Methods for microcatheter shaping and related products

Abstract

The invention discloses a method for shaping a microcatheter and a related product, and the method comprises the steps: controlling a shaping finger to carry out shaping on a shaping wire, so as to shape the shaping wire into a target shape; in the shaping process, collision detection is carried out on the shaping mouth, the shaping finger and the shaping wire; and determining a corresponding collision processing operation according to the collision detection result. By means of the method, collision can be detected and processed in time, and then irreversible shaping errors are avoided.

Description

Technical Field

[0001] This application generally relates to the field of microcatheter shaping technology. More specifically, this application relates to a method for microcatheter shaping and related products. Background Technology

[0002] In the field of interventional therapy, microcatheters are key instruments for achieving precise endovascular treatment. Taking embolization of vascular lesions as an example, a microcatheter needs to be inserted into the lesion site within the blood vessel, and then embolic material is injected through the microcatheter to block the blood supply to the lesion, thereby achieving the therapeutic goal. However, the physiological structure of blood vessels is extremely complex, with numerous bends and bifurcations. This necessitates that microcatheters possess specific shapes and flexibility to successfully reach the lesion location. Therefore, the shaping of microcatheters has become one of the crucial steps for successful interventional therapy.

[0003] Currently, microcatheter shaping is achieved through shaping wires: First, software algorithms combine the patient's 3D vascular image characteristics (such as bending angle, direction, diameter, etc.) and the path requirements for the microcatheter to reach the lesion to accurately calculate the required 3D morphological parameters of the shaping wire (including bending angles, bending radii, and straight segment lengths of each segment), which serve as the basis for shaping. Then, specialized equipment prints the shaping wire according to its 3D morphological parameters. Afterward, the doctor places the microcatheter onto the shaping wire and uses fumigation to make the microcatheter conform to the shape of the shaping wire, ultimately completing the microcatheter shaping. However, the shaping wire is highly susceptible to collisions with parts of the shaping equipment during the shaping process, leading to irreversible shaping errors. Irreversible shaping errors refer to permanent damage to the shape, structure, or performance of the shaping wire caused by collisions during the shaping process, which cannot be restored through subsequent operations; that is, it cannot be restored to the normal shaping state before the collision by simple parameter adjustments, reverse operations, or repair methods.

[0004] In view of this, there is an urgent need to provide a method and related products for shaping microcatheters, so as to detect collisions in a timely and effective manner during the shaping process and take timely action to avoid irreversible shaping errors. Summary of the Invention

[0005] In order to at least solve one or more of the technical problems mentioned above, this application proposes a method and related products for microcatheter shaping in several aspects, so as to detect collisions in the shaping process in a timely and effective manner and take timely action to avoid irreversible shaping errors.

[0006] In a first aspect, this application provides a method for shaping a microcatheter, comprising: controlling a shaping finger to shape a shaping filament to mold the shaping filament into a target shape; during the shaping process, performing collision detection between the shaping nozzle, the shaping finger, and the shaping filament; and determining a corresponding collision handling operation based on the collision detection result.

[0007] In some embodiments, the collision detection result includes: a collision occurred and no collision occurred; the specific type of collision includes at least one of the following: a collision between the shaping finger and the shaped segment of the shaping filament, a collision between the shaping nozzle and the shaped segment of the shaping filament, and a collision between the shaped segments of the shaping filament.

[0008] In some embodiments, determining the corresponding collision handling operation based on the collision detection result includes: reversing the shaping operation when the collision detection result indicates that a collision has occurred; and determining the corresponding collision handling operation based on the specific type of the collision.

[0009] In some embodiments, determining the corresponding collision handling operation based on the specific type of collision includes, when a collision occurs between the shaping finger and the shaped segment of the shaping filament, projecting the shaping finger and the shaped segment onto the same reference plane to obtain a projected cross-section of the shaping finger and a projected contour of the shaped segment on the reference plane; calculating the minimum area of ​​each region formed after dividing the projected cross-section by connecting any two intersection points between the border of the projected cross-section and the projected contour; if the minimum area is less than a preset safety threshold, continuing the process. The steps include: controlling the shaping finger to shape the shaping filament into a target shape; if the minimum value is greater than or equal to a preset safety threshold, determining whether the shaped segment has a bias relative to the central axis of the shaping nozzle; if the bias exists, rotating the shaping finger to the side opposite to the bias; continuing to control the shaping finger to shape the shaping filament into a target shape; if the bias does not exist, continuing to control the shaping finger to shape the shaping filament into a target shape.

[0010] In some embodiments, determining whether the shaped segment of the shaping filament has a biased side relative to the central axis of the shaping nozzle includes: calculating the mapping space of the shaped segment on both sides of the reference plane, and setting a shaping finger virtual rectangle in each of the mapping spaces on both sides; moving the shaping finger virtual rectangles on both sides of the projection section, and detecting whether there is a projection point of the projection contour after the shaping finger virtual rectangles are moved; if at least one side of the shaping finger virtual rectangle does not have a projection point of the projection contour, then it is determined that the biased side exists, and the side is the side opposite to the biased side; if both sides of the shaping finger virtual rectangles have a projection point of the projection contour, then it is determined that the biased side does not exist.

[0011] In some embodiments, determining the corresponding collision handling operation based on the specific type of collision includes: when a collision occurs between the shaping nozzle and the shaped segment of the shaping filament, determining the vertical distance between the collision point of the shaping nozzle and the bottom of the shaping nozzle, or determining the minimum vertical distance between each shaping point in the shaped segment of the shaping filament and the bottom of the shaping nozzle; if the vertical distance is greater than or equal to a preset vertical distance, outputting a warning signal; if the vertical distance is less than the preset vertical distance, continuing to execute the step of controlling the shaping finger to shape the shaping filament to mold the shaping filament into the target shape.

[0012] In some embodiments, determining the appropriate collision handling operation based on the specific type of collision includes: outputting a warning signal when a collision occurs between shaped segments of the shaping filament.

[0013] In some embodiments, the collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: performing collision detection between the shaping nozzle, the shaping finger, and the shaping filament at a first preset time interval; and adjusting the first preset time interval to a second preset time interval when the collision detection result indicates that a collision has occurred, wherein the second preset time interval is less than the first preset time interval.

[0014] In some embodiments, the collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: generating a first symbolic distance field for the shaping nozzle and a second symbolic distance field for the shaping finger; determining the collision detection result between the shaping nozzle and the shaped segment of the shaping filament based on the symbolic distances of each point of the shaped segment of the shaping filament in the first symbolic distance field; and determining the collision detection result between the shaping finger and the shaped segment of the shaping filament based on the symbolic distances of each point of the shaped segment of the shaping filament in the second symbolic distance field.

[0015] In some embodiments, the collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: determining the collision detection result of the shaped segment of the shaping filament based on the differences between points of the shaped segment.

[0016] In some embodiments, the shaping nozzle and the shaping finger are rigid body models, and the shaping filament is a wire model.

[0017] In a second aspect, embodiments of this disclosure provide a processing apparatus, including: a processor configured to execute program instructions; and a memory configured to store program instructions that, when loaded and executed by the processor, cause the processor to perform the methods described in the first aspect and any of its embodiments.

[0018] In a third aspect, embodiments of this disclosure provide a computer-readable storage medium storing program instructions that, when loaded and executed by a processor, cause the processor to perform the methods described in the first aspect and any of its embodiments.

[0019] The method for shaping microcatheters provided above, in this embodiment of the application, collision detection is performed between the shaping nozzle, shaping finger, and shaping filament during the shaping process, and the corresponding collision handling operation is determined in a timely manner based on the collision detection results, thereby avoiding irreversible shaping errors. Attached Figure Description

[0020] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, and the same or corresponding reference numerals denote the same or corresponding parts, wherein: Figure 1 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 2 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 3 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 4 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 5 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 6 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 7 An exemplary flowchart illustrating a method for microcatheter shaping according to some embodiments of this application is shown; Figure 8 This application shows a schematic diagram of the structure of a shaping device for microcatheter shaping according to some embodiments; Figure 9 A schematic diagram of spatial coordinates of a shaping device for microcatheter shaping according to some embodiments of this application is shown; Figure 10 A reference plan view showing a shaping device for microcatheter shaping according to some embodiments of this application; Figure 11 An exemplary structural block diagram of a processing apparatus according to some embodiments of this application is shown. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] It should be understood that the terms "comprising" and "including" used in the specification and claims of this application indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0023] It should also be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. As used in this specification and claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this specification and claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations.

[0024] As used in this specification and claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0025] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0026] Exemplary application scenarios Currently, microcatheter shaping is achieved through shaping wires: First, software algorithms combine the patient's 3D vascular image characteristics (such as bending angle, direction, and diameter) with the path requirements for the microcatheter to reach the lesion to accurately calculate the required 3D morphological parameters of the shaping wire (including bending angles, bending radii, and straight segment lengths) and use this as the shaping basis; then, specialized equipment prints the shaping wire according to its 3D morphological parameters; finally, the doctor places the microcatheter onto the shaping wire and uses fumigation to make the microcatheter conform to the shape of the shaping wire, thus completing the microcatheter shaping. However, the shaping wire is highly susceptible to collisions with parts of the shaping equipment during the shaping process, leading to irreversible shaping errors.

[0027] In view of this, there is an urgent need to provide a method and related products for shaping microcatheters, so as to detect collisions in a timely and effective manner during the shaping process and take timely action to avoid irreversible shaping errors.

[0028] Exemplary application scheme In view of this, embodiments of this application provide a method for shaping microcatheters, which performs collision detection between the shaping nozzle, shaping finger and shaping filament during the shaping process, and then determines the corresponding collision handling operation in a timely manner based on the collision detection results to avoid irreversible shaping errors.

[0029] Figure 1 An exemplary flowchart of a method 100 for microcatheter shaping according to some embodiments of this application is shown, such as... Figure 1 The method 100 shown includes steps S101 to S103.

[0030] Preliminary explanation, see reference Figure 8 The schematic diagram of the shaping device shown illustrates that the shaping device in this embodiment includes a shaping finger, a shaping nozzle, and a shaping filament. The shaping filament is the object to be shaped. The shaping nozzle is used to pre-form a specific reference angle and curvature for the shaping filament, while the shaping finger adjusts the local posture of the shaping filament by assisting in force application. Specifically, the shaping filament passes through the shaping nozzle and is gradually shaped into the target shape under the fixing action of the nozzle and the auxiliary adjustment of the shaping finger. The filament, after being shaped into the target shape, can ultimately be used for shaping microcatheters, that is, the microcatheter is given a corresponding shape through the target shape of the shaping filament itself.

[0031] In step S101, the shaping finger is controlled to shape the shaping filament into the target shape.

[0032] It should be noted that in this embodiment, the shaping fingers control the shaping of the shaping filament in a simulation environment. By simulating the physical interaction between the shaping nozzle and the shaping fingers on the shaping filament in the simulation environment, the shaping filament gradually takes on the target shape in virtual space. It can be understood that this target shape is the shape required for the microcatheter.

[0033] In some embodiments, the shaping of the shaping filament can be achieved through simulation software. In other words, physical models of the shaping nozzle, shaping fingers, and shaping filament can be generated or imported into the simulation software, and then the shaping fingers can be controlled in the simulation software to shape the shaping filament into the target shape.

[0034] In some embodiments, the shaping nozzle and shaping finger are modeled as rigid bodies, while the shaping filament is modeled as a line. It is understood that the rigid body model does not deform, thus ensuring that the shape and structure of the shaping nozzle and shaping finger remain stable during the shaping process and do not change their form due to external forces. The line model, on the other hand, does deform, so the shaping filament can change shape as expected when subjected to the force of the shaping finger to achieve the desired shaping effect. This physical model setting allows for a more realistic simulation of shaping scenarios in real-world environments, effectively improving shaping accuracy and reliability.

[0035] In some embodiments, the shaping simulation software may be PBD (Position-Based Dynamics) or XPBD (Extended Position-Based Dynamics), etc., and this embodiment does not specifically limit it.

[0036] In some embodiments, before performing step S101, the shaping nozzle, shaping finger, and shaping filament are placed in a preset initial engagement state: one end of the shaping filament is inserted into the shaping nozzle and maintains a stable reference position, while the shaping finger is in a standby position where it is not in contact with or is only slightly in contact with the shaping filament. The three maintain a preset relative distance in space, laying the foundation for the accurate execution of subsequent shaping operations.

[0037] In some embodiments, in order to ensure that the shaping nozzle, shaping finger, and shaping filament are in a preset initial engagement state, the position coordinates of the three components in the preset initial engagement state can be saved in advance. Then, during actual operation, the shaping nozzle, shaping finger, and shaping filament can be directly placed at the corresponding position coordinates to ensure that the three components are in the preset initial engagement state.

[0038] In some embodiments, the shaping process refers to shaping the shaping filament according to a pre-defined shaping plan. This shaping plan can be generated using computer technology or by professionals combining their expertise with computer technology; this embodiment does not impose any specific limitations on this.

[0039] In step S102, during the shaping process, collision detection is performed between the shaping nozzle, the shaping finger, and the shaping filament. In this embodiment, collision detection is performed between the shaping nozzle and the shaped segment of the shaping filament, between the shaping finger and the shaped segment of the shaping filament, and between the shaped segment of the shaping filament itself. This covers all possible collision scenarios that may occur during the shaping process, enabling timely detection and handling of various collisions to avoid irreversible shaping errors.

[0040] It should be noted that the shaped section of the shaping filament refers to the part of the shaping filament that has been shaped by the shaping fingers and is located outside the shaping nozzle.

[0041] In step S103, the corresponding collision handling operation is determined based on the collision detection results. In this embodiment, performing the corresponding collision handling operation based on the collision detection results can avoid causing irreversible shaping errors.

[0042] In some embodiments, after obtaining the shaping filament of the target shape by performing the above method 100, it can be further printed into a solid structure using printing technology, and then the solid structure can be used to shape the microcatheter to form the microcatheter into the target shape. Furthermore, in some embodiments, the aforementioned printing technology can be 3D printing technology or other technologies that can print the shaping filament of the target shape into a solid structure, and this embodiment does not specifically limit it.

[0043] Overall combination of the above Figure 1 The present application provides a detailed description of a method for shaping microcatheters according to some embodiments. By performing collision detection on the shaping nozzle, shaping finger and shaping filament during the shaping process, and then determining the corresponding collision handling operation in a timely manner based on the collision detection results, irreversible shaping errors can be avoided.

[0044] Figure 2 The following is an exemplary flowchart illustrating a method 200 for microcatheter shaping according to some embodiments of this application. Method 200 can be a specific implementation of step S103 in method 100 described above, such as... Figure 2 The method 200 shown includes steps S201 and S202.

[0045] In step S201, when the collision detection result indicates that a collision has occurred, the shaping operation is reversed.

[0046] In this embodiment, the rollback shaping operation refers to canceling a completed shaping operation to restore the state before the shaping operation was performed. This can be understood as the shaping equipment returning to the state before the shaping operation occurred. It should be noted that this embodiment does not specifically limit the specific shaping operation performed during the rollback, as long as it ensures that the shaping equipment is in a state where the collision did not occur after the rollback operation.

[0047] For example, in some embodiments, when the collision detection result indicates a collision has occurred, the last executed shaping operation is rolled back to a state where the shaping device did not experience the collision. In other embodiments, when the collision detection result indicates a collision has occurred, the last few executed shaping operations are rolled back to a state where the shaping device did not experience the collision.

[0048] It is understandable that when the collision result is that no collision has occurred, the step of controlling the shaping finger to shape the shaping filament into the target shape continues.

[0049] In step S202, the corresponding collision handling operation is determined according to the specific type of collision that occurred.

[0050] In this embodiment, the corresponding collision handling operation is performed according to the specific type of collision that occurs, so as to accurately and efficiently solve the corresponding type of collision problem and avoid irreversible shaping errors.

[0051] In some embodiments, the specific types of collisions include at least one of the following: collision between the shaping finger and the shaped segment of the shaping filament, collision between the shaping nozzle and the shaped segment of the shaping filament, and collision between the shaped segments of the shaping filament. It should be noted that when the collision detection result indicates a collision has occurred, the specific type of collision is also simultaneously obtained, and the corresponding collision handling operation is determined based on the specific type of collision.

[0052] The above combination Figure 2 The present application provides a detailed description of a method for shaping microcatheters according to some embodiments. This method involves reversing the shaping operation when a collision detection result indicates a collision has occurred, and then determining the corresponding collision handling operation based on the specific type of collision. This approach can accurately and efficiently resolve various types of collision problems and avoid irreversible shaping errors.

[0053] Figure 3 This application shows an exemplary flowchart of a method 300 for shaping microcatheters according to some embodiments of the present application. Method 300 is a specific implementation of step S202 in method 200 described above, such as... Figure 3 The method 300 shown includes steps S301 to S307.

[0054] In step S301, when the shaping finger collides with the shaped segment of the shaping filament, the shaping finger and the shaped segment are projected onto the same reference plane to obtain the projected cross section of the shaping finger and the projected contour of the shaped segment on the reference plane.

[0055] In this embodiment, as Figure 9 As shown, a spatial coordinate system is established with the central axis of the shaping nozzle (the direction of the shaping filament's exit) as the Z-axis, and the two orthogonal directions perpendicular to the Z-axis as the X-axis and Y-axis. The shaping nozzle rotates in the XY plane at z=0, either clockwise or counterclockwise.

[0056] Among them, reference Figure 10 The reference plane is defined by a fixed point and a normal direction. The fixed point is the origin (0, 0, 0), and the normal direction is determined by the real-time direction of the shaping finger. Specifically, when the shaping finger touches the shaped filament during the shaping process, the shaping finger is located at a certain angle on the rotation circle, and the direction of this angle is the normal direction of the reference plane. Based on this, the reference plane passes through the origin and its normal direction is determined, therefore the reference plane is uniquely defined.

[0057] In some embodiments, since the shaping finger may collide with the shaped section of the shaping filament only near the front end of the shaping filament, the projection may be selected to only project the front end of the shaping finger near the shaping filament. This embodiment does not specifically limit this.

[0058] In step S302, the minimum area of ​​each region formed after dividing the projection section is calculated by connecting any two intersection points between the border of the projection section and the projection outline.

[0059] In this embodiment, the line connecting any two intersection points between the border of the projected section and the projected outline divides the projected section into two regions, and then the minimum area of ​​each region is calculated. This minimum value can determine whether the current collision affects subsequent shaping.

[0060] In step S303, if the minimum value is less than a preset safety threshold, the process continues to control the shaping finger to shape the shaping filament into the target shape. If the minimum value is less than the preset safety threshold, it indicates that the current collision will not affect subsequent shaping, and the subsequent shaping operation continues directly.

[0061] In step S304, if the minimum value is greater than or equal to a preset safety threshold, it is determined whether the shaped segment has a bias relative to the central axis of the shaping nozzle.

[0062] In this embodiment, if the minimum value is greater than or equal to a preset safety threshold, it indicates that the current collision will affect subsequent shaping. Further, by determining whether the shaped segment is biased relative to the central axis of the shaping nozzle, it is determined whether there is a possibility of eliminating this effect. The central axis of the shaping nozzle refers to the line connecting the center points of its inlet and outlet. Whether the shaped segment is biased relative to the central axis of the shaping nozzle can determine whether the overall shape of the shaped segment deviates from the central axis to which side; this bias is the specific direction of deviation.

[0063] In step S305, if the biased side exists, the shaping finger is rotated to the side opposite to the biased side.

[0064] In step S306, the process continues to execute the step of controlling the shaping finger to shape the shaping filament into the target shape.

[0065] In this embodiment, if there is a biased side, the shaping finger is rotated to the side opposite to the biased side, so as to avoid the currently detected collision by moving the shaping finger away from the biased shaped segment, and to continue to perform subsequent shaping operations.

[0066] In some embodiments, if the space between the shaping finger and the shaped segment is relatively confined, in order to prevent secondary collisions between the two during rotation, the shaping finger can be controlled to move up or down a safe distance first, then rotated to the side opposite to the biased side, and finally moved down or up a safe distance to reset to the working position.

[0067] In step S307, if the biased side does not exist, a warning signal is output.

[0068] In this embodiment, if there is no bias side, it indicates that the currently detected collision cannot be avoided, and a warning signal is output to alert the user.

[0069] It is understood that when the step of re-executing the control shaping finger to shape the shaping filament into the target shape is performed in the above steps, the previous reversal shaping operation is performed first and then the subsequent shaping operation is performed. When the reversal shaping operation is performed, the problem of collision between the previously detected shaping finger and the shaped segment of the shaping filament will not occur again, thereby avoiding irreversible shaping errors.

[0070] Overall combination of the above Figure 3This application provides a detailed description of a method for shaping microcatheters according to some embodiments. When a shaping finger collides with a shaped segment of the shaping filament, it first determines whether the collision will affect the shaping process. If it does, it further determines whether the shaped segment is biased relative to the central axis of the shaping nozzle. If a bias exists, the shaping finger is rotated around the central axis of the nozzle to the side opposite to the bias to avoid the detected collision. Then, the process continues to control the shaping finger to shape the shaping filament into the target shape. This avoids the previously detected collision between the shaping finger and the shaped segment of the shaping filament during the previous retraction shaping operation, thus preventing irreversible shaping errors.

[0071] Figure 4 This application shows an exemplary flowchart of a method 400 for microcatheter shaping, which is an embodiment of the present application. Method 400 is a specific implementation of step S304 in method 300 above, such as... Figure 4 The method 400 shown includes steps S401 to S404.

[0072] In step S401, the mapping space of the shaped segment on both sides of the reference plane is calculated, and a shaped virtual rectangle is set in each of the mapping spaces on both sides.

[0073] In this embodiment, the two-sided mapping space refers to the strip-shaped region formed by extending to the left and right sides based on the projection center line of the shaped segment. The virtual rectangle of the shaped finger represents the spatial range and safety boundary occupied by the shaped finger on the reference plane.

[0074] In step S402, the shaping finger virtual rectangle is moved to both sides of the projection section, and it is detected whether the projection point of the projection contour exists after the shaping finger virtual rectangle is moved.

[0075] In this embodiment, the movement process of the shaping finger virtual rectangle simulates the movement trajectory of the shaping finger in actual space. After the virtual rectangle moves, it is detected whether there is a projection point of the projection outline. If there is, it means that the two collide. If not, it means that the two will not collide.

[0076] In step S403, if there is at least one side of the shaped virtual rectangle that does not have a projection point of the projection outline, then it is determined that the bias side exists, and the side is the side opposite to the bias side.

[0077] In step S404, if both sides of the shaped virtual rectangle have projection points of the projection contour, then it is determined that the bias side does not exist.

[0078] In this embodiment, if at least one side of the shaping finger's virtual rectangle lacks a projection point of its projection outline, it indicates that the shaping finger moving on that side will not collide with the already shaped segment. Therefore, a biased side (the side of the shaping finger's virtual rectangle with a projection point of its projection outline) is determined, and this side (the side of the shaping finger's virtual rectangle without a projection point of its projection outline) is the side opposite to the biased side. Thus, rotating the shaping finger to this opposite side avoids collisions, allowing subsequent shaping operations to continue.

[0079] Overall combination of the above Figure 4 This application provides a detailed description of a method for shaping microcatheters according to some embodiments. The method involves calculating the mapping space on both sides of the shaped segment on the reference plane, and setting a virtual rectangle for shaping fingers on each side of the mapping space. The virtual rectangles are moved on both sides of the projection section, and the presence of projection points of the projection contour is detected after the movement. If at least one side of the virtual rectangle lacks a projection point, a biased side is determined, and the side of the virtual rectangle without a projection point is the opposite side of the biased side. If both virtual rectangles have projection points, no biased side is determined. By simulating whether the virtual rectangles interfere with the projection contour of the shaped segment when moving on different sides, the collision risk between the real shaping finger and the shaped segment is predicted, thereby determining whether a safe opposite side exists.

[0080] Figure 5 This application shows an exemplary flowchart of a method 500 for shaping microcatheters, which is an embodiment of the present application. Method 500 is a specific implementation of step S202 in method 200 described above. Figure 5 The method 500 shown includes steps S501 to S503.

[0081] In step S501, when the shaping nozzle collides with the shaped section of the shaping filament, the vertical distance between the collision point of the collision between the shaping nozzle and the shaped section of the shaping filament and the bottom of the shaping nozzle is determined, or the minimum vertical distance between each shaping point in the shaped section of the shaping filament and the bottom of the shaping nozzle is determined.

[0082] In this embodiment, the bottom of the shaping nozzle refers to the end where the shaping filament exits the shaping nozzle. The shaping point refers to the specific location where the shaping finger directly contacts the shaping filament and applies force, causing the shaping filament to deform.

[0083] The vertical distance between the collision point and the bottom of the forming nozzle, or the minimum vertical distance between each forming point in the formed filament and the bottom of the forming nozzle (i.e., the minimum vertical distance among all forming points and the bottom of the forming nozzle), can reflect whether the current collision can affect the formed segment of the forming filament.

[0084] In step S502, if the vertical distance is greater than or equal to a preset vertical distance, a warning signal is output. In this embodiment, if the vertical distance is greater than or equal to the preset vertical distance, it indicates that the current collision will affect the already shaped segment of the shaping filament and cannot be avoided, thus outputting a warning signal so that relevant personnel can adjust the shaping plan in time to avoid irreversible shaping errors.

[0085] In step S503, if the vertical distance is less than a preset vertical distance, the process continues to control the shaping finger to shape the shaping filament into the target shape. In this embodiment, if the vertical distance is less than the preset vertical distance, it indicates that the current collision will not affect the already shaped segment of the shaping filament and can be ignored, thus the shaping operation continues.

[0086] In some embodiments, the preset vertical distance is set to 5mm, but this embodiment does not specifically limit it. Those skilled in the art can make flexible adjustments based on the disclosure and technical teachings of this embodiment, or adjust it according to their own professional experience.

[0087] The above combination Figure 5 This application provides a detailed description of a method for shaping microcatheters according to some embodiments. When a shaping nozzle collides with a shaped segment of the shaping filament, the method determines the vertical distance between the point of collision and the bottom of the shaping nozzle, or the minimum vertical distance between each shaping point in the shaped segment of the shaping filament and the bottom of the shaping nozzle. If the vertical distance is greater than or equal to a preset vertical distance, it indicates that the current collision will affect the shaped segment of the shaping filament and cannot be avoided. A warning signal is then output to allow relevant personnel to adjust the shaping plan in a timely manner to avoid irreversible shaping errors. If the current collision will not affect the shaped segment of the shaping filament, it can be ignored. The shaping finger continues to shape the shaping filament into the target shape as quickly as possible.

[0088] In some embodiments, step S202 in method 200 above may further include: outputting a warning signal when a collision occurs between the shaped segments of the shaping filament. Since the collision between the shaped segments is unavoidable, a warning signal is output to allow relevant personnel to adjust the shaping plan in a timely manner and avoid irreversible shaping errors.

[0089] Figure 6 This application shows an exemplary flowchart of a method 600 for shaping microcatheters, which is an embodiment of the present application. Method 600 is a specific implementation of step S102 in method 100 above, such as... Figure 6 The method 600 shown includes steps S601 and S602.

[0090] In step S601, collision detection is performed between the shaping nozzle, the shaping finger, and the shaping filament at a first preset time interval.

[0091] To shape the forming filament into the target shape, multiple shaping operations are required. Real-time collision detection could easily consume system resources due to frequent calculations, leading to a decrease in the response speed of the shaping process and potentially affecting the continuity and accuracy of the shaping operations due to detection delays. Therefore, this embodiment first performs collision detection between the forming nozzle, forming finger, and forming filament at a first preset time interval to balance system resource consumption and detection timeliness. This avoids the performance burden of real-time detection while promptly capturing potential collision risks at critical nodes in multiple shaping operations.

[0092] In step S602, when the collision detection result indicates that a collision has occurred, the first preset time interval is adjusted to a second preset time interval, wherein the second preset time interval is less than the first preset time interval.

[0093] In this embodiment, when the collision detection result indicates that a collision has occurred, the first preset time interval is adjusted to a second preset time interval that is less than the first preset time interval. This is to increase the frequency of collision detection, thereby intensively monitoring the state changes after the collision, and promptly capturing any persistent or new collision risks. This provides a more timely basis for rapid response and adjustment of the shaping operation, preventing the collision state from continuously affecting the shaping process and ultimately causing irreversible shaping errors.

[0094] In some embodiments, the first preset time interval is set to 0.1ms and the second preset time interval is set to 0.001ms. This embodiment does not impose specific limitations on these time intervals, and those skilled in the art can make flexible adjustments based on the disclosure and technical teachings of this embodiment and their own professional experience.

[0095] In some embodiments, after step S602, the method further includes: if a collision is not detected again after multiple consecutive attempts, adjusting the second preset time interval back to the first preset time interval to reduce system load and ensure the continuity and accuracy of the shaping process. This embodiment does not specifically limit this.

[0096] Overall combination of the above Figure 6This application provides a detailed description of a method for shaping microcatheters according to some embodiments. This method involves collision detection between the shaping nozzle, shaping finger, and shaping filament at a first preset time interval. When a collision is detected, the first preset time interval is adjusted to a second preset time interval, where the second preset time interval is shorter than the first preset time interval. This achieves dynamic adaptation of the collision detection frequency. Specifically, during normal shaping, a lower detection frequency reduces system load, ensuring the continuity and accuracy of the shaping operation. When a collision occurs, high-frequency detection quickly tracks state changes, providing accurate data for timely intervention. This balances system load while minimizing the impact of collisions on shaping accuracy, improving the stability and reliability of the overall shaping process, and preventing irreversible shaping errors.

[0097] Figure 7 This diagram illustrates an exemplary flowchart of a method 700 for shaping microcatheters according to some embodiments of this application. Method 700 can be considered a specific implementation of step S102 in method 100 above, specifically a collision detection method between the shaping nozzle and the shaped segment of the shaping filament, and between the shaping finger and the shaped segment of the shaping filament. Figure 7 The method 700 shown includes steps S701 to S702.

[0098] In step S701, the first symbolic distance field of the shaping mouth and the second symbolic distance field of the shaping finger are generated respectively.

[0099] In this embodiment, the first symbolic distance field records the symbolic distance from each point on the shaped segment of the shaping filament after it exits the shaping nozzle to the shaping nozzle, and the second symbolic distance field records the symbolic distance from each point on the shaped segment of the shaping filament after it exits the shaping nozzle to the shaping finger. A positive symbolic distance indicates that the point on the shaping filament is located in the external space of the shaping nozzle or shaping finger; a negative symbolic distance indicates that the point on the shaping filament is located in the internal space of the shaping nozzle or shaping finger; and a symbolic distance of 0 indicates that the point on the shaping filament is located on the surface of the shaping nozzle or shaping finger.

[0100] It should be noted that the points described here for the shaped segment are not the shaped points of the shaped segment, but rather discrete points obtained after digital discretization of the shaped segment line model.

[0101] In step S702, based on the symbol distances of each point of the shaped segment of the shaping filament in the first symbol distance field, the collision detection result between the shaping nozzle and the shaped segment of the shaping filament is determined, and based on the symbol distances of each point of the shaped segment of the shaping filament in the second symbol distance field, the collision detection result between the shaping finger and the shaped segment of the shaping filament is determined.

[0102] In this embodiment, a collision is determined to have occurred if there is at least one point in the symbol distance field with a symbol distance equal to a preset symbol distance threshold; otherwise, no collision is determined to have occurred. This collision detection method can obtain collision detection results quickly and accurately. In some embodiments, the preset symbol distance threshold includes negative values ​​and 0.

[0103] In addition, the above method 700 can not only determine the collision detection results, but also obtain the collision point where the collision occurred.

[0104] In some embodiments, to further improve the efficiency of collision detection, before step S701, the following steps are included: coarse collision detection using AABB (axis-aligned bounding box): constructing axis-aligned minimum bounding boxes for the shaping nozzle, shaping finger, and shaping filament respectively; then determining whether there is an intersection between these bounding boxes. If the bounding boxes do not intersect, it can be directly determined that no collision has occurred between the corresponding components; if the bounding boxes intersect, then the steps of step S702 above are performed, i.e., precise collision detection is performed based on the first symbolic distance field and the second symbolic distance field to obtain accurate collision detection results.

[0105] In some embodiments, when the collision detection result indicates a collision has occurred, the preset symbol distance threshold used to determine whether a collision has occurred can be set to a larger value. For example, if the original preset symbol distance threshold included negative values ​​and 0, it can be adjusted to a positive value (such as 0.5mm). By expanding the distance range for collision detection, the critical state of "imminent collision" can be identified in advance, allowing more sufficient response time for shaping to adjust the shaping scheme, avoiding actual collisions caused by mechanical action delays, and further improving the initiative and effectiveness of collision prevention.

[0106] For collision detection between the shaped segments of the forming filament, the collision detection result can be determined based on the differences between each point of the shaped segment. Furthermore, the differences between each point of the shaped segment can be distance differences. If at least one distance difference is greater than or equal to a preset distance difference threshold, a collision is determined to have occurred; if all distance differences are less than the preset distance difference threshold, no collision is determined to have occurred.

[0107] In some embodiments, the preset distance difference threshold can be set to 0. It is understood that the purpose of shaping the microcatheter is to make it accurately fit the vascular anatomy (such as bends and bifurcations), so there is usually no overlap. Therefore, based on the above method, it is possible to detect whether there is a collision between the shaped segments of the shaping wire.

[0108] Overall combination of the above Figure 7This application provides a detailed description of methods for shaping microcatheters according to some embodiments. These methods generate a first symbolic distance field for the shaping nozzle and a second symbolic distance field for the shaping finger. Then, based on the symbolic distances of each point on the shaped segment of the shaping filament in the first symbolic distance field, the collision detection result between the shaping nozzle and the shaped segment of the shaping filament is determined. Similarly, based on the symbolic distances of each point on the shaped segment of the shaping filament in the second symbolic distance field, the collision detection result between the shaping finger and the shaped segment of the shaping filament is determined. This collision detection method allows for rapid and accurate acquisition of collision detection results.

[0109] To implement the method steps described above in conjunction with the accompanying drawings at the software and hardware level, embodiments of this disclosure also provide a processing apparatus, which may be as follows: Figure 11 The processing device shown. Figure 11 An exemplary structural block diagram of the processing apparatus 11 according to an embodiment of this disclosure is shown, such as Figure 11 As shown, the processing apparatus 11 disclosed herein may include a processor 110 and a memory 120. The memory 120 stores an executable program, which the processor 110 can load and execute, enabling the processing apparatus 11 to perform any of the method steps described above.

[0110] In one example scenario, processor 110 can be used to control memory 120. Further, processor 110 can be a central processing unit (CPU), application processor (AP), or similar integrated into processing device 11; while memory 120, as hardware implementing storage functions, can be read-only memory (ROM), dynamic RAM (DRAM), or similar.

[0111] This disclosure also provides a computer-readable storage medium storing program instructions that, when executed by a processor of a processing device, cause the processor to perform the method steps described in any embodiment of this disclosure.

[0112] In this disclosure embodiment, a computer program product is also provided, including a computer program or instructions that, when executed by a processor, implement the method described in any embodiment of this disclosure.

[0113] While numerous embodiments of this disclosure have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and intent of this disclosure. It should be understood that various alternatives to the embodiments of this disclosure described herein may be employed in the practice of this disclosure. The appended claims are intended to define the scope of this disclosure and therefore cover equivalents or alternatives within the scope of these claims.

Claims

1. A method for shaping microcatheters, characterized in that, include: Controlled shaping refers to shaping the shaping filament to mold it into a target shape; During the shaping process, collision detection is performed between the shaping nozzle, the shaping finger, and the shaping filament; The appropriate collision handling operation is determined based on the collision detection results.

2. The method according to claim 1, characterized in that, The collision detection results include: collision occurred and no collision occurred; the specific types of collisions include at least one of the following: collision between the shaping finger and the shaped section of the shaping filament, collision between the shaping nozzle and the shaped section of the shaping filament, and collision between the shaped sections of the shaping filament.

3. The method according to claim 2, characterized in that, The step of determining the corresponding collision handling operation based on the collision detection results includes: When the collision detection result indicates that a collision has occurred, the shaping operation is reversed. The appropriate collision handling operation is determined based on the specific type of collision that occurred.

4. The method according to claim 3, characterized in that, The step of determining the appropriate collision handling operation based on the specific type of collision includes: When the shaping finger collides with the shaped section of the shaping wire, the shaping finger and the shaped section are projected onto the same reference plane to obtain the projected cross section of the shaping finger and the projected outline of the shaped section on the reference plane. Calculate the minimum area of ​​each region formed after dividing the projection section by connecting any two intersection points between the border of the projection section and the projection outline. If the minimum value is less than the preset safety threshold, the step of controlling the shaping finger to shape the shaping filament continues to be executed to shape the shaping filament into the target shape. If the minimum value is greater than or equal to the preset safety threshold, determine whether the shaped segment has a bias relative to the central axis of the shaping nozzle; If the biased side exists, rotate the shaping finger to the side opposite to the biased side; Continue performing the step of controlling the shaping process to shape the shaping filament into the target shape; If the biased side does not exist, continue to execute the step of controlling the shaping finger to shape the shaping filament into the target shape.

5. The method according to claim 4, characterized in that, Determining whether the shaped segment of the shaping filament is biased relative to the central axis of the shaping nozzle includes: Calculate the mapping space on both sides of the shaped segment on the reference plane, and set a shaped virtual rectangle in each of the mapping spaces on both sides; The shaping finger virtual rectangle is moved to both sides of the projected section, and the presence of projection points of the projected outline is detected after the shaping finger virtual rectangle has moved. If at least one side of the shaped virtual rectangle does not have a projection point of the projected outline, then the bias side is determined to exist, and the side is the side opposite to the bias side. If both sides of the shaped virtual rectangle have projection points of the projected contour, then it is determined that the biased side does not exist.

6. The method according to claim 3, characterized in that, The step of determining the appropriate collision handling operation based on the specific type of collision includes: When the shaping nozzle collides with the shaped section of the shaping filament, determine the vertical distance between the collision point of the shaping nozzle and the bottom of the shaping nozzle, or determine the minimum vertical distance between each shaping point in the shaped section of the shaping filament and the bottom of the shaping nozzle. If the vertical distance is greater than or equal to the preset vertical distance, an early warning signal is output. If the vertical distance is less than the preset vertical distance, continue to execute the step of controlling the shaping finger to shape the shaping filament into the target shape.

7. The method according to claim 3, characterized in that, The step of determining the appropriate collision handling operation based on the specific type of collision includes: When a collision occurs between the shaped segments of the shaping filament, a warning signal is output.

8. The method according to claim 1, characterized in that, The collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: Collision detection is performed between the shaping nozzle, the shaping finger, and the shaping filament at a first preset time interval; When the collision detection result indicates that a collision has occurred, the first preset time interval is adjusted to a second preset time interval, wherein the second preset time interval is less than the first preset time interval.

9. The method according to claim 1, characterized in that, The collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: Generate the first symbolic distance field of the shaping mouth and the second symbolic distance field of the shaping finger, respectively; Based on the symbol distances of each point on the shaped segment of the shaping filament in the first symbol distance field, the collision detection result between the shaping nozzle and the shaped segment of the shaping filament is determined; and based on the symbol distances of each point on the shaped segment of the shaping filament in the second symbol distance field, the collision detection result between the shaping finger and the shaped segment of the shaping filament is determined.

10. The method according to claim 1, characterized in that, The collision detection between the shaping nozzle, the shaping finger, and the shaping filament during the shaping process includes: The collision detection result of the shaped segment of the shaping filament is determined based on the differences between various points of the shaped segment.

11. The method according to claim 1, characterized in that, The shaping nozzle and the shaping finger are rigid body models, and the shaping filament is a line model.

12. A processing apparatus, characterized in that, A processor, configured to execute program instructions; and A memory configured to store program instructions that, when loaded and executed by a processor, cause the processor to perform the method described in any one of claims 1 to 11.

13. A computer-readable storage medium storing program instructions, characterized in that, When the program instructions are loaded and executed by the processor, the processor performs the method described in any one of claims 1 to 11.

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