the display interface of the VR device worn by the operator, to provide path prompt information for the guidewire puncture process.

[0069] In addition to displaying the vascular course data in the keyframe angiography image, the start and end points of the guidewire puncture can also be determined. Based on the vascular course data, the puncture path between the start and end points is determined, and the rendering attributes of the puncture path are changed to highlight the puncture path. Specifically, the puncture path can be displayed by changing the brightness or color of the puncture path to provide a prompt, allowing the operator to adjust the guidewire puncture strategy based on the displayed vascular course and the morphology and attributes of the vascular occlusion.

[0070] Furthermore, based on the display of the vascular course of the target vascular segment, vascular abnormalities such as occluded vascular segments are displayed to indicate abnormal vascular segments during the guidewire insertion process and provide a precise path for guidewire puncture.

[0071] Figure 6 This is a flow chart of a method for displaying the course of blood vessels provided by an embodiment of the present disclosure. Based on the above embodiment, another method for displaying the course of blood vessels is provided. Figure 6 As shown, the method includes:

[0072] S210 : Acquire a medical projection image collected for a target blood vessel segment, where the medical projection image includes a blood vessel perspective view.

[0073] S220 , obtaining blood vessel course display data corresponding to the target blood vessel segment in the CTA image, wherein the blood vessel course display data includes a second registration centerline, and the blood vessel course display data is registered with the medical projection image.

[0074] S230 , superimposing and displaying the blood vessel course display data on the medical projection image, and indicating the blood vessel course of the target blood vessel segment corresponding to the medical projection image through the blood vessel course display diagram.

[0075] The vascular fluoroscopy image is acquired without the injection of contrast agent into the target vascular segment. The acquisition method of the vascular fluoroscopy image is not limited herein. The vascular fluoroscopy image can be acquired during guidewire puncture. By acquiring the vascular fluoroscopy image, the amount of contrast agent injected into the target vascular segment can be reduced, thereby reducing contrast agent usage and radiation dose.

[0076] The vascular course display data includes a second registration centerline corresponding to the target vessel segment. This second registration centerline is the second centerline of the target vessel segment in the CTA image, which is registered with the vascular fluoroscopic view after registration processing. It is understood that the target vessel segment cannot be observed in the vascular fluoroscopic view due to the lack of contrast agent injection. By superimposing the second registration centerline corresponding to the target vessel segment on the vascular fluoroscopic view, the vascular course of the target vessel segment can be displayed on the vascular fluoroscopic view.

[0077] It is understandable that the target vascular segment cannot be observed in the vascular perspective view, and accordingly, the vascular centerline cannot be identified in the vascular perspective view, that is, the vascular perspective view and the CTA image cannot be directly registered. The above-mentioned angiography image (or key frame angiography image) and the vascular perspective view are medical images collected for the same object, and the angiography image may be a medical image collected before the guidewire puncture stage. Accordingly, on the basis of obtaining the first registration centerline corresponding to the key frame angiography image, the first registration centerline is deformed by the registration between the angiography image and the vascular perspective view, and a second registration centerline adapted to the vascular perspective view is obtained. The method for obtaining the first registration centerline will not be repeated here.

[0078] In some embodiments of the present disclosure, the method for obtaining the second registration centerline includes: obtaining a first registration centerline corresponding to a key-frame angiography image, the first registration centerline being obtained based on the registration processing between the key-frame angiography image and the CTA image; obtaining a deformation matrix between the key-frame angiography image and the vascular perspective view, the projection angle of the key-frame angiography image and the projection angle of the vascular perspective view being the same; and deforming the first registration centerline based on the deformation matrix to obtain the second registration centerline.

[0079] The key-frame angiography image and the vascular perspective view are medical images acquired at different times and at the same projection angle. There may be a certain deviation between the key-frame angiography image and the vascular perspective view. By determining the deformation matrix between the key-frame angiography image and the vascular perspective view, the first registration centerline corresponding to the key-frame angiography image can be converted into a second registration centerline adapted to the vascular perspective view.

[0080] The deformation matrix can be understood as the change matrix between the coordinate system of the keyframe angiography image and the coordinate system of the vascular perspective view. The keyframe angiography image and the vascular perspective view each include an angiography catheter, which can be understood as a catheter for injecting contrast agent into the target vascular segment. Optionally, the keyframe angiography image and the vascular perspective view can be registered using a pretrained configuration model to generate a deformation matrix. Optionally, the deformation matrix is generated based on the positional information of the angiography catheter in the keyframe angiography image and the positional information of the angiography catheter in the angiography catheter.

[0081] In some embodiments of the present disclosure, obtaining a deformation matrix between the key-frame angiography image and the vascular perspective view includes: determining the deformation matrix with the goal of maximizing the similarity between the angiography catheter in the key-frame angiography image and the angiography catheter in the vascular perspective view, wherein the deformation matrix is used to achieve alignment between the key-frame angiography image and the vascular perspective view.

[0082] The deformation matrix can be determined by iterative optimization. In the first iteration, the initial deformation matrix is determined. The initial deformation matrix can be an all-zero matrix or a random matrix. Alternatively, the initial deformation matrix is determined based on the positions of the two ends of the angiography catheter in the key frame angiography image and the angiography catheter in the vascular perspective view. The angiography catheter in the key frame angiography image is deformed by the initial deformation matrix to obtain a deformed angiography catheter. The similarity between the deformed angiography catheter and the angiography catheter in the vascular perspective view is calculated, and the initial deformation matrix is optimized based on the similarity to obtain the next deformation matrix. Among them, the similarity between the deformed angiography catheter and the angiography catheter in the vascular perspective view can be calculated based on the similarity function. The optimization method of the deformation matrix can be based on the gradient descent method, and the deformation matrix is updated along the negative gradient direction of the objective function. Specifically, where θ k is the matrix parameter in the deformation matrix of the kth iteration, α is the learning rate, is the objective function J in θ k The objective function here can be the similarity function.

[0083] The angiographic catheter in the keyframe angiographic image is re-deformed based on the updated next deformation matrix, and the similarity between the deformed angiographic catheter and the angiographic catheter in the vascular perspective view is determined. The deformation matrix for the next iteration is then determined based on the similarity, and so on. The deformation matrix is updated until the similarity converges or the set number of iterations is reached. The deformation matrix between the keyframe angiographic image and the vascular perspective view is obtained, and the deformed angiographic catheter obtained by deforming the angiographic catheter in the keyframe angiographic image using this deformation matrix has the greatest similarity with the angiographic catheter in the vascular perspective view.

[0084] Based on the target displacement field suitable for the registration between the key-frame angiography image and the CTA image, the second center line of the target vascular segment in the CTA image is deformed to obtain a first registration center line that is registered with the key-frame angiography image. Based on the deformation matrix suitable for the registration between the key-frame angiography image and the vascular perspective view, the first registration center line is deformed to obtain a second registration center line suitable for the vascular perspective view. The second registration center line is superimposed and displayed on the vascular perspective view, so that the vascular course can be displayed on the vascular perspective view collected during the guidewire puncture process. On the basis of reducing the injection of contrast agent, the visual display of the vascular course is realized.

[0085] For example, see Figure 7 , Figure 7 This is a blood vessel course display diagram provided by an embodiment of the present disclosure. Figure 7 Displays the second registration centerline in the vascular perspective view. The vascular course can be displayed in two layers: the first layer displays the vascular perspective view, and the second layer displays the second registration centerline, with the second layer positioned above the first layer. Figure 7 The white line and the green line are the second registration centerlines, respectively. The green line represents the registration centerline corresponding to the selected local blood vessel segment in the second registration centerline.

[0086] In some embodiments of the present disclosure, the vascular perspective images are multiple vascular perspective images acquired during a guidewire puncture process, wherein the multiple vascular perspective images form a vascular perspective image sequence; the multiple vascular perspective images correspond to the same projection angle. The multiple vascular perspective images may be acquired at preset time intervals during the guidewire puncture process.

[0087] The multiple vascular perspective views in the vascular perspective view sequence are displayed in sequence, and the second registration center line is superimposed and displayed on each of the vascular perspective views. Specifically, the vascular perspective view displayed by the first layer is updated, and the second layer is kept displaying the second registration center line. Among them, the lengths of the guidewires in the multiple vascular perspective views in the vascular perspective view sequence are different, and the vascular perspective views collected at different times can display the state of the guidewire puncture in the target vascular segment during the guidewire puncture process. By displaying the multiple vascular perspective views in the vascular perspective view sequence in sequence, the guidewire puncture process can be dynamically played, and by displaying the second registration center line on each vascular perspective view, the guidewire puncture path during the guidewire puncture process can be compared with the second registration center line, providing path prompt information for the guidewire path during the guidewire transmission process.

[0088] In some embodiments of the present disclosure, a guide wire is included in the vascular perspective view, for example, see Figure 7 , Figure 7 The black line in the figure represents the guidewire. The method further includes generating a deviation prompt message in response to a deviation event between the second registration centerline and the guidewire. The deviation event detection method includes determining the similarity between the guidewire and the second registration centerline, and determining that a deviation event has been detected when the similarity between the guidewire and the second registration centerline is less than a similarity threshold. The deviation prompt message can be a text prompt message, an audio prompt message, etc. The deviation prompt message can promptly prompt the operator to adjust the guidewire penetration operation, thereby improving the accuracy of the guidewire puncture.

[0089] The technical solution provided by the embodiment of the present disclosure displays the second registration centerline of the target blood vessel segment on the blood vessel perspective view, displays the blood vessel course through the second registration centerline, and reduces the dosage of contrast agent and radiation damage.

[0090] In some embodiments of the present disclosure, the vascular course display data superimposed on the vascular perspective view may further include at least one of a maximum density projection image and a volume reconstruction image that are registered with the vascular perspective view. Similarly, based on obtaining the maximum density projection image and / or volume reconstruction image corresponding to the keyframe angiography image, the maximum density projection image and / or volume reconstruction image are deformed based on the deformation matrix between the keyframe angiography image and the vascular perspective view to obtain a maximum density projection image and / or volume reconstruction image that is adapted to the vascular perspective view. The maximum density projection image and / or volume reconstruction image that is adapted to the vascular perspective view is superimposed and displayed on the vascular perspective view, thereby displaying the vascular course via the maximum density projection image and / or volume reconstruction image on the vascular perspective view.

[0091] In some embodiments of the present disclosure, the vascular course display data superimposed on the vascular perspective view may also include a keyframe angiography image that is aligned with the vascular perspective view. It is understandable that the vascular perspective view cannot display the target vascular segment, while the keyframe angiography image can display the target vascular segment. By superimposing the vascular course of the target vascular segment in the keyframe angiography image on the vascular perspective view, the limitation of the vascular perspective view that cannot display the vascular course of the target vascular segment can be compensated. Specifically, the keyframe angiography image that is aligned with the vascular perspective view can be obtained by deforming the acquired keyframe angiography image using a deformation matrix.

[0092] The technical solution provided in this embodiment can display the course of blood vessels on the vascular perspective view by superimposing at least one of the second alignment centerline, maximum intensity projection image, volume reconstruction image and key frame angiography image on the vascular perspective view, thereby improving the diversity of vascular course display.

[0093] Figure 8 This is a schematic diagram of the structure of a blood vessel running display device provided by an embodiment of the present disclosure. Figure 8 As shown, the device includes:

[0094] A medical projection image acquisition module 310 is configured to acquire a medical projection image collected for a target blood vessel segment;

[0095] A vascular course display data acquisition module 320 is used to acquire vascular course display data corresponding to a target vascular segment in a CTA image, and to register the vascular course display data with the medical projection image;

[0096] The blood vessel course display module 330 is configured to overlay and display the blood vessel course display data on the medical projection image, and to indicate the blood vessel course of the target blood vessel segment corresponding to the medical projection image through the blood vessel course display diagram.

[0097] The technical solution of this embodiment obtains the vascular course display data of the target vascular segment in the CTA image, and displays the vascular course display data of the target vascular segment in the medical projection image, thereby realizing the display of the vascular course of the target vascular segment in the medical projection image and improving the display effect of the target vascular segment.

[0098] Based on the above embodiment, optionally, the medical projection image includes a key-frame angiography image; the blood vessel course display data includes at least one of a maximum intensity projection image, a volume reconstruction image, and a first registration centerline that are registered with the key-frame angiography image.

[0099] Optionally, the maximum intensity projection image and / or the volume rendering image includes an occluded blood vessel segment on the target blood vessel segment;

[0100] The rendering attribute of the occluded blood vessel segment is different from the rendering attribute of the non-occluded blood vessel segment;

[0101] The morphology and properties of the occluded blood vessel segment are also displayed through the maximum intensity projection image and / or the volume rendering image.

[0102] Optionally, the medical projection image includes a blood vessel perspective view, which is acquired without injecting a contrast agent into the target blood vessel segment;

[0103] The blood vessel course display data includes at least one of a second registration centerline registered with the blood vessel perspective view, a maximum intensity projection image, a volume reconstruction image, and a key frame angiography image.

[0104] Optionally, the vascular course display data acquisition module 320 is used to obtain a first registration center line corresponding to the key frame angiography image, where the first registration center line is obtained based on the registration processing between the key frame angiography image and the CTA image; obtain the deformation matrix between the key frame angiography image and the vascular perspective view, where the projection angle of the key frame angiography image is the same as the projection angle of the vascular perspective view; and deform the first registration center line based on the deformation matrix to obtain the second registration center line.

[0105] Optionally, the key frame angiography image and the blood vessel perspective view each include an angiography catheter;

[0106] The blood vessel course display data acquisition module 320 is further used to determine the deformation matrix with the maximum similarity between the angiography catheter in the key frame angiography image and the angiography catheter in the blood vessel perspective view as the goal, and the deformation matrix is used to achieve alignment between the key frame angiography image and the blood vessel perspective view.

[0107] Based on the above embodiment, optionally, the vascular perspective view is a plurality of vascular perspective views collected during the guidewire puncture process, and the plurality of vascular perspective views form a vascular perspective view sequence;

[0108] The blood vessel course display module 330 is further configured to sequentially display a plurality of blood vessel perspective images in the blood vessel perspective image sequence, with the second registration centerline superimposed on each of the blood vessel perspective images.

[0109] The blood vessel course display device provided in the embodiments of the present disclosure can execute the blood vessel course display method provided in any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] Figure 91 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0111] like Figure 9 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the random access memory (RAM) 13. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0112] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0113] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the vascular course display method.

[0114] In some embodiments, the vascular course display method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the read-only memory (ROM) 12 and / or the communication unit 19. When the computer program is loaded into the random access memory (RAM) 13 and executed by the processor 11, one or more steps of the vascular course display method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the vascular course display method in any other appropriate manner (e.g., by means of firmware).

[0115] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0116] Computer programs for implementing the disclosed vascular path display methods can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs implement the functions / operations specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0117] The present disclosure also provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a processor to execute a method for displaying the course of a blood vessel, the method comprising:

[0118] Acquire a medical projection image captured for a target vascular segment; acquire vascular course display data corresponding to the target vascular segment from the CTA image, and register the vascular course display data with the medical projection image; overlay and display the vascular course display data on the medical projection image, and use the vascular course display diagram to indicate the vascular course of the target vascular segment corresponding to the medical projection image.

[0119] In the context of the present disclosure, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0120] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0121] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0122] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0123] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of this disclosure can be achieved, and this document is not limited here.

[0124] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for displaying the course of blood vessels, characterized in that: include: Acquiring a medical projection image collected for a target blood vessel segment; Acquiring vascular course display data corresponding to the target vascular segment of the CTA image, and registering the vascular course display data with the medical projection image; The blood vessel course display data is superimposed and displayed on the medical projection image, and the blood vessel course of the target blood vessel segment corresponding to the medical projection image is indicated by the blood vessel course display diagram.

2. The method according to claim 1, characterized in that The medical projection image includes a key-frame angiography image; the blood vessel course display data includes at least one of a maximum intensity projection image, a volume reconstruction image, and a first registration centerline that are registered with the key-frame angiography image.

3. The method according to claim 2, characterized in that The maximum intensity projection image and / or the volume rendering image includes an occluded blood vessel segment on the target blood vessel segment; The rendering attribute of the occluded blood vessel segment is different from the rendering attribute of the non-occluded blood vessel segment; The morphology and properties of the occluded blood vessel segment are also displayed through the maximum intensity projection image and / or the volume rendering image.

4. The method according to claim 1, wherein The medical projection image includes a blood vessel perspective view, which is acquired without injecting a contrast agent into the target blood vessel segment; The blood vessel course display data includes at least one of a second registration centerline registered with the blood vessel perspective view, a maximum intensity projection image, a volume reconstruction image, and a key frame angiography image.

5. The method according to claim 4, characterized in that The method for obtaining the second registration centerline includes: Acquire a first registration centerline corresponding to a key-frame angiography image, where the first registration centerline is obtained based on registration processing between the key-frame angiography image and the CTA image; Acquiring a deformation matrix between the key frame angiography image and the blood vessel perspective view, wherein the projection angle of the key frame angiography image is the same as the projection angle of the blood vessel perspective view; The first registration center line is deformed based on the deformation matrix to obtain the second registration center line.

6. The method according to claim 5, characterized in that The key frame angiography image and the blood vessel perspective view each include an angiography catheter; Acquiring a deformation matrix between the key frame angiography image and the blood vessel perspective view, comprising: The deformation matrix is determined with the goal of achieving maximum similarity between the angiography catheter in the key-frame angiography image and the angiography catheter in the vascular perspective view. The deformation matrix is used to achieve registration between the key-frame angiography image and the vascular perspective view.

7. The method according to claim 4, characterized in that The vascular perspective images are multiple vascular perspective images collected during the guidewire puncture process, and the multiple vascular perspective images form a vascular perspective image sequence; The method further includes: sequentially displaying a plurality of vascular perspective images in the vascular perspective image sequence, and superimposing and displaying the second registration centerline on each of the vascular perspective images.

8. A device for displaying the course of blood vessels, characterized in that: include: A medical projection image acquisition module, used to acquire a medical projection image collected for a target blood vessel segment; A vascular course display data acquisition module is used to acquire vascular course display data of a target vascular segment corresponding to a CTA image, and the vascular course display data is registered with the medical projection image; The blood vessel course display module is used to superimpose the blood vessel course display data on the medical projection image, and prompt the blood vessel course of the target blood vessel segment corresponding to the medical projection image through the blood vessel course display diagram.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the blood vessel running display method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the blood vessel running display method according to any one of claims 1 to 7 when executed.

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