Microcatheter shaping methods, systems, and related devices for assisting in the treatment of aneurysms

Abstract

The microcatheter shaping method, system and related equipment for assisting in treating aneurysm provided by the application relate to the technical field of image processing, and the microcatheter shaping method for assisting in treating aneurysm comprises the following steps: acquiring an image corresponding to an aneurysm to be treated and a blood vessel where the aneurysm is located; modeling the aneurysm and the blood vessel where the aneurysm is located as a whole according to the image to obtain a corresponding global model, wherein the global model comprises an aneurysm model and a blood vessel model; acquiring a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model according to the global model, and shaping a microcatheter based on the first key parameter and the second key parameter, so that the physical law and the shaping form of the head end of the aneurysm can be considered, the head end of the microcatheter can be ensured to be sent into the aneurysm, and the to-position rate and stability of the operation are improved.

Description

TECHNICAL FIELD

[0001] The present application generally relates to the technical field of image processing. More specifically, the present application relates to a microcatheter shaping method, system, medium and device for assisting in treating an aneurysm. BACKGROUND

[0002] An aneurysm refers to an abnormal bulge occurring on an arterial wall, and has a high prevalence rate. The most common treatment for an aneurysm is currently a coil embolization or a stent-assisted coil embolization. In such a surgical procedure, the successful positioning and stability of the head end of a microcatheter play a key role in the successful implementation of the surgery.

[0003] In order to ensure the positioning rate and stability of the surgery, the head end of the microcatheter generally needs to be shaped before the surgery is implemented. For the shaping of the microcatheter, current solutions mainly include modeling the microcatheter by using a Position Based Dynamics (PBD) model, modeling the microcatheter by using a Discrete Elastic Rods (DER) model, and modeling the microcatheter by using a combination of the PBD model and the DER model, and shaping the microcatheter according to the modeling results. These solutions are mainly directed to the simulation of the movement of the microcatheter inside the blood vessel, and only consider the traction, internal force and friction experienced by the microcatheter, as well as the collision with the blood vessel wall. Although these solutions can reflect the natural running of the microcatheter in compliance with the blood vessel, the attitude of the head end of the microcatheter does not necessarily conform to the physical laws, and thus cannot guarantee that the head end of the microcatheter is sent into the aneurysm, resulting in poor positioning rate and stability of the surgery.

[0004] Therefore, there is an urgent need to provide a microcatheter shaping solution to ensure the positioning rate and stability of the surgery. SUMMARY

[0005] In order to at least solve one or more of the above-mentioned technical problems, the present application proposes, in various aspects, a microcatheter shaping method, system, medium and device for assisting in treating an aneurysm.

[0006] In a first aspect, the present application proposes a microcatheter shaping method for assisting in treating an aneurysm, which comprises:

[0007] Obtaining an image corresponding to an aneurysm to be treated and a blood vessel where the aneurysm is located.

[0008] Modeling the aneurysm and the blood vessel where the aneurysm is located as a whole according to the image to obtain a corresponding global model, wherein the global model comprises an aneurysm model and a blood vessel model.

[0009] According to the global model, a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model are obtained, wherein the first key parameter at least includes a center point, an apex point and a neck center point of the aneurysm model, and the second key parameter at least includes a center line of the blood vessel model.

[0010] Based on the first key parameter and the second key parameter, a microcatheter is shaped.

[0011] In some examples, obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel includes:

[0012] Obtaining a midpoint A of a vector of an apex point M of the aneurysm model and a center point N of a first blood vessel wall where the aneurysm model is located, taking the apex point M as the apex point of the aneurysm model, taking the midpoint A as the center point of the aneurysm model, and taking the center point N as the neck center point of the aneurysm model;

[0013] Obtaining an intersection point B of an extension line of a vector and a second blood vessel wall where the aneurysm model is located, wherein the second blood vessel wall is located on the opposite side of the first blood vessel wall.

[0014] In some examples, obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel includes:

[0015] Obtaining a center line of the blood vessel model, and taking an attitude of the center line as an initial attitude of the microcatheter;

[0016] According to the initial attitude of the microcatheter, a microcatheter model is obtained by modeling the microcatheter.

[0017] In some examples, obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel further includes:

[0018] Obtaining a midpoint O of a vector of the center point N and the intersection point B, and a point closest to the midpoint O on the center line as a reference point C;

[0019] In the direction of the distal end, a point on the center line with a distance of a preset first threshold value from the reference point C is obtained, to obtain a reference point D;

[0020] In the direction of the proximal end, points on the center line with distances of preset second threshold value and third threshold value from the reference point C are respectively obtained, to obtain a point E and a point F.

[0021] In some examples, after the point E and the point F are obtained, the method further includes:

[0022] point F is taken as the tail end of the microcatheter model, and point E is taken as the head end of the microcatheter model;

[0023] At point F, a pushing force is applied to the microcatheter model, so that the microcatheter model moves in the blood vessel model;

[0024] During the movement of the microcatheter model, the current position of point E is acquired in real time.

[0025] In some examples, shaping the microcatheter based on the first key parameter and the second key parameter includes:

[0026] When the current position of point E is between the center N and the midpoint A, the pushing force applied to the microcatheter model is stopped;

[0027] With the intersection point B as a reference point, a preset number of points on the second blood vessel wall are randomly acquired within a preset region range, to obtain a first point set;

[0028] The geodesic distance between each point in the first point set and the intersection point B is calculated respectively, to obtain a point whose geodesic distance is less than a preset fourth threshold value, and to obtain a second point set;

[0029] The Euler distance between each point in the second point set and the corresponding nearest point on the microcatheter model is calculated respectively, to obtain a first distance set;

[0030] The point on the microcatheter corresponding to the smallest distance in the first distance set is taken as a support point G;

[0031] The support point G, the center point N and the midpoint A are connected, and the pose of the generated curve GNA is taken as the pose of the head end of the microcatheter;

[0032] According to the pose of the head end of the microcatheter, the microcatheter is shaped.

[0033] In some examples, shaping the microcatheter based on the first key parameter and the second key parameter further includes:

[0034] When the current position of point E is between the reference point C and the reference point D, the pushing force applied to the microcatheter model is stopped;

[0035] The cross product vector of the vector where NC is located and the tangent vector of point C is obtained, the intersection point H of the cross product vector and the plane determined by NC is obtained, and a plurality of points on the microcatheter model within a preset distance from the intersection point H are randomly selected to obtain a third point set;

[0036] a second distance set is obtained by calculating the Euler distance between each point in the third point set and the corresponding nearest point on the first blood vessel wall;

[0037] a distance with the smallest value in the second distance set is obtained, and a point on the microcatheter model corresponding to the distance is taken as a support point K of the microcatheter model;

[0038] the support point K, the intersection point B, the center point N and the midpoint A are connected, and a posture of a generated curve GBNA is taken as a posture of the head end of the microcatheter;

[0039] According to the posture of the head end of the microcatheter, the microcatheter is shaped.

[0040] In a second aspect, the microcatheter shaping system for assisting in treating an aneurysm includes:

[0041] A first obtaining module is configured to obtain an image corresponding to an aneurysm to be treated and a blood vessel where the aneurysm is located;

[0042] A modeling module is configured to model the aneurysm and the blood vessel as a whole according to the image to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model;

[0043] A second obtaining module is configured to obtain a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model according to the global model, wherein the first key parameter at least includes a center point, a vertex and an aneurysm neck center point of the aneurysm model, and the second key parameter at least includes a center line of the blood vessel model;

[0044] A shaping model is configured to shape a microcatheter based on the first key parameter and the second key parameter.

[0045] In a third aspect, the present application provides a computer readable storage medium containing program instructions, when the program instructions are executed by a processor, the method described in the first aspect is realized.

[0046] In a fourth aspect, the present application provides an electronic device, which includes:

[0047] a processor; and

[0048] a memory storing computer instructions, when the computer instructions are run by the processor, the electronic device executes the method described in the first aspect.

[0049] By means of the microcatheter shaping method, system, medium and device for assisting in treating aneurysm provided above, the microcatheter is shaped based on the first key parameter and the second key parameter, the method combining physical model simulation and graphic head shaping can take into account the physical law and aneurysm head shaping form, and can ensure that the head of the microcatheter is sent into the aneurysm, thereby improving the to-position rate and stability of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0050] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example. In the drawings, the same or corresponding parts are denoted by the same or corresponding reference numerals, and:

[0051] Figure 1 An exemplary flowchart of a microcatheter shaping method for assisting in treating aneurysm according to some embodiments of the present application is shown;

[0052] Figure 2 An exemplary schematic diagram of a global model including a blood vessel model and an aneurysm model according to some embodiments of the present application is shown;

[0053] Figure 3 An exemplary labeled schematic diagram of a first key parameter corresponding to an aneurysm model and a second key parameter corresponding to a blood vessel model according to some embodiments of the present application is shown;

[0054] Figure 4 Another exemplary labeled schematic diagram of a first key parameter corresponding to an aneurysm model and a second key parameter corresponding to a blood vessel model according to some embodiments of the present application is shown;

[0055] Figure 5 An exemplary structural block diagram of a microcatheter shaping system for assisting in treating aneurysm according to some embodiments of the present application is shown;

[0056] Figure 6 An exemplary structural block diagram of an electronic device according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0058] It should be understood that the terms "comprises" and "comprising," when used in the specification and claims of this application, indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0059] It should also be understood that the terms used in the specification and the claims are not to be interpreted as limiting, but rather as describing specific embodiments of the application. As used in this specification and the claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0060] As used in this specification and claims, the terms "if' and "when" can each be interpreted to mean "when" or "if," depending on the context. Similarly, the phrase "if it is determined" or "if it is detected" can each be interpreted to mean "if it is determined that' or "if it is detected that," or "upon determining" or "upon detecting," depending on the context.

[0061] The specific embodiments of the present application will now be described in detail below with reference to the accompanying drawings.

[0062] Terminology

[0063] CTA images are images obtained by computed tomography angiography technology, which is a non-invasive blood vessel imaging technology. The basic principle is to inject a contrast agent containing iodine intravenously, then perform CT scanning, and process the images obtained by CT scanning through a computer to form a three-dimensional blood vessel image. CTA images are also called CT angiography images.

[0064] MRA images refer to blood vessel images obtained by magnetic resonance angiography (MRA) technology. MRA is a non-invasive medical imaging method that uses magnetic resonance imaging technology to display blood vessel structure and blood flow conditions. It does not require X-ray and contrast agent injection (in some cases, contrast agent is used), generates blood vessel images by detecting blood flow signals, and is widely used in the examination of cardiovascular, cerebrovascular, peripheral vascular and other diseases.

[0065] DSA image (Digital Subtraction Angiography, DSA for short) is a kind of angiography method through computer-aided imaging. Through X-ray penetration of human tissue, the image information of tissue and blood vessels is captured, which is suitable for the examination of systemic vascular diseases such as coronary heart disease, arrhythmia, acute cerebral stroke and tumor.

[0066] Geodesic distance refers to the distance between two points along the shortest path on a curved surface in geometric space or manifold. Essentially, geodesic distance describes the actual "walking distance" in space, and its typical calculation process includes Dijkstra algorithm and Floyd-Warshall algorithm.

[0067] Figure 1 An exemplary flowchart of the microcatheter shaping method for assisting in treating an aneurysm provided by the embodiments of the present application is shown.

[0068] As shown in Figure 1 The microcatheter shaping method for assisting in treating an aneurysm provided by the embodiments of the present application includes the following steps:

[0069] First, at step S101, an image corresponding to an aneurysm to be treated and a blood vessel where the aneurysm is located is acquired.

[0070] Specifically, the image is stored in a local or cloud server in DICOM format.

[0071] Next, at step S102, the aneurysm and the blood vessel where the aneurysm is located are modeled as a whole according to the image, to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model.

[0072] Specifically, the image includes a CTA image or an MRA image or a DSA image.

[0073] Specifically, the embodiments of the present application use a universal linear physical model for modeling, which includes but is not limited to a PBD model or a DER model. The main principle of the PBD model or the DER model is to update the current position and velocity of an object by the internal force, external force and relative position relationship of the object at each atomic time. Since the PBD model updates the position at the next time and corrects the current position by the position relationship, the simulation efficiency is high and the effect is stable. The DER model needs to solve the balance equation of elastic and torsional energy at each time, so the efficiency is relatively low and the simulation result is unstable. The global model obtained by the embodiments of the present application is shown in Figure 2 , wherein the global model includes a blood vessel model and an aneurysm model.

[0074] Then, at step S103, according to the global model, a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model are obtained, wherein the first key parameter at least includes a center point, a vertex and a neck center point of the aneurysm model, and the second key parameter at least includes a center line of the blood vessel model.

[0075] Specifically, the aneurysm generally has a spherical shape, the center of the sphere can be taken as the center point of the aneurysm model, and the end point of the sphere away from the blood vessel can be taken as the vertex of the aneurysm model.

[0076] In some examples, step S103 includes the following steps:

[0077] A midpoint A of a vector passing through a vertex M of the aneurysm model and a center point N of the first blood vessel wall where the aneurysm model is located is obtained, the vertex M is taken as the vertex of the aneurysm model, the midpoint A is taken as the center point of the aneurysm model, and the center point N is taken as the neck center point of the aneurysm model.

[0078] An extension line of a vector passing through the center point N and an intersection point B of the second blood vessel wall where the aneurysm model is located is obtained, the intersection point B is taken as a support point on the blood vessel model, and the second blood vessel wall is located on the opposite side of the first blood vessel wall.

[0079] In some examples, step S103 further includes the following steps:

[0080] A center line of the blood vessel model is obtained, and a pose of the center line is taken as an initial pose of the microcatheter.

[0081] According to the initial pose of the microcatheter, the microcatheter is modeled to obtain a microcatheter model.

[0082] Specifically, the pose of the center line includes a length and a walking direction of the center line. The walking direction of the center line is consistent with the bending angle of the at least two levels of bending of the corresponding blood vessel model.

[0083] In some examples, step S103 further includes the following steps:

[0084] A midpoint O of a vector passing through the center point N and the intersection point B is obtained, and a point on the center line closest to the midpoint O is taken as a reference point C.

[0085] In the distal end direction, a point on the center line with a distance of a first threshold value from the reference point C is obtained to obtain a reference point D.

[0086] In some examples, the first threshold value is 2R, where R is the average diameter of the blood vessel where the aneurysm is located.

[0087] In the proximal end direction, points on the center line with a distance of a preset second threshold and a preset third threshold from the reference point C are obtained respectively to obtain points E and F.

[0088] In some examples, the second threshold is 5 millimeters and the third threshold is 10 millimeters.

[0089] In some examples, after obtaining the points E and F, the method further includes:

[0090] The point F is taken as the tail end of the microcatheter model, and the point E is taken as the head end of the microcatheter model.

[0091] At the point F, a pushing force is applied to the microcatheter model so that the microcatheter model moves in the blood vessel model.

[0092] During the movement of the microcatheter model, the current position of the point E is obtained in real time.

[0093] Then, at step S104, the microcatheter is shaped based on the first key parameter and the second key parameter.

[0094] In some examples, step S104 includes:

[0095] The current position of the point E is obtained in real time.

[0096] When the current position of the point E is between the center point N and the midpoint A, the pushing force applied to the microcatheter model is stopped.

[0097] Specifically, as shown in Figure 3 When the current position of the point E is between the center point N and the midpoint A, it means that the head end of the microcatheter has reached the aneurysm, and the support point G can be directly found near the intersection point B. The dashed line in the blood vessel model is the center line of the blood vessel model, and the solid line in the blood vessel model is the microcatheter model.

[0098] In this case,

[0099] With the intersection point B as a reference point, a preset number of points on the second blood vessel wall within a preset region range are randomly obtained to obtain a first point set.

[0100] The geodesic distance between each point in the first point set and the intersection point B is calculated respectively to obtain points with a geodesic distance less than a preset fourth threshold to obtain a second point set.

[0101] The Euler distance between each point in the second point set and the corresponding nearest point on the microcatheter model is calculated respectively to obtain a first distance set.

[0102] The point on the microcatheter corresponding to the smallest distance in the first distance set is taken as the support point G.

[0103] Connecting the support point G, the center point N and the midpoint A, the posture of the generated curve GNA is taken as the posture of the head end of the microcatheter, which ensures that the head end of the microcatheter is sent into the aneurysm.

[0104] Specifically, since the blood vessel wall is in a curved shape, the distance between each point on the blood vessel wall is a geodesic distance, and each point in the second point set has a one-to-one correspondence with each nearest point on the microcatheter model.

[0105] According to the posture of the head end of the microcatheter, the microcatheter is shaped.

[0106] Specifically, the posture of the curve GNA is the posture of the head end of the microcatheter, a plurality of (not less than 5) points behind the midpoint A on the microcatheter model are obtained along the direction of the curve GNA, and a spline fitting process is performed on the support point G, the center point N, the midpoint A and the plurality of points behind the midpoint A to obtain a smooth curve of the entire microcatheter model. According to the smooth curve, the microcatheter is shaped as a whole. Finally, the length of the obtained microcatheter is about 25 millimeters.

[0107] In some examples, step S104 further includes:

[0108] When the current position of the point E is between the reference point C and the reference point D, stop applying the pushing force to the microcatheter model.

[0109] Specifically, as shown in Figure 4 When the current position of the point E is between the reference point C and the reference point D, it means that the head end of the microcatheter cannot reach the aneurysm, and the support point G cannot be directly found near the intersection B.

[0110] In this case,

[0111] An intersection vector of the NC vector and the tangent vector of the point C is obtained, an intersection H of the intersection vector and a plane determined by the NC is obtained, a plurality of points on the microcatheter model within a predetermined distance from the intersection H (towards the F point) are randomly selected, and a third point set is obtained;

[0112] The Euler distance between each point in the third point set and each nearest point on the first blood vessel wall is calculated respectively, and a second distance set is obtained;

[0113] The smallest distance in the second distance set is obtained, and the point on the microcatheter model corresponding to the distance is taken as the support point K of the microcatheter model;

[0114] The support point K, the intersection point B, the center point N and the midpoint A are connected, the posture of the generated curve KBNA is taken as the posture of the head end of the microcatheter, and the head end of the microcatheter is further ensured to be sent into the aneurysm.

[0115] Specifically, since the microcatheter is in a linear shape, the distance between each point on the microcatheter is the Euler distance, and each point in the third point set has a one-to-one correspondence with each nearest point on the first blood vessel wall.

[0116] According to the posture of the head end of the microcatheter, the microcatheter is shaped.

[0117] Specifically, the posture of the curve KBNA is the posture of the head end of the microcatheter, a plurality of (not less than 5) points behind the midpoint A are obtained on the microcatheter model along the walking direction of the curve KBNA, a spline fitting process is performed on the support point K, the intersection point B, the center point N, the midpoint A and the plurality of points behind the midpoint A, a smooth curve of the whole microcatheter model is obtained, and the microcatheter is shaped as a whole according to the smooth curve. Finally, the length of the obtained microcatheter is about 30 millimeters.

[0118] As shown in Figure 5 , the microcatheter shaping system for assisting in treating an aneurysm provided by the embodiments of the present application comprises:

[0119] The first acquisition module is configured to acquire an image corresponding to an aneurysm to be treated and a blood vessel where the aneurysm is located;

[0120] The modeling module is configured to model the aneurysm and the blood vessel as a whole according to the image to obtain a corresponding global model, wherein the global model comprises an aneurysm model and a blood vessel model;

[0121] The second acquisition module is configured to acquire a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model according to the global model, wherein the first key parameter at least includes a center point, a vertex and an aneurysm neck center point of the aneurysm model, and the second key parameter at least includes a center line of the blood vessel model.

[0122] The shaping model is configured to shape a microcatheter based on the first key parameter and the second key parameter.

[0123] In another aspect, the embodiments of the present application also provide an electronic device, as shown in Figure 6 , Figure 6 is an exemplary structural block diagram of an electronic device according to an embodiment of the present application, as shown in Figure 6 , the electronic device comprises a processor and a memory, the memory stores computer instructions, and the processor executes the computer instructions to perform the method provided by the present application.

[0124] Specifically, the processor 601 can include a central processing unit (CPU) or a graphics processing unit (GPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits that embody the embodiments of the present application. The memory 602 can include a memory for data or instructions. For example, the memory 602 can be at least one of a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, a universal serial bus (USB) drive, or other physical / tangible memory storage device. Also, for example, the memory 602 includes a removable or non-removable (or fixed) medium. Further, for example, the memory 602 can be internal or external to the integrated gateway disaster recovery device. The memory 602 can be a non-volatile solid-state memory. In other words, generally, the memory 602 includes a tangible (non-transitory) computer-readable storage medium (such as a memory device) encoded with executable instructions, where the stored executable instructions, when executed by the processor 601 (such as by one or more processors), implement the methods in the embodiments of the present application.

[0125] In one example, Figure 6 The electronic device shown can also include a communication interface 603 and a bus 610. The processor 601, the memory 602, and the communication interface 603 are connected through the bus 610 and complete communication with each other. The communication interface 603 is mainly used to realize the communication between the modules, devices, units, and / or devices in the electronic device. The bus 610 includes hardware, software, or both, which can couple the components of the online data traffic billing device to each other. For example, the bus can include at least one of an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a frontside bus (FSB), a hypertransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus. The bus 610 can include one or more buses. Although the embodiments of the present application describe or show a specific bus, the embodiments of the present application can consider any suitable bus or interconnection method.

[0126] In another aspect, embodiments of this application also provide a computer-readable storage medium storing computer program instructions that, when executed by a processor, implement the aforementioned method. The computer-readable storage medium may be, for example, a classic computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), disk storage medium, optical storage medium, flash memory, or other electrical, optical, or other physical / tangible memory storage device.

[0127] In another aspect, embodiments of this application also provide a computer program product, which includes computer program instructions that, when executed by a processor, implement the method provided in embodiments of this application. This computer program product may be, for example, a software installation package, a plug-in compatible with a related software system, etc.

[0128] The flowcharts and / or block diagrams of the methods and systems of embodiments of this application have been described above by way of example, and related aspects have been described. It should be understood that each block or combination thereof in the flowcharts and / or block diagrams can be implemented by computer program instructions, by dedicated hardware performing a specified function or action, or by a combination of dedicated hardware and computer instructions. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc.; when implemented in software, it is a program or code segment used to perform the required task. The program or code segment can be stored in memory or transmitted over a transmission medium or communication link via data signals carried in a carrier wave. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0129] While numerous embodiments of this application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will arise for those skilled in the art without departing from the spirit and intent of this application. It should be understood that various alternatives to the embodiments of this application described herein may be employed in the practice of this application. The appended claims are intended to define the scope of protection of this application and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A microcatheter shaping method for adjuvant treatment of aneurysms, comprising: Acquire images of the aneurysm to be treated and the corresponding blood vessel where the aneurysm is located; Based on the image, the aneurysm and the blood vessel in which the aneurysm is located are modeled as a whole to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model; Based on the global model, the first key parameter corresponding to the aneurysm model and the second key parameter corresponding to the blood vessel model are obtained, wherein the first key parameter includes at least the center point, vertex and neck center point of the aneurysm model, and the second key parameter includes at least the center line of the blood vessel model. The microcatheter is shaped based on the first key parameter and the second key parameter; The process of shaping the microcatheter based on the first key parameter and the second key parameter includes: The orientation of the centerline of the vascular model is used as the initial orientation of the microcatheter; Based on the initial posture of the microcatheter, the microcatheter is modeled to obtain a microcatheter model; A thrust is applied to the microcatheter model, causing the microcatheter model to move within the blood vessel model; During the movement of the microcatheter model, the current position of the tip of the microcatheter model is acquired in real time; Based on the current position of the tip of the microcatheter model and the center point, apex and neck center point of the aneurysm model, the microcatheter is shaped.

2. The microcatheter shaping method according to claim 1, characterized in that, Obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel includes: Obtain the vector containing the vertex M of the aneurysm model and the center point N of the aneurysm model located on the first blood vessel wall. The midpoint A is used as the vertex M of the aneurysm model, the midpoint A is used as the center point of the aneurysm model, and the center point N is used as the center point of the aneurysm neck of the aneurysm model. Get vector The extension of the line intersects at point B with the second vessel wall where the aneurysm model is located, wherein the second vessel wall is located on the opposite side of the first vessel wall.

3. The microcatheter shaping method according to claim 2, characterized in that, Obtaining the first key parameter corresponding to the aneurysm and the second key parameter corresponding to the blood vessel also includes: Obtain the vector containing the center point N and the intersection point B. The midpoint O and the point on the center line closest to the midpoint O are taken as reference points C; In the distal direction, a point on the center line at a distance of a preset first threshold from the reference point C is obtained to obtain the reference point D; In the proximal direction, points E and F are obtained at distances of a preset second threshold and a third threshold from the reference point C on the center line, respectively.

4. The microcatheter shaping method according to claim 3, characterized in that, After obtaining points E and F, the method further includes: Point F is designated as the tail end of the microcatheter model, and point E is designated as the head end of the microcatheter model. At point F, a thrust is applied to the microcatheter model, causing the microcatheter model to move within the blood vessel model; During the movement of the microcatheter model, the current position of point E is acquired in real time.

5. The microcatheter shaping method according to claim 4, characterized in that, Shaping the microcatheter based on the first key parameter and the second key parameter includes: When point E is currently positioned between center N and midpoint A, stop applying thrust to the microcatheter model; Using intersection point B as a reference point, within a preset area, a preset number of points are randomly selected on the second blood vessel wall to obtain the first point set; Calculate the geodesic distance between each point in the first point set and the intersection point B, and obtain the points whose geodesic distance is less than the preset fourth threshold to obtain the second point set; Calculate the Eulerian distance between each point in the second set of points and the nearest corresponding point on the microcatheter model to obtain the first set of distances; The point on the microcatheter corresponding to the smallest distance in the first distance set is taken as the support point G; Connect the support point G, the center point N, and the midpoint A, and use the orientation of the generated curve GNA as the orientation of the microcatheter tip. The microcatheter is shaped according to the orientation of its tip.

6. The microcatheter shaping method according to claim 4, characterized in that, Shaping the microcatheter based on the first key parameter and the second key parameter further includes: When point E is currently positioned between reference point C and reference point D, stop applying thrust to the microcatheter model. Obtain the cross product vector of the vector containing NC and the tangent vector at point C. Obtain the intersection point H of the cross product vector, the plane determined by NC, and the microcatheter model. Backtrack a preset distance from the intersection point H and randomly select multiple points on the microcatheter model within the distance range to obtain a third set of points. Calculate the Eulerian distance between each point in the third set of points and the nearest point on the first blood vessel wall to obtain the second set of distances; Obtain the distance with the smallest value from the second distance set, and use the point on the microcatheter model corresponding to the distance as the support point K of the microcatheter model; Connect the support point K, intersection point B, center point N and midpoint A, and use the orientation of the generated curve KBNA as the orientation of the microcatheter tip. The microcatheter is shaped according to the orientation of its tip.

7. A microcatheter shaping system for adjuvant treatment of aneurysms, comprising: The first acquisition module is configured to acquire images of the aneurysm to be treated and the blood vessel where the aneurysm is located; The modeling module is configured to perform overall modeling of the aneurysm and the blood vessel based on the image to obtain a corresponding global model, wherein the global model includes an aneurysm model and a blood vessel model; The second acquisition module is configured to acquire, based on the global model, a first key parameter corresponding to the aneurysm model and a second key parameter corresponding to the blood vessel model, wherein the first key parameter includes at least the center point, vertex and neck center point of the aneurysm model, and the second key parameter includes at least the centerline of the blood vessel model. The shaping module is configured to shape the microcatheter based on the first key parameter and the second key parameter; The shaping module is specifically used for: The orientation of the centerline of the vascular model is used as the initial orientation of the microcatheter; Based on the initial posture of the microcatheter, the microcatheter is modeled to obtain a microcatheter model; A thrust is applied to the microcatheter model, causing the microcatheter model to move within the blood vessel model; During the movement of the microcatheter model, the current position of the tip of the microcatheter model is acquired in real time; Based on the current position of the tip of the microcatheter model and the center point, apex and neck center point of the aneurysm model, the microcatheter is shaped.

8. A computer-readable storage medium, characterized in that, It includes program instructions that, when executed by a processor, cause the method described in any one of claims 1-6 to be implemented.

9. An electronic device, characterized in that, include: processor; as well as A memory storing computer instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1-6.

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