Assisted navigation method and device based on safety map and force feedback

Abstract

The application discloses an auxiliary navigation method and device based on a safety map and force feedback. The auxiliary navigation method comprises the following steps: acquiring angiography image data of a target blood vessel; segmenting a preset angiography region by using pixel point threshold information corresponding to the angiography image data to obtain corresponding two-dimensional blood vessel region image data; performing skeletonization processing and end point extraction processing on the two-dimensional blood vessel region image data to obtain corresponding one-dimensional blood vessel region image data; performing one-dimensional planning processing on the one-dimensional blood vessel region image data to obtain a plurality of candidate trajectories; determining safety scores corresponding to the plurality of candidate trajectories, and taking the plurality of candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; and based on the safety map and a state parameter of an interventional instrument associated with the target blood vessel, controlling the interventional instrument to be delivered at a preset delivery displacement, so as to realize auxiliary navigation of the interventional instrument.

Description

Technical Field

[0001] The present disclosure generally relates to the field of biomedical device technology, and more particularly, to an auxiliary navigation method and device based on a safety map and force feedback. Background Art

[0002] In related fields, compared with traditional surgery, interventional surgery can be completed through vascular puncture, which can avoid craniotomy in the treatment of cerebrovascular diseases, significantly reduce trauma and shorten recovery time. For example, as an important means of diagnosing and treating cerebrovascular diseases, intracranial interventional surgery delivers interventional devices such as guidewires and stents through the vascular cavity to treat the lesion area, which has the advantages of less trauma and faster recovery. Because the intracranial blood vessel walls and lesion structures are extremely fragile, it is easy to cause adverse consequences such as vascular rupture and lesion re-embolism during surgery. Therefore, medical tasks related to interventional surgery can be performed accurately and safely by using interventional robots, for example, inside the human body.

[0003] Therefore, precise and safe control of interventional instruments involved in surgical procedures has become one of the important aspects of concern in related fields. Summary of the Invention

[0004] The embodiments of the present disclosure provide an assisted navigation method and device based on a safety map and force feedback, the purpose of which is to achieve assisted navigation for the delivery of interventional instruments and improve the accuracy and operational safety of the delivery of interventional instruments.

[0005] In one general aspect, an assisted navigation method based on a safety map and force feedback is provided, the assisted navigation method comprising: acquiring angiographic image data of a target blood vessel; segmenting a preset angiographic region of the blood vessel by utilizing pixel threshold information corresponding to the angiographic image data to obtain corresponding two-dimensional blood vessel region image data; performing a first skeletonization process and an end point extraction process for identifying end points of the blood vessel on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data; performing a second skeletonization process on the processed two-dimensional blood vessel region image data to obtain corresponding one-dimensional blood vessel region image data, the one-dimensional blood vessel region image data corresponding to the target blood vessel and consisting of each endpoint, each branch point, and each branch point. a branch network structure diagram; performing one-dimensional planning processing on the one-dimensional vascular region image data to obtain multiple candidate trajectories including a position from a preset starting position to a preset lesion in the target blood vessel; determining safety scores corresponding to the multiple candidate trajectories, and using the multiple candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; based on the safety map and the state parameters of the interventional instrument associated with the target blood vessel, controlling the interventional instrument to deliver with a preset delivery displacement to achieve assisted navigation of the interventional instrument, wherein the preset delivery displacement is determined based on the difference between different constant visual forces corresponding to different regions of the target blood vessel and the predicted end force of the interventional instrument.

[0006] Optionally, the state parameter may include: a deformation amount and a deformation speed of the interventional instrument based on a preset delivery force corresponding to the preset delivery displacement.

[0007] Optionally, the predicted end force of the interventional instrument may include at least one of a first end force corresponding to the end axial force of the interventional instrument, a second end force corresponding to the force at the end of the interventional instrument in a direction perpendicular to the target blood vessel wall, and a third end force corresponding to the force at the end of the interventional instrument in the direction of the preset lesion, and wherein the different constant visual forces have different thresholds associated with the first end force, the second end force, and the third end force, respectively.

[0008] Optionally, the preset delivery displacement may be calculated by the following formula:

[0009] ,

[0010] in, Represents a time series number and is a positive integer. Indicates the The preset delivery displacement of a time series, represents the predefined state feedback gain matrix, represents the predicted end force, represents the different constant visual forces, represents the residual between the predicted end force and the different constant visual forces.

[0011] Optionally, the step of determining the safety scores corresponding to the multiple candidate trajectories may include: determining a path hybrid cost sequence corresponding to each candidate trajectory in the multiple candidate trajectories, the path hybrid cost sequence being determined based on the trajectory cost of each candidate trajectory, a predefined weight value, two-dimensional curvature values ​​of different interval points on each candidate trajectory, and blood vessel diameters at multiple nodes contained in each candidate trajectory; and determining the safety score based on the path hybrid cost sequence.

[0012] Optionally, the interventional device may have a hybrid physical model structure composed of multiple sections of elastic continuums of different materials and may include a bending segment elastic continuum structure and a supporting segment elastic continuum structure, and wherein the predicted end force can be determined based on the elastic modulus, section inertia moment, axial deformation and trajectory length corresponding to the bending segment elastic continuum structure and the supporting segment elastic continuum structure respectively, and the angle between the normal vector from the centerline node of the interventional device to the corresponding bending segment feature point and the blood vessel wall.

[0013] Optionally, different areas of the target blood vessel may include a normal area, a branch area and a diseased area, wherein in the normal area, the constant visual force used to determine the preset delivery displacement is a first threshold force associated with the force on the first end, wherein in the branch area, the constant visual force used to determine the preset delivery displacement is a second threshold force associated with the force on the second end, wherein in the diseased area, the constant visual force used to determine the preset delivery displacement is a third threshold force associated with the force on the third end, wherein the first threshold force is greater than the second threshold force and the second threshold force is greater than the first threshold force.

[0014] In another general aspect, an auxiliary navigation device based on a safety map and force feedback is provided, the auxiliary navigation device comprising: a data acquisition module configured to acquire angiographic image data of a target blood vessel; a safety map determination module configured to segment a preset blood vessel angiography region by utilizing pixel threshold information corresponding to the angiographic image data to obtain corresponding two-dimensional blood vessel region image data, perform a first skeletonization process and an end point extraction process for identifying end points of the blood vessels on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data, perform a second skeletonization process on the processed two-dimensional blood vessel region image data to obtain corresponding one-dimensional blood vessel region image data, the one-dimensional blood vessel region image data corresponding to the target blood vessel and consisting of the end points. , a branch network structure diagram composed of each branch point, performing one-dimensional planning processing on the one-dimensional vascular area image data to obtain multiple candidate trajectories including the position of a preset lesion from a preset starting position to the target blood vessel, determining safety scores corresponding to the multiple candidate trajectories, and using the multiple candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; a delivery control module, configured to: based on the safety map and the state parameters of the interventional instrument associated with the target blood vessel, control the interventional instrument to deliver with a preset delivery displacement, so as to realize assisted navigation of the interventional instrument, wherein the preset delivery displacement is determined based on the difference between different constant visual forces corresponding to different areas of the target blood vessel and the predicted end force of the interventional instrument.

[0015] Optionally, the state parameter may include: a deformation amount and a deformation speed of the interventional instrument based on a preset delivery force corresponding to the preset delivery displacement.

[0016] Optionally, the predicted end force of the interventional instrument may include at least one of a first end force corresponding to the end axial force of the interventional instrument, a second end force corresponding to the force at the end of the interventional instrument in a direction perpendicular to the target blood vessel wall, and a third end force corresponding to the force at the end of the interventional instrument in the direction of the preset lesion, and wherein the different constant visual forces have different thresholds associated with the first end force, the second end force, and the third end force, respectively.

[0017] Optionally, the preset delivery displacement may be calculated by the following formula:

[0018] ,

[0019] in, Represents a time series number and is a positive integer. Indicates the The preset delivery displacement of a time series, represents the predefined state feedback gain matrix, represents the predicted end force, represents the different constant visual forces, represents the residual between the predicted end force and the different constant visual forces.

[0020] Optionally, the operation of determining the safety scores corresponding to the multiple candidate trajectories may include: determining a path hybrid cost sequence corresponding to each candidate trajectory in the multiple candidate trajectories, the path hybrid cost sequence being determined based on the trajectory cost of each candidate trajectory, a predefined weight value, two-dimensional curvature values ​​of different interval points on each candidate trajectory, and blood vessel diameters at multiple nodes contained in each candidate trajectory; and determining the safety score based on the path hybrid cost sequence.

[0021] Optionally, the interventional device may have a hybrid physical model structure composed of multiple sections of elastic continuums of different materials and may include a bending segment elastic continuum structure and a supporting segment elastic continuum structure, and wherein the predicted end force can be determined based on the elastic modulus, section inertia moment, axial deformation and trajectory length corresponding to the bending segment elastic continuum structure and the supporting segment elastic continuum structure respectively, and the angle between the normal vector from the centerline node of the interventional device to the corresponding bending segment feature point and the blood vessel wall.

[0022] Optionally, different areas of the target blood vessel may include a normal area, a branch area and a diseased area, wherein in the normal area, the constant visual force used to determine the preset delivery displacement is a first threshold force associated with the force on the first end, wherein in the branch area, the constant visual force used to determine the preset delivery displacement is a second threshold force associated with the force on the second end, wherein in the diseased area, the constant visual force used to determine the preset delivery displacement is a third threshold force associated with the force on the third end, wherein the first threshold force is greater than the second threshold force and the second threshold force is greater than the first threshold force.

[0023] In another general aspect, a computer program product is provided, comprising a computer program / instruction, which, when executed by a processor, implements the assisted navigation method based on safety map and force feedback as described above.

[0024] In another general aspect, a computer-readable storage medium is provided, which, when instructions in the computer-readable storage medium are executed by a processor of an electronic device / server, enables the electronic device / server to perform the assisted navigation method based on safety map and force feedback as described above.

[0025] In another general aspect, a computing device is provided, comprising: at least one processor; and at least one memory storing computer-executable instructions, wherein the computer-executable instructions, when executed by the at least one processor, cause the at least one processor to perform the assisted navigation method based on a safety map and force feedback as described above.

[0026] According to the embodiments of the present disclosure, the safety map and force feedback-based assisted navigation method and device can achieve assisted navigation for interventional device delivery by determining a safety map for the target vessel and combining it with a force feedback mechanism, thereby improving the accuracy and operational safety of interventional device delivery. In addition, the safety map and force feedback-based assisted navigation method and device according to the embodiments of the present disclosure effectively improve operational safety and significantly reduce operational risks by maintaining a low-force state during device delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and other objects and features of the embodiments of the present disclosure will become more apparent through the following description in conjunction with the accompanying drawings showing the embodiments, in which:

[0028] Figure 1 is a flowchart illustrating an assisted navigation method based on a safety map and force feedback according to an embodiment of the present disclosure;

[0029] Figure 2 is a schematic diagram illustrating a control framework based on a safety map and force feedback according to an embodiment of the present disclosure;

[0030] Figure 3 is a schematic diagram illustrating force analysis of an interventional instrument according to an embodiment of the present disclosure;

[0031] Figure 4 is a schematic diagram illustrating characteristic points of an interventional instrument according to an embodiment of the present disclosure;

[0032] Figure 5 is a schematic diagram illustrating deformation of an elastic rod model according to an embodiment of the present disclosure;

[0033] Figure 6 is a schematic diagram illustrating a safety map according to an embodiment of the present disclosure;

[0034] Figure 7 is a schematic diagram illustrating a delivery control strategy according to an embodiment of the present disclosure;

[0035] Figure 8 is a structural block diagram illustrating an auxiliary navigation device based on a safety map and force feedback according to an embodiment of the present disclosure;

[0036] Figure 9 is a block diagram illustrating a computing device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following detailed description is provided to help the reader gain a comprehensive understanding of the methods, devices and / or systems described herein. However, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be clear after understanding the disclosure of the present application. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but can be changed as will be clear after understanding the disclosure of the present application, except for operations that must occur in a specific order. In addition, for greater clarity and conciseness, descriptions of features known in the art may be omitted.

[0038] Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like parts throughout. The embodiments are described below with reference to the drawings in order to explain the present disclosure.

[0039] As mentioned above, precise and safe control of interventional instruments has become a key concern in the relevant field. Existing solutions, such as those based on distal force feedback, use torque sensors in the distal delivery mechanism of vascular robots to assess surgical forces. While these solutions can achieve Newton-level acquisition accuracy, they are limited by noise interference caused by elastic deformation of the continuum instrument and friction in the delivery mechanism, limiting measurement robustness.

[0040] To address these and / or other issues, the present disclosure provides an assisted navigation method and apparatus based on a safety map and force feedback. By combining a safety map with vision-based force feedback of the instrument's distal (or tip) end, precise and safe control of interventional instruments is effectively achieved, thereby reducing operational risks and improving safety.

[0041] Refer to the following Figures 1 to 9 The present invention describes in detail an auxiliary navigation method and apparatus based on a safety map and force feedback according to an embodiment of the present invention.

[0042] First, refer to Figures 1 to 7 The following describes in detail an assisted navigation method based on a safety map and force feedback according to an embodiment of the present disclosure.

[0043] Figure 1 1 is a flowchart illustrating an assisted navigation method 100 based on a safety map and force feedback according to an embodiment of the present disclosure. Figure 2 is a schematic diagram illustrating a control framework based on a safety map and force feedback according to an embodiment of the present disclosure. Figure 3 is a schematic diagram illustrating force analysis of an interventional instrument according to an embodiment of the present disclosure. Figure 4 Schematic diagram illustrating characteristic points of an interventional instrument according to an embodiment of the present disclosure. Figure 5 is a schematic diagram illustrating deformation of an elastic rod model according to an embodiment of the present disclosure. Figure 6 is a schematic diagram illustrating a safety map according to an embodiment of the present disclosure. Figure 7 is a schematic diagram illustrating a delivery control strategy according to an embodiment of the present disclosure.

[0044] Reference Figures 1 to 6 According to an embodiment of the present disclosure, in step S101, angiographic image data of a target blood vessel is acquired.

[0045] According to an embodiment of the present disclosure, in step S102, the preset angiography region is segmented by using pixel threshold information corresponding to the angiography image data (for example, Figure 6 The "image segmentation" process performed by the "image construction" module shown in FIG) obtains corresponding two-dimensional vascular region image data. For example, the preset angiography region may be an angiography region whose depth exceeds a predetermined threshold.

[0046] According to an embodiment of the present disclosure, in step S103, a first skeletonization process and an end point extraction process for identifying end points of blood vessels are performed on the two-dimensional blood vessel region image data (for example, Figure 6 The “end point extraction” process performed by the “image construction” module shown in FIG) obtains the processed two-dimensional vascular area image data.

[0047] According to an embodiment of the present disclosure, in step S104, a second skeletonization process is performed on the processed two-dimensional vascular region image data to obtain corresponding one-dimensional vascular region image data. Here, the one-dimensional vascular region image data corresponds to a branch network structure diagram corresponding to the target blood vessel and consisting of various endpoints and branch points. For example, the above process may correspond to Figure 6 The "Topology Analysis" process performed by the "Feature Extraction" module shown in FIG) and as Figure 6 As shown, the branch network structure diagram can be obtained by converting the two-dimensional imaging map into a one-dimensional map structure composed of centerline trajectory points, and then using topological analysis to convert the one-dimensional map structure into a branch network structure composed of endpoints-branch points-endpoints.

[0048] According to an embodiment of the present disclosure, in step S105, a one-dimensional planning process is performed on the one-dimensional blood vessel region image data (for example, Figure 6 The “feature analysis” process performed by the “feature extraction” module shown in FIG) obtains multiple candidate trajectories including the position from the preset starting position to the preset lesion in the target blood vessel.

[0049] According to an embodiment of the present disclosure, in step S106, the safety scores corresponding to the plurality of candidate trajectories are determined (e.g., Figure 6The "weight rendering" and "safety assessment" processing performed by the "path analysis" module shown in the figure) use multiple candidate trajectories and corresponding safety scores as a safety map for the target blood vessel.

[0050] As an example, step S106 may further include the following steps S1061 and S1062:

[0051] In step S1061, a path hybrid cost sequence corresponding to each candidate trajectory in the plurality of candidate trajectories is determined. Here, the path hybrid cost sequence is determined based on the trajectory cost of each candidate trajectory, a predefined weight value, the two-dimensional curvature values ​​of different interval points on each candidate trajectory, and the vessel diameters at multiple nodes included in each candidate trajectory.

[0052] Specifically, the path hybrid cost sequence in step S1061 can be calculated using the following formulas (1) and (2):

[0053] (1)

[0054] = (2)

[0055] in, Indicates the candidate trajectories and is a positive integer, Indicates the The path hybrid cost sequence corresponding to the candidate trajectories, represents the trajectory cost and is the The total Euclidean distance of candidate trajectories, and Represents a predefined weight value, Indicates the The two-dimensional curvature values ​​of different interval points on the candidate trajectories, Indicates the The diameters of blood vessels at multiple nodes included in the candidate trajectory, and Respectively The maximum and minimum values ​​of .

[0056] In step S1062 , a safety score is determined based on the path hybrid cost sequence.

[0057] Specifically, the security score in step S1062 can be calculated using the following formulas (3) and (4):

[0058] (3)

[0059] (4)

[0060] in, express The trajectory points and is a positive integer, represents the safety score, express The path mixing cost, and represent the mean and standard deviation corresponding to the predefined standardized transformation, Indicates that all trajectories correspond to The maximum value of the value.

[0061] in, It can be further expressed as: , where the lesion location corresponds to the candidate trajectory , safety protection trajectory , Lesion location, and They represent the starting point and the lesion safety protection position respectively.

[0062] Here, is a trajectory slightly longer than the length of the lesion area. For example, when observed along the direction of travel, The location is located in After the position. And, The trajectory cost The length of the lesion end is And corresponds to .

[0063] Among them, the Z score standardization of formula (1) is transformed into ( In the case of distribution, , , where the sequence length is , here Indicated length, and They respectively represent the starting position and the lesion safety protection position in the direction behind the lesion position.

[0064] According to the above embodiments of the present disclosure, normalized scores of different expected paths are obtained based on the instrument trajectory cost, vessel diameter and tortuosity information, so that the path with the highest score can be used as the delivery navigation path. Figure 6 The safety map shown on the far right of Figure 6 The numerical values ​​shown represent the corresponding trajectory (for example, including Figure 6By combining vascular pathway and branch point data, the safe and unsafe areas for device delivery are simultaneously divided, providing position determination support for subsequent autonomous device operations.

[0065] In addition, through a series of processes to gradually extract one-dimensional trajectories from three-dimensional images, the vascular roadmap is reasonably simplified, thereby effectively improving the computational efficiency and visualization effect.

[0066] According to an embodiment of the present disclosure, in step S107, based on the safety map and the state parameters of the interventional instrument associated with the target blood vessel, the interventional instrument is controlled to be delivered with a preset delivery displacement to achieve assisted navigation of the interventional instrument.

[0067] In the present disclosure, the interventional device may have a hybrid physical model structure consisting of multiple sections of elastic continua made of different materials and may include a bending section elastic continuum structure and a supporting section elastic continuum structure (e.g., Figure 4 This hybrid physics model structure achieves more accurate simulation of mechanical behavior. Furthermore, compared to other existing models, it significantly reduces the number of parameters and average computation time, while significantly increasing the computational frame rate and achieving greater real-time feedback.

[0068] In addition, for example, the state parameter may include: a deformation amount and a deformation speed of the interventional instrument based on a preset delivery force corresponding to a preset delivery displacement.

[0069] According to the above-mentioned embodiments of the present disclosure, by feeding back the deformation state generated by the delivered force, force feedback for subsequent delivery can be accurately measured.

[0070] As an example, the preset delivery displacement is determined based on the difference between different constant visual forces corresponding to different regions of the target vessel and the predicted tip force of the interventional device.

[0071] According to the above embodiments of the present disclosure, by adopting different constant visual forces for different areas, low-force controlled delivery can be achieved, thereby reducing the effect of operational risks.

[0072] In the present disclosure, the predicted distal end force of an interventional device may include at least one of a first distal end force corresponding to an axial force at the distal end of the interventional device, a second distal end force corresponding to a force applied to the distal end of the interventional device in a direction perpendicular to the target blood vessel wall, and a third distal end force corresponding to a force applied to the distal end of the interventional device in a direction toward a predetermined lesion. Different constant visual forces may have different thresholds associated with the first distal end force, the second distal end force, and the third distal end force, respectively.

[0073] According to the above-mentioned embodiments of the present disclosure, by setting a constant visual force corresponding to different force feedbacks, the instrument can always be kept in a low-force state during delivery, thereby effectively improving operational safety.

[0074] As an example, the predicted end force can be based on the elastic modulus, section inertia moment, axial deformation and trajectory length corresponding to the bending segment elastic continuum structure and the support segment elastic continuum structure, and the distance from the centerline node of the interventional device to the corresponding bending segment feature point (for example, Figure 4 It is determined by the angle between the normal vector of the vessel and the vessel wall.

[0075] Specifically, the predicted end force is calculated using the following formulas (5) to (7):

[0076] (5)

[0077] (6)

[0078] (7)

[0079] in, Indicates the force at the first end, Indicates the force on the second end, Indicates the force on the third end, Indicates the first The first axial force of a characteristic point, The value range is 1 to and is a positive integer, represents the first The second axial force at each characteristic point, The value range is 1 to and is a positive integer, and They represent the elastic moduli of the support section elastic continuum structure and the bending section elastic continuum structure, and They represent the section inertia moments of the elastic continuum structure of the support section and the elastic continuum structure of the bending section, and They represent the axial deformation of the elastic continuum structure of the support section and the elastic continuum structure of the bending section, Indicates the angle between the normal vector from the centerline node of the interventional device to the corresponding curved segment feature point and the blood vessel wall. and The trajectory lengths of the support segment elastic continuum structure and the bending segment elastic continuum structure are respectively represented and are determined by a sequence of continuous trajectory points in the two-dimensional blood vessel region image data.

[0080] Among them, the above and The length of the trajectory represented by the combination It can be calculated using the following formula (8):

[0081] (8)

[0082] Among them, here Represents the coordinates of a sequence of continuous trajectory points in a two-dimensional image and Serial number.

[0083] In addition, the derivation process of the second end force and the third end force is shown in the following formulas (9) to (11).

[0084] Specifically, first, according to the trajectory point sequence of the instrument bending segment Obtain the centerline trajectory that matches it ; Then, calculate for each trajectory point Direction vector and its normalized unit vector , and calculate the centerline nodes Normal vector to the matching instrument trajectory point and its normalized vector , then we have the following formulas (9) to (11):

[0085] (9)

[0086] (10)

[0087] (11)

[0088] in, in The value range is 1 to and is a positive integer, in The value range is 1 to and b Is a positive integer.

[0089] According to the above embodiments of the present disclosure, obtaining visual force feedback of the end / tip of the interventional instrument in the above manner is helpful to realize auxiliary navigation of the interventional instrument in combination with the above safety map.

[0090] Furthermore, the different regions of the target vessel may include a normal region, a branch region, and a diseased region. Specifically, in the normal region, the constant visual force used to determine the predetermined delivery displacement is a first threshold force associated with the force applied to the first end; in the branch region, the constant visual force used to determine the predetermined delivery displacement is a second threshold force associated with the force applied to the second end; and in the diseased region, the constant visual force used to determine the predetermined delivery displacement is a third threshold force associated with the force applied to the third end. Here, the first threshold force is greater than the second threshold force, and the second threshold force is greater than the first threshold force.

[0091] According to the above embodiments of the present disclosure, assisted navigation of an interventional instrument can be achieved based on different constant force targets. For example, constant robust control of visual force can be achieved.

[0092] For example, the preset delivery displacement can be calculated by the following formula (12):

[0093] (12)

[0094] in, Represents a time series number and is a positive integer. Indicates the A time series of preset delivery displacements, represents the predefined state feedback gain matrix, represents the predicted end force, Indicates different constant visual forces, Represents the residual between the predicted end force and different constant visual forces (here, the preset delivery displacement is controlled in a way that controls the reduction of this residual).

[0095] In addition, the above predicted end forces It can be expressed as the following formulas (13) to (15):

[0096] (13)

[0097] (14)

[0098] (15)

[0099] in, represents one of the forces shown in the formula, and They represent the elastic moduli of the support section elastic continuum structure and the bending section elastic continuum structure, and Represent the section inertia moments of the elastic continuum structure of the support section and the elastic continuum structure of the bending section respectively (for example, refer to Figure 5 , for the example of deformation of elastic rod model, for example Figure 5 The elastic rod shown is Figure 5 The moment of inertia of the area shown is , here represents the cross-sectional diameter of the elastic rod, and Figure 5 The axial force of the elastic rod shown is , here 、 and represent the axial deformation, elastic modulus and length of the elastic rod, respectively). and denote the trajectory lengths of the elastic continuum structure of the support section and the elastic continuum structure of the bending section, respectively. represents the control cycle used to control the interventional device, and They represent the axial deformation of the elastic continuum structure of the support section and the elastic continuum structure of the bending section, and represent the deformation velocities of the elastic continuum structure of the support segment and the elastic continuum structure of the bending segment respectively (as reference state variables of the hybrid physical model).

[0100] According to the present disclosure, feature point extraction is achieved through a peak detection algorithm based on an interval point curvature sequence, which realizes curvature feature extraction of multiple continuous trajectory points of the support segment and the bending segment, and simplifies them into several feature points for modeling, thereby reducing the impact of trajectory noise on the results.

[0101] According to the present disclosure, the control performance degradation caused by the image processing time lag can be compensated by the above formula.

[0102] According to the above embodiments of the present disclosure, by determining a safety map for the target blood vessel and combining it with a force feedback mechanism, assisted navigation of interventional instrument delivery can be achieved, thereby improving the accuracy and operational safety of interventional instrument delivery.

[0103] In addition, refer to Figure 7 , specifically describes the low-force autonomous control strategy according to the present disclosure. This strategy divides delivery into three stages, namely: normal delivery, branch entry, and lesion encounter, and sets different constant force targets for each stage. In various delivery stages, such as Figure 3 As shown in Figure 2, the guidewire as an interventional device is mainly subjected to the combined effects of axial force, normal force and torsional force. The trajectory of the guidewire can be decomposed into a series of nodes. S(i) arrive S(i+n) (Here i Indicates the initial sequence number of the node, nis a positive integer), and the three-dimensional shape of the guidewire can be described by the Frenet frame (a local Cartesian coordinate system at each point on the space curve) consisting of the vectors T (tangent vector), N (principal normal vector), and B (binormal vector). Under the action of these forces, the guidewire must maintain a certain stability at each point on the trajectory.

[0104] like Figure 7 As shown in the figure, the area within the radius of the bifurcation point and the lesion midline point is defined as the lesion area and the branch area, and the rest of the area is the normal delivery area. When the instrument tip enters the relevant area, the autonomous control strategy corresponding to the corresponding stage is applied.

[0105] Specifically, during the normal delivery phase (e.g. Figure 7 The normal phase is represented by the middle oblique line shaded area). The device is mainly delivered in the main vessels, and the constant force target is To ensure smooth delivery and reduce delivery time. and When the tip of the device is stuck in a tortuous blood vessel, the system will control the device to swing in one direction and retract.

[0106] At the stage of entering the lesion area (e.g. Figure 7 The delivery force needs to be reduced to , to reduce the impact on the vessel wall and tissue, and avoid the risk of embolism. The system automatically controls the bidirectional rotation of the instrument to ensure the stability of the lesion position; the delivery force is continuously When the instrument is in the swing direction, the system will control the instrument to swing in one direction and retract.

[0107] During the phase when the device enters the branching area of ​​the vessel (e.g. Figure 7 The branching stage is represented by the shaded area of ​​the grid), the delivery force increases to , ensuring precise access to the target branch and reducing damage to the blood vessel wall. When the system controls the instrument to rotate in one direction, the delivery force is continuously When the target area is reached, the system will automatically control the instrument to retract and exit the non-target area.

[0108] here, 、 、 The size relationship between the three is: < < .

[0109] According to the above embodiments of the present disclosure, a low-force autonomous control strategy is implemented to achieve safe operation of the instrument.

[0110] In this disclosure, it should be noted that the i and j The specific meaning of is different in different formulas. For the specific meaning, please refer to the corresponding description of the relevant formula.

[0111] As an experiment, the above method of the present disclosure was applied to a complex human cerebral vascular model for simulation experimental testing. The experimental results showed that the above method of the present disclosure can achieve significant beneficial effects as mentioned in the present disclosure.

[0112] Next, refer to Figure 8 An auxiliary navigation device based on a safety map and force feedback according to an embodiment of the present disclosure is described in detail.

[0113] Figure 8 2 is a structural block diagram illustrating a navigation assistance device 800 based on a safety map and force feedback according to an embodiment of the present disclosure.

[0114] Reference Figure 8 According to an embodiment of the present disclosure, an auxiliary navigation device 800 based on a safety map and force feedback may include a data acquisition module 810 , a safety map determination module 820 , and a delivery control module 830 .

[0115] According to an embodiment of the present disclosure, the data acquisition module 810 may execute: acquiring angiographic image data of a target blood vessel.

[0116] According to an embodiment of the present disclosure, the safety map determination module 820 may perform the following operations 821) to 825):

[0117] In operation 821 , a preset blood vessel angiography region is segmented by using pixel threshold information corresponding to the angiography image data to obtain corresponding two-dimensional blood vessel region image data.

[0118] In operation 822 , a first skeletonization process and an end point extraction process for identifying end points of blood vessels are performed on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data.

[0119] In operation 823 , a second skeletonization process is performed on the processed two-dimensional blood vessel region image data to obtain corresponding one-dimensional blood vessel region image data.

[0120] Here, the one-dimensional blood vessel region image data corresponds to a branch network structure diagram corresponding to the target blood vessel and consisting of endpoints and branch points.

[0121] In operation 824 , one-dimensional planning processing is performed on the one-dimensional blood vessel region image data to obtain a plurality of candidate trajectories from a preset starting position to a position of a preset lesion in the target blood vessel.

[0122] In operation 825 , safety scores corresponding to the plurality of candidate trajectories are determined, and the plurality of candidate trajectories and the corresponding safety scores are used as a safety map for the target blood vessel.

[0123] As an example, the operation of determining safety scores corresponding to multiple candidate trajectories may include the following operations 51) and 52: In operation 51), a path hybrid cost sequence corresponding to each candidate trajectory in the multiple candidate trajectories is determined, where the path hybrid cost sequence is determined based on the trajectory cost of each candidate trajectory, a predefined weight value, two-dimensional curvature values ​​at different intervals of points on each candidate trajectory, and blood vessel diameters at multiple nodes included in each candidate trajectory. In operation 52), a safety score is determined based on the path hybrid cost sequence.

[0124] According to an embodiment of the present disclosure, the delivery control module 830 may execute: based on the safety map and the state parameters of the interventional instrument associated with the target blood vessel, controlling the interventional instrument to deliver with a preset delivery displacement to achieve assisted navigation of the interventional instrument.

[0125] For example, an interventional device may have a hybrid physical model structure composed of multiple segments of elastic continua made of different materials, including a bending segment elastic continuum structure and a supporting segment elastic continuum structure. For example, state parameters may include the amount and velocity of deformation of the interventional device based on a predetermined delivery force corresponding to a predetermined delivery displacement.

[0126] As an example, the preset delivery displacement is determined based on the difference between different constant visual forces corresponding to different regions of the target blood vessel and the predicted distal force of the interventional device. Specifically, for example, the preset delivery displacement can be calculated using the above formula (12).

[0127] For example, the predicted end force of the interventional device may include at least one of a first end force corresponding to the axial force of the interventional device's end, a second end force corresponding to the force applied to the interventional device's end in a direction perpendicular to the target blood vessel wall, and a third end force corresponding to the force applied to the interventional device's end in a direction toward a predetermined lesion. Furthermore, as an example, the predicted end force may be determined based on the elastic modulus, section moment of inertia, axial deformation, and trajectory length corresponding to the bending segment elastic continuum structure and the supporting segment elastic continuum structure, respectively, as well as the angle between the normal vector from the centerline node of the interventional device to the corresponding bending segment feature point and the blood vessel wall.

[0128] In addition, different constant visual forces have different thresholds associated with the first end force, the second end force, and the third end force, respectively.

[0129] As an example, the different regions of the target blood vessel may include a normal region, a branch region, and a diseased region. Specifically, in the normal region, the constant visual force used to determine the predetermined delivery displacement is a first threshold force associated with the force applied to the first end; in the branch region, the constant visual force used to determine the predetermined delivery displacement is a second threshold force associated with the force applied to the second end; and in the diseased region, the constant visual force used to determine the predetermined delivery displacement is a third threshold force associated with the force applied to the third end. Here, the first threshold force is greater than the second threshold force, and the second threshold force is greater than the first threshold force.

[0130] It should be noted that the operations performed on the above-mentioned structural frames can be compared with those in the reference Figure 1 The relevant contents described are similar and will not be repeated here.

[0131] Figure 9 is a block diagram illustrating a computing device 900 according to an embodiment of the present disclosure.

[0132] Reference Figure 9 According to an embodiment of the present disclosure, a computing device 900 may include a processor 910 and a memory 920. The processor 910 may include (but is not limited to) a central processing unit (CPU), a digital signal processor (DSP), a microcomputer, a field programmable gate array (FPGA), a system on a chip (SoC), a microprocessor, an application-specific integrated circuit (ASIC), and the like. The memory 920 may store computer-executable instructions to be executed by the processor 910. The memory 920 includes a high-speed random access memory and / or a non-volatile computer-readable storage medium. When the processor 910 executes the computer-executable instructions stored in the memory 920, the assisted navigation method based on safety maps and force feedback as described above may be implemented.

[0133] According to an embodiment of the present disclosure, the assisted navigation method based on a safety map and force feedback can be written as a computer program / instruction to form a computer program product and stored on a computer-readable storage medium. When the computer program / instruction is executed by a processor, the assisted navigation method based on a safety map and force feedback as described above can be implemented. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device / server, the electronic device / server is enabled to perform the assisted navigation method based on a safety map and force feedback as described above. Examples of computer-readable storage media include: read-only memory (ROM), random access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), card storage (such as, multimedia card, secure digital (SD) card or extreme digital (XD) card), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk and any other device, the any other device is configured to store the computer program and any associated data, data files and data structures in a non-transitory manner and provide the computer program and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the computer program. In one example, the computer program and any associated data, data files and data structures are distributed on a networked computer system so that the computer program and any associated data, data files and data structures are stored, accessed and executed in a distributed manner by one or more processors or computers.

[0134] According to the embodiments of the present disclosure, the assisted navigation method and device based on safety map and force feedback can achieve assisted navigation of interventional device delivery by determining the safety map for the target blood vessel and combining the force feedback mechanism, thereby improving the accuracy and operational safety of interventional device delivery.

[0135] On the other hand, the assisted navigation method and device based on safety map and force feedback according to the embodiments of the present disclosure effectively improves operational safety and greatly reduces operational risks by always maintaining a low-force state during instrument delivery.

[0136] Although some embodiments of the present disclosure have been disclosed and described, it will be understood by those skilled in the art that changes and modifications may be made to the embodiments without departing from the concept and spirit of the disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. An auxiliary navigation device based on a safety map and force feedback, characterized in that: The auxiliary navigation device includes: The data acquisition module is configured to: acquire angiographic image data of the target blood vessel; The safety map determination module is configured to: By segmenting the preset angiography area using pixel threshold information corresponding to the angiography image data, corresponding two-dimensional vascular area image data is obtained. performing a first skeletonization process and an end point extraction process for identifying end points of blood vessels on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data, performing a second skeletonization process on the processed two-dimensional vascular region image data to obtain corresponding one-dimensional vascular region image data, wherein the one-dimensional vascular region image data corresponds to a branch network structure diagram corresponding to the target blood vessel and consisting of endpoints and branch points; Performing one-dimensional planning processing on the one-dimensional blood vessel region image data to obtain a plurality of candidate trajectories from a preset starting position to a position of a preset lesion in the target blood vessel, determining safety scores corresponding to the plurality of candidate trajectories, and using the plurality of candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; a delivery control module configured to: control the interventional instrument to be delivered with a preset delivery displacement based on the safety map and a state parameter of the interventional instrument associated with the target blood vessel, so as to implement assisted navigation of the interventional instrument; The preset delivery displacement is determined based on a difference between different constant visual forces corresponding to different regions of the target blood vessel and a predicted distal end force of the interventional instrument.

2. The auxiliary navigation device according to claim 1, characterized in that: The state parameters include: a deformation amount and a deformation speed of the interventional instrument based on a preset delivery force corresponding to the preset delivery displacement.

3. The auxiliary navigation device according to claim 1, characterized in that: The predicted end force of the interventional instrument includes at least one of a first end force corresponding to an axial force at the end of the interventional instrument, a second end force corresponding to a force at the end of the interventional instrument in a direction perpendicular to the target blood vessel wall, and a third end force corresponding to a force at the end of the interventional instrument in a direction of the preset lesion, and The different constant visual forces respectively have different thresholds associated with the force on the first end, the force on the second end, and the force on the third end.

4. The auxiliary navigation device according to claim 1, characterized in that: The preset delivery displacement is calculated by the following formula: ， in, Represents a time series number and is a positive integer. Indicates the The preset delivery displacement of a time series, represents the predefined state feedback gain matrix, represents the predicted end force, represents the different constant visual forces, represents the residual between the predicted end force and the different constant visual forces.

5. The auxiliary navigation device according to claim 1, characterized in that: The operation of determining the safety scores corresponding to the plurality of candidate trajectories includes: determining a path hybrid cost sequence corresponding to each candidate trajectory of the plurality of candidate trajectories, wherein the path hybrid cost sequence is determined based on a trajectory cost of each candidate trajectory, a predefined weight value, a two-dimensional curvature value of different interval points on each candidate trajectory, and a blood vessel diameter at a plurality of nodes included in each candidate trajectory; The safety score is determined based on the path hybrid cost sequence.

6. The auxiliary navigation device according to claim 3, characterized in that: The interventional device has a hybrid physical model structure consisting of multiple sections of elastic continua made of different materials and includes a bending section elastic continuum structure and a supporting section elastic continuum structure, and Among them, the predicted end force is determined based on the elastic modulus, section inertia moment, axial deformation and trajectory length corresponding to the elastic continuum structure of the bending segment and the elastic continuum structure of the supporting segment, respectively, and the angle between the normal vector from the centerline node of the interventional instrument to the corresponding bending segment feature point and the blood vessel wall.

7. The auxiliary navigation device according to claim 3, characterized in that: The different regions of the target blood vessel include normal region, branch region and lesion region, wherein, in the normal region, the constant visual force used to determine the preset delivery displacement is a first threshold force associated with the force applied to the first end; wherein, in the branch region, the constant visual force used to determine the preset delivery displacement is a second threshold force associated with the force applied to the second end; Wherein, in the lesion area, the constant visual force used to determine the preset delivery displacement is a third threshold force associated with the force applied to the third end. The first threshold force is greater than the second threshold force and the second threshold force is greater than the third threshold force.

8. A computer program product, characterized in that The computer program product includes a computer program / instruction, and when the computer program / instruction is executed by a processor, the computer program / instruction implements the following assisted navigation method based on a safety map and force feedback: Acquiring angiographic imaging data of a target blood vessel; Segmenting a preset angiography region by using pixel threshold information corresponding to the angiography image data to obtain corresponding two-dimensional vascular region image data; performing a first skeletonization process and an end point extraction process for identifying end points of blood vessels on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data; performing a second skeletonization process on the processed two-dimensional vascular region image data to obtain corresponding one-dimensional vascular region image data, wherein the one-dimensional vascular region image data corresponds to a branch network structure graph corresponding to the target blood vessel and consisting of endpoints and branch points; performing one-dimensional planning processing on the one-dimensional blood vessel region image data to obtain a plurality of candidate trajectories including a position from a preset starting position to a preset lesion in the target blood vessel; determining safety scores corresponding to the plurality of candidate trajectories, and using the plurality of candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; Based on the safety map and the state parameter of the interventional instrument associated with the target blood vessel, the interventional instrument is controlled to be delivered with a preset delivery displacement, so as to achieve assisted navigation of the interventional instrument. The preset delivery displacement is determined based on a difference between different constant visual forces corresponding to different regions of the target blood vessel and a predicted distal end force of the interventional instrument.

9. A computing device, characterized in that The computing device includes: at least one processor; and at least one memory storing computer-executable instructions, wherein when the computer-executable instructions are executed by the at least one processor, the at least one processor is prompted to perform the following assisted navigation method based on a safety map and force feedback: Acquiring angiographic imaging data of a target blood vessel; Segmenting a preset angiography region by using pixel threshold information corresponding to the angiography image data to obtain corresponding two-dimensional vascular region image data; performing a first skeletonization process and an end point extraction process for identifying end points of blood vessels on the two-dimensional blood vessel region image data to obtain processed two-dimensional blood vessel region image data; performing a second skeletonization process on the processed two-dimensional vascular region image data to obtain corresponding one-dimensional vascular region image data, wherein the one-dimensional vascular region image data corresponds to a branch network structure graph corresponding to the target blood vessel and consisting of endpoints and branch points; performing one-dimensional planning processing on the one-dimensional blood vessel region image data to obtain a plurality of candidate trajectories including a position from a preset starting position to a preset lesion in the target blood vessel; determining safety scores corresponding to the plurality of candidate trajectories, and using the plurality of candidate trajectories and the corresponding safety scores as a safety map for the target blood vessel; Based on the safety map and the state parameter of the interventional instrument associated with the target blood vessel, the interventional instrument is controlled to be delivered with a preset delivery displacement, so as to achieve assisted navigation of the interventional instrument. The preset delivery displacement is determined based on a difference between different constant visual forces corresponding to different regions of the target blood vessel and a predicted distal end force of the interventional instrument.

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