Blood flow guiding dense mesh stent path planning method and device based on hemodynamics, equipment and storage medium

Abstract

The application discloses a blood flow guiding dense mesh stent path planning method and device based on hemodynamics, equipment and storage medium, including reconstructing a three-dimensional blood vessel geometric model based on medical image data, performing hemodynamic simulation, and obtaining a blood flow velocity field; blood flow with a flow velocity higher than a flow velocity threshold is defined as a jet flow, and a spatial main path thereof is generated as a jet flow path, wherein the jet flow path is divided into a first jet flow path in a blood vessel near a tumor cavity, a second jet flow path in the tumor cavity, and a third jet flow path in a blood vessel far from the tumor cavity; a front sub-path is cut from the starting point of the second jet flow path as a jet flow compliance section, the first jet flow path, the jet flow compliance section and the third jet flow path are spliced in sequence, and an interpolation section is generated between the end point of the jet flow compliance section and the starting point of the third jet flow path based on the splicing result, forming a reference path for guiding blood flow guiding dense mesh stent implantation, thereby significantly reducing jet penetration flow and residual vortex.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical image processing, in particular to a blood flow guiding dense mesh stent path planning method and device based on hemodynamics, equipment and a storage medium. BACKGROUND

[0002] In the endovascular treatment of intracranial aneurysms, the blood flow guiding dense mesh stent reconstructs the local hemodynamic environment by constructing a high metal coverage mesh structure in the parent artery. Its main treatment mechanism is to form a new blood flow main channel in the stent coverage area, guide the blood flow to adhere to the vessel wall and pass smoothly, significantly reduce the blood flow velocity into the aneurysm cavity, and thus promote the blood flow stagnation and thrombosis in the aneurysm cavity, and ultimately achieve the gradual occlusion of the aneurysm and the reconstruction of the parent artery.

[0003] Ideally, the stent should be basically parallel to the blood flow direction into the aneurysm and fully adhere to the vessel wall to maximize its flow guiding and flow shielding effect. However, in clinical practice, the stent implantation path usually uses the traditional planning method based on the geometric centerline of the blood vessel. This centerline only reflects the geometric shape of the blood vessel and does not consider the actual hemodynamic characteristics. Especially when the blood vessel anatomic structure is complex, such as the aneurysm neck entering at an acute angle, there are bifurcations or tortuous running, the spatial main path of high-speed blood flow into the aneurysm often deviates significantly from the centerline of the blood vessel in the aneurysm cavity area. In such cases, the stent released along the centerline is difficult to keep consistent with the actual blood flow direction, resulting in some high-energy blood flow directly penetrating the stent mesh into the aneurysm, i.e. the "blood flow penetration" phenomenon. This penetration not only weakens the blood flow guiding effect of the stent, but also may maintain the aneurysm blood perfusion, delay or even hinder the thrombosis process, increasing the risk of postoperative recurrence or rupture. SUMMARY

[0004] Based on this, the present application provides a blood flow guiding dense mesh stent path planning method, device, equipment and storage medium based on hemodynamics to solve the above technical problems.

[0005] In one aspect, the present application provides a blood flow guiding dense mesh stent path planning method based on hemodynamics, which comprises:

[0006] Obtaining medical image data of a patient, reconstructing a three-dimensional blood vessel geometric model containing a parent artery and an aneurysm;

[0007] Based on the three-dimensional blood vessel geometric model, hemodynamic simulation is performed to obtain a blood flow velocity field;

[0008] setting a flow rate threshold based on the blood flow velocity field, defining blood flow with a flow rate higher than the flow rate threshold as a jet flow, and generating a spatial main stem path thereof as a jet flow path, wherein the jet flow path is a continuous path and is divided into a first jet flow path in a blood vessel proximal to a tumor cavity, a second jet flow path in the tumor cavity, and a third jet flow path in a blood vessel distal to the tumor cavity according to an anatomical position thereof in the blood vessel;

[0009] cutting a front sub-path from a starting point of the second jet flow path as a jet flow compliance segment, concatenating the first jet flow path, the jet flow compliance segment, and the third jet flow path in sequence, and generating an interpolation segment between an ending point of the jet flow compliance segment and a starting point of the third jet flow path based on a concatenation result to form a reference path for guiding blood flow diversion stent implantation.

[0010] In one embodiment, the generating the spatial main stem path of the jet flow includes:

[0011] extracting grid cells with a blood flow velocity higher than the flow rate threshold to form a jet flow grid;

[0012] obtaining all vertices of the jet flow grid to form a jet flow domain point cloud;

[0013] performing three-dimensional surface reconstruction based on the jet flow domain point cloud to obtain a jet flow domain surface;

[0014] processing the jet flow domain surface to obtain a jet flow path composed of ordered three-dimensional coordinate points.

[0015] In one embodiment, the three-dimensional surface reconstruction is performed by surface reconstruction on the jet flow domain point cloud, or by mapping jet flow domain point cloud coordinates back to corresponding voxels in the original medical image, labeling the voxels as jet flow voxels, and reconstructing the jet flow domain surface using a marching cubes algorithm.

[0016] In one embodiment, the jet flow compliance segment is composed of a front sub-path starting from the starting point of the second jet flow path and proportionally cut from the second jet flow path. The proportion is a jet flow compliance coefficient. The jet flow compliance coefficient is a ratio of a length of the jet flow compliance segment to a length of the second jet flow path. ;

[0017] When the jet flow compliance coefficient is 0, the jet flow compliance segment is empty. When the jet flow compliance coefficient is 1, the jet flow compliance segment is the complete second jet flow path.

[0018] When the jet flow compliance coefficient is between 0 and 1, the jet flow compliance segment is a sub-path of the second jet flow path. In one embodiment, the second jet flow path is composed of ordered spatial points, and the jet flow compliance segment is composed of consecutive points starting from the starting point of the second jet flow path and having a number equal to an integer obtained by multiplying the number of ordered spatial points included in the second jet flow path by the jet flow compliance coefficient and then taking the integer part.

[0019] ​​

[0020] In one embodiment, the step of sequentially splicing the first jet path, the jet compliance segment, and the third jet path, and generating an interpolation segment between the end point of the jet compliance segment and the start point of the third jet path based on the splicing result to form a reference path for guiding the implantation of a blood flow guiding mesh stent includes:

[0021] The first jet path, the jet compliant segment, and the third jet path are sequentially spliced ​​together to form an initial path;

[0022] An interpolation segment is generated based on the initial path. The interpolation segment is obtained by performing global curve fitting on the initial path and uniformly sampling between the end point of the jet compliance segment and the starting point of the third jet path.

[0023] The interpolation segment connects the jet compliance segment and the third jet path to form a reference path for guiding blood flow into the implantation of the mesh stent.

[0024] In one embodiment, the interpolation segment is obtained by fitting a cubic spline curve to the initial path and sampling uniformly.

[0025] On the other hand, the present invention provides a blood flow guiding dense mesh stent path planning device based on hemodynamics, the device comprising:

[0026] The 3D model building module is used to acquire the patient's medical imaging data and reconstruct a 3D vascular geometry model including the tumor-bearing artery and the aneurysm.

[0027] The hemodynamics calculation module is used to perform hemodynamics simulation based on the three-dimensional vascular geometry model to obtain the blood flow velocity field;

[0028] The jet path extraction module is used to set a flow velocity threshold based on the blood flow velocity field, define blood flow with a flow velocity higher than the flow velocity threshold as a jet, and generate its spatial trunk path as the jet path. The jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the aneurysm cavity, a second jet path in the aneurysm cavity, and a third jet path in the distal blood vessel of the aneurysm cavity according to its anatomical position in the blood vessel.

[0029] The reference path generation module is used to extract the front sub-path from the starting point of the second jet path as a jet compliance segment, splice the first jet path, the jet compliance segment, and the third jet path in sequence, and generate an interpolation segment between the end point of the jet compliance segment and the starting point of the third jet path based on the splicing result, forming a reference path for guiding blood flow to the implantation of the dense mesh stent.

[0030] In another aspect, the present invention provides a computer device, including a memory and a processor, wherein the processor performs the following steps when executing the computer program:

[0031] Acquire the patient's medical imaging data and reconstruct a three-dimensional vascular geometry model including the tumor-bearing artery and the aneurysm;

[0032] Based on the aforementioned three-dimensional vascular geometry model, hemodynamic simulation was performed to obtain the blood flow velocity field;

[0033] Based on the blood flow velocity field, a flow velocity threshold is set, and blood flow with a flow velocity higher than the flow velocity threshold is defined as a jet. Its spatial main path is generated as the jet path, wherein the jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the tumor cavity, a second jet path in the tumor cavity, and a third jet path in the distal blood vessel of the tumor cavity according to its anatomical position in the blood vessel.

[0034] The first part of the sub-path is taken from the starting point of the second jet path as the jet compliance segment. The first jet path, the jet compliance segment, and the third jet path are spliced ​​together in sequence. Based on the splicing result, an interpolation segment is generated between the end point of the jet compliance segment and the starting point of the third jet path to form a reference path for guiding the implantation of the blood flow guiding mesh stent.

[0035] In another aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the following steps:

[0036] Acquire the patient's medical imaging data and reconstruct a three-dimensional vascular geometry model including the tumor-bearing artery and the aneurysm;

[0037] Based on the aforementioned three-dimensional vascular geometry model, hemodynamic simulation was performed to obtain the blood flow velocity field;

[0038] Based on the blood flow velocity field, a flow velocity threshold is set, and blood flow with a flow velocity higher than the flow velocity threshold is defined as a jet. Its spatial main path is generated as the jet path, wherein the jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the tumor cavity, a second jet path in the tumor cavity, and a third jet path in the distal blood vessel of the tumor cavity according to its anatomical position in the blood vessel.

[0039] The first part of the sub-path is taken from the starting point of the second jet path as the jet compliance segment. The first jet path, the jet compliance segment, and the third jet path are spliced ​​together in sequence. Based on the splicing result, an interpolation segment is generated between the end point of the jet compliance segment and the starting point of the third jet path to form a reference path for guiding the implantation of the blood flow guiding mesh stent.

[0040] Compared with existing technologies, this invention combines path planning for flow-guided mesh stents with hemodynamic simulation results. It quantitatively generates a stent reference trajectory based on the spatial path of the high-speed jet entering the tumor, eliminating the traditional subjective planning method that relies on the vessel centerline or surgeon experience. By extracting key segments from the high-speed jet path within the tumor cavity as jet compliance segments, the stent closely conforms to the actual flow direction in the high-energy blood flow impact area, significantly improving flow shielding efficiency. Simultaneously, interpolation segments based on global curve fitting are introduced at the discontinuities of the spliced ​​path, ensuring both the geometric continuity and curvature smoothness of the entire reference path, and guaranteeing smooth stent delivery and deployment. Overall, the path planning method of this invention significantly reduces the risk of jet penetration and residual vortices within the tumor caused by the inconsistency between the stent direction and the jet, accelerating thrombus formation, reducing the possibility of postoperative recanalization, and providing a stent implantation guidance path for flow-guided therapy that combines blood flow compliance and engineering feasibility. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating a hemodynamic-based blood flow guidance mesh stent path planning method in one embodiment.

[0042] Figure 2 This is a schematic diagram of the jet path in one embodiment.

[0043] Figure 3 This is a schematic diagram of a reference path for stent implantation in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0045] like Figure 1 As shown, an embodiment of the present invention provides a blood flow guiding dense mesh stent path planning method based on hemodynamics, comprising the following steps:

[0046] Step S100: Obtain the patient's medical imaging data and reconstruct a three-dimensional vascular geometric model including the tumor-bearing artery and the aneurysm.

[0047] In step S100, vascular structures are automatically extracted from the patient's CTA (CT angiography), MRA (magnetic resonance angiography), or DSA (digital subtraction angiography) images, a three-dimensional geometric model including the tumor-bearing artery and aneurysm is reconstructed, and a mesh model that can be used for hemodynamic calculation is generated, laying the foundation for subsequent hemodynamic simulation.

[0048] Step S200: Based on the three-dimensional vascular geometry model, perform hemodynamic simulation to obtain the blood flow velocity field.

[0049] In step S200, computational fluid dynamics (CFD) boundary conditions are established based on the mesh model generated from the three-dimensional geometric model to solve the blood flow velocity field and obtain blood flow streamline information. The computational methods for hemodynamics are not limited to traditional simulation techniques such as the finite element method and finite volume method, but also include deep learning algorithms.

[0050] Step S300: Based on the blood flow velocity field, a flow velocity threshold is set, and blood flow with a flow velocity higher than the flow velocity threshold is defined as a jet. Its spatial main path is generated as the jet path, wherein the jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the aneurysm cavity, a second jet path in the aneurysm cavity, and a third jet path in the distal blood vessel of the aneurysm cavity according to its anatomical position in the blood vessel.

[0051] In step S300, the three-dimensional vascular geometric model is divided as follows: Figure 2 The tumor cavity is shown as consisting of three parts: the proximal vessel, the tumor cavity itself, and the distal vessel. The jet paths within these three parts correspond to the first, second, and third jet paths, respectively. Step S300 specifically includes the following sub-steps:

[0052] Step S310: Based on the blood flow velocity field, a velocity threshold is set, and blood flows with velocities higher than this threshold are defined as jets. The velocity threshold can be obtained by setting a custom percentage multiplied by the maximum velocity value in the flow field, or by directly defining the absolute value of the velocity. For example, the velocity threshold can be set to 70% of the maximum velocity in the flow field.

[0053] Step S320 generates the main path of the jet space as the jet path. This step specifically includes: first, extracting grid cells with blood flow velocities higher than the velocity threshold to form a jet grid. Next, acquiring all vertices of the jet grid to form a jet domain point cloud. Further, performing 3D surface reconstruction based on the jet domain point cloud yields the jet domain surface. 3D surface reconstruction can be performed either by reconstructing the surface of the jet domain point cloud or by mapping the coordinates of the jet domain point cloud back to the corresponding voxels in the original medical image, marking them as jet voxels, and then reconstructing the jet domain surface using the traveling cubes algorithm. Finally, processing the jet domain surface yields a jet path composed of ordered 3D coordinate points.

[0054] Specifically, this step uses a velocity threshold to extract meshes with velocities higher than the threshold, defining them as jet meshes. The space enclosed by the jet mesh is defined as the jet domain. Vertices of all jet meshes are extracted to obtain the jet domain point cloud. The jet domain point cloud is then reconstructed in 3D to obtain a surface representing the jet domain. This surface is then refined, either by skeletonization or centerline extraction, to obtain the jet path. The jet path is an ordered set of 3D coordinate vectors.

[0055] .

[0056] in, .

[0057] The first jet path in the jet path can be represented as:

[0058] .

[0059] The second jet path in the jet path can be represented as:

[0060] .

[0061] The third jet path in the jet path can be represented as:

[0062] .

[0063] Step S400: The first sub-path is cut off from the starting point of the second jet path as the jet compliance segment. The first jet path, the jet compliance segment, and the third jet path are spliced ​​together in sequence. Based on the splicing result, an interpolation segment is generated between the end point of the jet compliance segment and the starting point of the third jet path to form a reference path for guiding the implantation of the blood flow guiding mesh stent.

[0064] In step S400, the jet compliance coefficient is defined. This is used to determine the jet compliance section on the second jet path. The selectable range of the jet compliance coefficient is [0,1], where the jet compliance coefficient... A value of 0 means that the stent's path planning within the aneurysm cavity is completely detached from the second jet path, the jet compliance segment is empty, and the stent's compliance with the second jet path within the aneurysm cavity is not considered at all; the jet compliance coefficient... A value of 1 means that the complete second jet path is used as the path for the stent within the aneurysm cavity, meaning the stent path within the aneurysm cavity completely conforms to the second jet path. In practical applications, the jet compliance coefficient... The size depends on many factors, including the jet path, the geometry of the aneurysm cavity, the mechanical properties of the stent, and the surgeon's clinical experience.

[0065] In other words, the jet compliance section starts from the beginning of the second jet path and proceeds according to... The front sub-path is constructed by proportional interception. Specifically, the interception is performed using the jet compliance coefficient. choose subset of That is, the jet compliance section:

[0066] .

[0067] in, It may not be an integer and needs to be rounded down. That is, the jet compliance segment starts from the beginning of the second jet path and has a quantity of... The product of the second jet path and the ordered spatial points, rounded down to the nearest integer, constitutes a series of points. Furthermore, the jet compliance coefficient... The size of the jet compliance coefficient is visualized in conjunction with the jet compliance section; for example, while sliding the jet compliance coefficient slider, the size of the jet path is also visualized. The points in the text will be highlighted.

[0068] After determining the jet compliance section, the first jet path is... , jet compliance section and the third jet path Merge them into an ordered set of points according to their order. That is, the initial path:

[0069] .

[0070] because It is usually less than 1, therefore and Interpolation encryption is required between them. First, [the following is done:] That is, the initial path is fitted with a cubic spline curve, and then uniform sampling is performed on the curve to obtain the interpolation segment. Finally, the interpolation segment connects the jet compliance segment and the third jet path. The first jet path, the jet compliance segment, the interpolation segment, and the third jet path together form the following... Figure 3 The stent implantation reference path is shown.

[0071] Ideally, the stent path within the aneurysm cavity should equal the second jet path, perfectly conforming to the jet flow within the cavity. However, in reality, stents cannot be bent into arbitrary shapes, especially in complex aneurysm cavities where they may be unable to "turn over." Therefore, an adjustable compromise is needed: one that conforms to blood flow as much as possible while considering the physical feasibility of the stent. In clinical practice, because the blood flow has the highest velocity and most critical direction when it first enters the aneurysm, and may have already dispersed or swirled afterward, priority is given to ensuring high compliance at the inlet segment—this is the jet compliance segment. The transition from the jet compliance segment to the third jet path must be smooth—this is the interpolation segment. Thus, the jet compliance segment and the interpolation segment constitute the final reference path for the stent within the aneurysm cavity.

[0072] After obtaining the reference path for stent implantation, the length along the second jet path can be calculated and denoted as the first length. The sum of the lengths along the jet compliance segment and the interpolation segment can be calculated and denoted as the second length. The second length / first length is defined as the jet compliance index. The higher the jet compliance index, the higher the degree of compliance of the stent path with the jet.

[0073] In summary, this embodiment can quantitatively calculate and optimize the placement and spatial orientation of the blood flow guiding mesh stent by combining the three-dimensional vascular structure and blood flow distribution characteristics of individual patients: by identifying the high-speed tumor-entry jet path through hemodynamic simulation, extracting key segments as jet compliance segments, and supplementing them with smooth interpolation segments to construct a stent reference path that combines blood flow compliance and engineering feasibility, thereby accurately guiding stent deployment before surgery and significantly improving diversion efficiency and treatment reliability.

[0074] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated in this document, there is no strict order in which these steps are executed; they can be performed in other orders. Furthermore, Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0075] In one embodiment, the present invention provides a hemodynamic-based blood flow guiding mesh stent path planning device, comprising: a three-dimensional model construction module, a hemodynamic calculation module, a jet path extraction module, and a reference path generation module, wherein:

[0076] The 3D model building module is used to acquire the patient's medical imaging data and reconstruct a 3D vascular geometric model containing the tumor-bearing artery and the aneurysm.

[0077] The hemodynamics calculation module is used to perform hemodynamic simulations based on a three-dimensional vascular geometry model to obtain the blood flow velocity field.

[0078] The jet path extraction module is used to set a velocity threshold based on the blood flow velocity field, define blood flow with a velocity higher than the velocity threshold as a jet, and generate its spatial trunk path as the jet path. The jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the aneurysm cavity, a second jet path in the aneurysm cavity, and a third jet path in the distal blood vessel of the aneurysm cavity according to its anatomical position in the blood vessel.

[0079] The reference path generation module is used to extract the front sub-path from the starting point of the second jet path as the jet compliance segment, splice the first jet path, the jet compliance segment, and the third jet path in sequence, and generate an interpolation segment between the end point of the jet compliance segment and the starting point of the third jet path based on the splicing result, forming a reference path for guiding blood flow to the implantation of the dense mesh stent.

[0080] Specific limitations regarding the hemodynamic-based blood flow guiding mesh stent path planning device can be found in the limitations of the hemodynamic-based blood flow guiding mesh stent path planning method described above, and will not be repeated here. Each module in the aforementioned hemodynamic-based blood flow guiding mesh stent path planning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0081] In one embodiment, a computer device is provided, which may be a terminal, including a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a hemodynamic-based blood flow guidance mesh stent path planning method. The display screen of the computer device may be a liquid crystal display screen or an e-ink display screen. The input device of the computer device may be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0082] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0083] Step S100: Obtain the patient's medical imaging data and reconstruct a three-dimensional vascular geometric model including the tumor-bearing artery and the aneurysm.

[0084] Step S200: Based on the three-dimensional vascular geometry model, perform hemodynamic simulation to obtain the blood flow velocity field.

[0085] Step S300: Based on the blood flow velocity field, a flow velocity threshold is set, and blood flow with a flow velocity higher than the flow velocity threshold is defined as a jet. Its spatial main path is generated as the jet path, wherein the jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the aneurysm cavity, a second jet path in the aneurysm cavity, and a third jet path in the distal blood vessel of the aneurysm cavity according to its anatomical position in the blood vessel.

[0086] Step S400: The first sub-path is cut off from the starting point of the second jet path as the jet compliance segment. The first jet path, the jet compliance segment, and the third jet path are spliced ​​together in sequence. Based on the splicing result, an interpolation segment is generated between the end point of the jet compliance segment and the starting point of the third jet path to form a reference path for guiding the implantation of the blood flow guiding mesh stent.

[0087] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0088] Step S100: Obtain the patient's medical imaging data and reconstruct a three-dimensional vascular geometric model including the tumor-bearing artery and the aneurysm.

[0089] Step S200: Based on the three-dimensional vascular geometry model, perform hemodynamic simulation to obtain the blood flow velocity field.

[0090] Step S300: Based on the blood flow velocity field, a flow velocity threshold is set, and blood flow with a flow velocity higher than the flow velocity threshold is defined as a jet. Its spatial main path is generated as the jet path, wherein the jet path is a continuous path and is divided into a first jet path in the proximal blood vessel of the aneurysm cavity, a second jet path in the aneurysm cavity, and a third jet path in the distal blood vessel of the aneurysm cavity according to its anatomical position in the blood vessel.

[0091] Step S400: The first sub-path is cut off from the starting point of the second jet path as the jet compliance segment. The first jet path, the jet compliance segment, and the third jet path are spliced ​​together in sequence. Based on the splicing result, an interpolation segment is generated between the end point of the jet compliance segment and the starting point of the third jet path to form a reference path for guiding the implantation of the blood flow guiding mesh stent.

[0092] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0093] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0094] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A blood flow directed mesh stent path planning method based on hemodynamics, characterized in that, The method comprises: acquiring medical image data of a patient, reconstructing a three-dimensional blood vessel geometric model containing a parent artery and an aneurysm; based on the three-dimensional blood vessel geometric model, performing hemodynamic simulation to obtain a blood flow velocity field; based on the blood flow velocity field, setting a flow velocity threshold, defining blood flow with a flow velocity higher than the flow velocity threshold as a jet flow, and generating a spatial main stem path thereof as a jet flow path, wherein the jet flow path is a continuous path and is divided into a first jet flow path in a blood vessel proximal to an aneurysm cavity, a second jet flow path in the aneurysm cavity, and a third jet flow path in a blood vessel distal to the aneurysm cavity according to an anatomical position thereof in the blood vessel; cutting a front sub-path from a starting point of the second jet flow path as a jet flow compliance segment, concatenating the first jet flow path, the jet flow compliance segment, and the third jet flow path in sequence, and generating an interpolation segment between an ending point of the jet flow compliance segment and a starting point of the third jet flow path based on a concatenation result to form a reference path for guiding blood flow diversion stent implantation.

2. The blood flow guiding stent path planning method based on hemodynamics according to claim 1, characterized in that, The generation of the spatial main stem path of the jet flow comprises: extracting grid cells with a blood flow velocity higher than the flow velocity threshold to form a jet flow grid; acquiring all vertices of the jet flow grid to form a jet flow domain point cloud; based on the jet flow domain point cloud, performing three-dimensional surface reconstruction to obtain a jet flow domain surface; processing the jet flow domain surface to obtain a jet flow path composed of ordered three-dimensional coordinate points.

3. The blood flow guiding stent path planning method based on hemodynamics according to claim 2, characterized in that, The three-dimensional surface reconstruction is performed by surface reconstruction on the jet flow domain point cloud, or by mapping jet flow domain point cloud coordinates back to corresponding voxels in the original medical image, marking the voxels as jet flow voxels, and then reconstructing the jet flow domain surface using a marching cubes algorithm.

4. The blood flow guiding stent path planning method based on hemodynamics according to claim 1, characterized in that, The fluidic compliant section is composed of a front sub-path taken proportionally from the beginning of the second fluidic path, wherein the fluidic compliant section is composed of a front sub-path taken proportionally from the beginning of the second fluidic path, wherein the fluidic compliant section is composed of a front sub-path taken proportionally from the beginning of the second fluidic path, wherein the fluidic compliant section is composed of a front sub-path taken proportionally from the beginning of the second fluid When the fluidic compliant section is empty; When the fluidic compliant section is a complete second fluidic path.

5. The blood flow guiding stent path planning method based on hemodynamics according to claim 4, characterized in that, The second jet path consists of ordered spatial points, and the jet compliant section consists of a number of successive points equal to the integer obtained by rounding down the product of the ordered spatial points contained in the second jet path.

6. The blood flow guiding stent path planning method based on hemodynamics according to claim 1, wherein, The concatenation of the first jet flow path, the jet flow compliance segment, and the third jet flow path in sequence, and the generation of the interpolation segment between the ending point of the jet flow compliance segment and the starting point of the third jet flow path based on the concatenation result to form the reference path for guiding blood flow diversion stent implantation comprise: concatenating the first jet flow path, the jet flow compliance segment, and the third jet flow path in sequence as an initial path; generating an interpolation segment based on the initial path, the interpolation segment being obtained by globally curve fitting the initial path and uniformly sampling between the ending point of the jet flow compliance segment and the starting point of the third jet flow path; connecting the jet flow compliance segment and the third jet flow path with the interpolation segment to form the reference path for guiding blood flow diversion stent implantation.

7. The blood flow guiding stent path planning method based on hemodynamics according to claim 6, characterized in that, The interpolation segment is obtained by cubic spline curve fitting and uniform sampling of the initial path.

8. A blood flow directed mesh stent path planning device based on hemodynamics, characterized by, The device comprises: a three-dimensional model construction module configured to acquire medical image data of a patient, and reconstruct a three-dimensional blood vessel geometric model containing a parent artery and an aneurysm; a hemodynamic calculation module configured to perform hemodynamic simulation based on the three-dimensional blood vessel geometric model to obtain a blood flow velocity field; and a jet flow path generation module configured to generate a spatial main stem path of a jet flow based on the blood flow velocity field, the jet flow path being a continuous path and being divided into a first jet flow path in a blood vessel proximal to an aneurysm cavity, a second jet flow path in the aneurysm cavity, and a third jet flow path in a blood vessel distal to the aneurysm cavity according to an anatomical position thereof in the blood vessel. a jet path extraction module configured to define blood flow with a flow rate higher than a flow rate threshold as a jet based on the blood flow velocity field, the flow rate threshold being set based on the blood flow velocity field, and to generate a spatial stem path of the jet as a jet path, wherein the jet path is a continuous path and is divided into a first jet path in a blood vessel proximal to a tumor cavity, a second jet path in the tumor cavity, and a third jet path in a blood vessel distal to the tumor cavity according to an anatomical position of the jet path in the blood vessel; a reference path generation module configured to extract a front sub-path from a starting point of the second jet path as a jet compliant segment, to concatenate the first jet path, the jet compliant segment, and the third jet path in sequence, and to generate an interpolated segment between an ending point of the jet compliant segment and a starting point of the third jet path based on a concatenation result, to form a reference path for guiding blood flow diversion stent graft implantation. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 7.

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