Method and device for shaping microcatheter and storage medium

Abstract

The invention discloses a method and equipment for shaping a microcatheter and a storage medium. The method comprises the following steps: taking a tumor neck center point, a tumor body center point and an intersection point as reference control points; according to the size of the aneurysm incident angle, performing offset processing or direct use on the reference control point to obtain a target control point; performing spline fitting based on the target control point to generate a preliminary form curve of the microcatheter, and performing wall contact calibration and torsion treatment on the preliminary form curve in combination with the wall contact point to obtain a calibrated form curve; and setting the front section of the microcatheter corresponding to the calibrated form curve as a fixed section, extending one end, far away from the tumor body, of the fixed section by a preset length to form a movable section, modeling the fixed section and the movable section until a preset stop condition is met, and outputting a microcatheter shaping result containing first-stage bending and second-stage bending. According to the scheme, it is guaranteed that the microcatheter can easily enter the tumor in place, supporting is stable, and the microcatheter adapts to the filling operation habit of a doctor.

Description

TECHNICAL FIELD

[0001] The present application generally relates to the technical field of image processing. More particularly, the present application relates to a method, device and computer readable storage medium for shaping a microcatheter. BACKGROUND

[0002] In the field of neurointerventional therapy, especially in the treatment of cerebral vascular diseases related to stroke, the precise shaping of a microcatheter is a key link to achieve effective embolization of an aneurysm. At present, the simulation of a rope-like or tube-like structure mainly adopts a position-based dynamics method, an elastic rod model, or a partial combination of the two methods. The core implementation principle is to update the current position and velocity of the object at each time node through the internal force, external force and relative position relationship of the object, and then complete the morphological simulation of the related structure.

[0003] In the prior art, one type of simulation method can ensure simulation efficiency and effect stability, and can reflect the compliance of the catheter to the blood vessel running, which conforms to certain physical laws. However, it only simulates the movement of the catheter inside the blood vessel and cannot support the generation of the shape of the microcatheter entering the aneurysm. Another type of solution based on graphics can simulate the shape of the microcatheter entering the aneurysm and meet certain support conditions, but the proximal bending shape often does not conform to the physical laws, and the problem is particularly prominent in the scene where the blood vessel is relatively curved and the shaping needs a secondary bending to support the shape. This may cause the head-end shaped catheter to be difficult to enter the aneurysm or unable to achieve the ideal support effect. At the same time, the aforementioned solution does not conform to the doctor's operation expectation for the control of the head-end of the microcatheter, and mostly presents a straight head entering shape, which cannot meet the operation needs of the doctor to first perform proximal embolization, then gradually withdraw the catheter, and finally embolize the distal part.

[0004] Therefore, the present application provides a solution for shaping a microcatheter to ensure that the microcatheter is easily positioned in the aneurysm and has stable support, while adapting to the embolization operation habits of the doctor. SUMMARY

[0005] In order to at least solve one or more technical problems as mentioned above, the present application provides a solution for shaping a microcatheter in the following aspects.

[0006] In a first aspect, the application provides a method for shaping a microcatheter, characterized in that it comprises: obtaining a blood vessel reconstruction model and an anatomical parameter, and calculating a tumor center point, an aneurysm incidence angle and a nearest point of a parent artery center line based on the blood vessel reconstruction model and the anatomical parameter, wherein the anatomical parameter comprises a parent artery center line, a neck center point, an aneurysm long diameter vector, and a neck plane normal; determining a first vector based on the neck center point and the tumor center point, extending in the reverse direction of the first vector, calculating the intersection of the reverse extension line with the blood vessel wall in the blood vessel reconstruction model, and taking the neck center point, the tumor center point and the intersection as reference control points; performing offset processing on the reference control points or directly using them according to the size of the aneurysm incidence angle to obtain target control points; performing spline fitting based on the target control points to generate a preliminary shape curve of the microcatheter, calculating a first touch wall point of the microcatheter and the blood vessel wall in the curvature direction of the preliminary shape curve, and performing touch wall calibration and twisting processing on the preliminary shape curve in combination with the first touch wall point to obtain a calibrated shape curve; setting a front segment of the microcatheter corresponding to the calibrated shape curve as a fixed segment, extending a distal end of the fixed segment away from the tumor by a predetermined length to form a movable segment, and modeling the fixed segment and the movable segment using an elastic mechanics model to simulate a microcatheter pushing operation until a predetermined stop condition is met, and outputting a microcatheter shaping result containing a primary curve and a secondary curve.

[0007] In some embodiments, the aneurysm incidence angle is the angle between the aneurysm long diameter and the parent artery center line, and the nearest point of the parent artery center line is the point on the parent artery center line that is closest to the neck center point; and calculating the tumor center point comprises: extending from the neck center point to the midpoint of the aneurysm long diameter in the direction of the aneurysm long diameter vector, and the midpoint is the tumor center point.

[0008] In some embodiments, performing offset processing on the reference control points or directly using them according to the size of the aneurysm incidence angle to obtain target control points comprises: when the aneurysm incidence angle is less than or equal to 90°, calculating a first offset coefficient (alpha) and a second offset coefficient (beta), and obtaining an offset neck center point, an offset tumor center point and an offset intersection based on the first offset coefficient and the second offset coefficient, and taking the offset neck center point, the offset tumor center point and the offset intersection as the target control points; and when the aneurysm incidence angle is greater than 90°, taking the neck center point, the tumor center point and the intersection as the target control points.

[0009] Optionally, the first offset coefficient alpha = sigmod ((angle-90) / 90) x coeff1, and the second offset coefficient beta = sigmod ((angle-90) / 90) x coeff2, wherein the sigmod function controls the rate of change of the offset coefficient with the aneurysm incident angle, and coeff1 and coeff2 determine the change range of the offset coefficient.

[0010] In some embodiments, based on the first offset coefficient and the second offset coefficient, obtaining the offset aneurysm neck center point, the offset aneurysm body center point, and the offset intersection point comprises: taking the aneurysm neck center point as the origin and the aneurysm neck plane normal as the reference to construct a target plane, translating the second vector to the aneurysm neck center point, and projecting the translated second vector to the target plane to obtain an offset vector, wherein the second vector is a vector from the nearest point of the parent artery centerline to the aneurysm neck center point; based on the blood vessel reconstruction model, calculating a first distance (Dis_A) of the offset vector to the blood vessel wall, and taking a position at a distance of alpha x Dis_A from the aneurysm neck center point as the offset aneurysm neck center point in the extension direction of the offset vector; translating the offset vector to the aneurysm body center point, taking the opposite direction of the translated vector as a third vector, and based on the blood vessel reconstruction model, calculating a second distance (Dis_B) of the third vector to the blood vessel wall, and taking a position at a distance of beta x Dis_B from the aneurysm body center point as the offset aneurysm body center point in the extension direction of the third vector; based on the value of the aneurysm incident angle, offset processing is performed on the intersection point to obtain the offset intersection point.

[0011] In some embodiments, the offset processing of the intersection point to obtain the offset intersection point comprises: if the aneurysm incident angle is less than 60°, determining a fourth vector based on the nearest point of the parent artery centerline and the aneurysm neck center point, calculating a second wall contact point of the fourth vector and the blood vessel wall in the blood vessel reconstruction model, updating the second wall contact point as a new intersection point, and taking a position at a distance of 2 x tube_diameter from the updated intersection point as the offset intersection point in the extension direction of the opposite vector of the fourth vector, wherein tube_diameter is the diameter of the microcatheter; if the aneurysm incident angle is greater than or equal to 60° and less than or equal to 90°, taking a position at a distance of 2 x tube_diameter from the intersection point as the offset intersection point in the extension direction of the opposite vector of the first vector, wherein tube_diameter is the diameter of the microcatheter.

[0012] In some embodiments, the preset stop condition comprises: the head end of the microcatheter reaches a preset position of the aneurysm body, and the preset position is at a distance of 1 mm to 2 mm from the aneurysm top; or the pushing force of the microcatheter reaches a preset safety threshold.

[0013] In some embodiments, the first bend is a bend of a head end of the microcatheter, and is proximal to a neck of the aneurysm; and the second bend is a bend of a middle section of the microcatheter, and extends along a tortuous direction of the blood vessel in the blood vessel reconstruction model.

[0014] In a second aspect, the present application provides an apparatus for shaping a microcatheter, comprising: a processor; and a memory storing program instructions for shaping the microcatheter, which when executed by the processor, cause the implementation of the method according to any one of the preceding first aspect and embodiments.

[0015] In a third aspect, the present application provides a computer-readable storage medium having stored thereon computer-readable instructions for shaping a microcatheter, which when executed by one or more processors, cause the implementation of the method according to any one of the preceding first aspect and embodiments.

[0016] Through the method for shaping a microcatheter as provided above, the embodiments of the present application can accurately obtain a blood vessel reconstruction model and anatomical parameters, calculate key feature point positions, determine a reference control point, dynamically adjust a target control point in combination with an aneurysm incidence angle, form a calibrated shape curve through spline fitting, wall calibration and torsion processing, and simulate modeling and pushing through an elastic mechanics model, so as to generate a microcatheter shaping result containing a head end first bend and a second bend conforming to the tortuosity of a blood vessel, realize easy positioning of the microcatheter into the aneurysm and stable support, and adapt to the operation habit of a physician of proximal end filling first, then gradually withdrawing the catheter, and finally distal end filling. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above and other objects, features and advantages of the example embodiments of the present application will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein like or corresponding elements show like or corresponding parts, by referring to which; and in which: Figure 1 An example flowchart of the method for shaping a microcatheter according to an embodiment of the present application is shown; Figure 2 A projection plane diagram of a neck surface of an aneurysm according to an embodiment of the present application is shown; Figure 3 A width diagram of a neck of an aneurysm according to an embodiment of the present application is shown; Figure 4 A height diagram of an aneurysm according to an embodiment of the present application is shown; Figure 5 A transverse diameter diagram of an aneurysm according to an embodiment of the present application is shown; Figure 6An aneurysm neck width diagram is shown. Figure 7 An aneurysm length diagram is shown. Figure 8 An aneurysm angle of incidence diagram is shown. Figure 9 An aneurysm angle diagram is shown. Figure 10 An example flowchart of a process for deriving target control points from reference control points is shown. Figure 11 An example block diagram of an apparatus for shaping a microcatheter is shown. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0019] It should be understood that the terms "comprising" and "including" used in the specification and claims of the present application indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0020] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification and claims of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should be further understood that the term "and / or" used in the specification and claims of the present application means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0021] As used in the specification and claims of the present application, the term "if" can be interpreted as "when" or "upon" or "in response to a determination" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [a described condition or event]" or "in response to detecting [a described condition or event]", depending on the context.

[0022] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0023] Figure 1 An exemplary flowchart of a method 100 for shaping a microcatheter according to an embodiment of this application is shown. It is understood that method 100 can be performed by any suitable device with data processing capabilities, such as, but not limited to, terminal devices and servers. Specifically, the terminal device may be a medical image processing workstation, and the server may be a cloud server with GPU acceleration capabilities to meet the high-efficiency processing requirements of cerebrovascular images.

[0024] like Figure 1 As shown, in step 101, the vascular reconstruction model and anatomical parameters can be obtained, and based on the vascular reconstruction model and anatomical parameters, the aneurysm center point B, the aneurysm incident angle angle, and the nearest point C of the center line of the aneurysm-bearing artery can be calculated.

[0025] Specifically, a grayscale image of the cerebral blood vessels containing aneurysms can be acquired first. This image can be obtained through clinical imaging examinations such as CTA and MRA. Then, a vascular reconstruction model can be obtained based on the segmentation of the cerebral blood vessel grayscale image. Specifically, the cerebral blood vessel grayscale image can be segmented to obtain vascular regions in two-dimensional slices. Then, the vascular regions in the two-dimensional slices can be combined into a three-dimensional voxel model, and isolated voxels that are not blood vessels can be removed. This ensures that the spatial coordinates of each vascular voxel in the model are strictly aligned with the original cerebral blood vessel grayscale image, resulting in a vascular reconstruction voxel model, i.e., a vascular reconstruction model.

[0026] In practice, anatomical parameters may include the centerline of the parent artery L, the center point of the aneurysm neck A, the radial length of the aneurysm, and the normal direction of the aneurysm neck plane N. Additionally or optionally, anatomical parameters may also include the projection plane area of ​​the aneurysm neck curvature, the aneurysm neck width M, the aneurysm height H, and the aneurysm transverse diameter W. H and the transverse diameter W of the aneurysm H The ratio W to the neck width M H / M. Further, the centerline L of the aneurysm-bearing artery is obtained through a skeleton extraction algorithm on the vascular reconstruction model. The nearest point C on the centerline L of the aneurysm-bearing artery is the point on the centerline L with the smallest distance from the aneurysm neck center point A. The process of determining the aneurysm body center point B is as follows: along the radial direction of the aneurysm length, this vector is determined by the direction from the aneurysm neck center point A to the aneurysm top. Extending from the aneurysm neck center point A into the aneurysm to the midpoint of the aneurysm's long diameter D, this midpoint is the aneurysm body center point B.

[0027] Figures 2 to 9 Some anatomical parameters from this application are shown, such as Figure 2The gray elliptical area shown is the projection plane of the aneurysm neck surface, and the aneurysm neck width M is the longest diameter of the projection plane of the aneurysm neck surface, and when M is greater than or equal to 4, the aneurysm can be referred to as a wide-necked aneurysm. This criterion is commonly used in clinical practice to define wide-necked aneurysms, and can provide reference for the subsequent support design of microcatheter shaping, such as Figure 3 The double-headed arrow in the figure shows the aneurysm neck width M.

[0028] Further, the maximum vertical distance from the projection plane of the aneurysm neck surface to the aneurysm top is the aneurysm height H, which is calculated based on the distance from a spatial plane to a point, and can accurately reflect the longitudinal dimension of the aneurysm, such as Figure 4 The double-headed arrow in the figure shows the aneurysm height H. Then, the maximum distance perpendicular to the aneurysm height is the aneurysm transverse diameter W H , which is measured in a direction perpendicular to the direction of the aneurysm height H, and is obtained by traversing the three-dimensional spatial coordinates of the aneurysm, such as Figure 5 The double-headed arrow in the figure shows the aneurysm transverse diameter W H .

[0029] Further, the ratio of the aneurysm transverse diameter W H to the aneurysm neck width M can also be used to determine whether the aneurysm is a wide-necked aneurysm. Specifically, when the ratio of the aneurysm transverse diameter W H to the aneurysm neck width M is W H / M less than or equal to 2, it can be determined that the aneurysm can be referred to as a wide-necked aneurysm. For example, Figure 6 The two double-headed arrows in the figure show the aneurysm transverse diameter W H and the aneurysm neck width M, respectively. In addition, the aneurysm long diameter D is the maximum distance from the aneurysm neck center point A to the aneurysm top, which covers the core area of the aneurysm from the aneurysm neck to the aneurysm top, and provides key data support for the positioning of the aneurysm center point B, such as Figure 7 The double-headed arrow in the figure shows the aneurysm long diameter D.

[0030] Further, Figure 8 shows the aneurysm incidence angle angle, Figure 9 and shows the aneurysm angle θ, wherein the aneurysm incidence angle angle is the angle between the aneurysm long diameter D and the aneurysm-bearing center line L, and the aneurysm angle θ is the angle between the aneurysm long diameter D and the projection plane of the aneurysm neck surface. These two angle parameters are obtained by the vector angle calculation method, and can accurately reflect the spatial positional relationship between the aneurysm and the aneurysm-bearing artery.

[0031] Then, at step S102, a first vector BA can be determined based on the aneurysm neck center point A and the aneurysm body center point B, the first vector BA has a direction from the aneurysm body center point B to the aneurysm neck center point A, an opposite direction of the first vector BA is extended, an intersection S of the extended line and a vessel wall in the vessel reconstruction model is calculated, it is ensured that the intersection S is an inside tangent point of the vessel wall, and the aneurysm neck center point A, the aneurysm body center point B and the intersection S are taken as reference control points.

[0032] Then, at step S103, according to the size of the aneurysm incidence angle angle, the reference control points determined at step S102 are offset processed or directly used according to preset angle judgment rules, the offset processing is performed based on preset coefficient calculation rules and angle adaptation logic, and the direct use keeps the original spatial position of the reference control points, so as to ensure that the target control points adapt to the anatomic structure of the aneurysm, and finally the target control points are obtained.

[0033] Next, at step S104, a spline fitting is performed based on the target control points obtained at step S103, a preliminary shape curve of the microcatheter is generated, a first touch wall point SS1 of the microcatheter and the vessel wall is calculated along the curvature direction of the preliminary shape curve, and the preliminary shape curve is touch wall calibrated and twisted in combination with the first touch wall point SS1, to obtain a calibrated shape curve. Here, the spline fitting can use a cubic B-spline or Bezier curve fitting algorithm.

[0034] Specifically, in the touch wall calibration stage, the three-dimensional coordinate data of the vessel wall of the vessel reconstruction model is used to adjust the line segment in the curve that is abnormally distant from the vessel wall, so that each point in the curve is uniformly fitted to the vessel wall, and local over-close compression or over-far separation is avoided; in the twisting processing, the twisting deviation of the curve caused by space adaptation is corrected according to the material mechanical properties of the microcatheter and the tortuous direction of the blood vessel, so that the twisting angle of the curve is adapted to the anatomic structure of the blood vessel, and finally a calibrated shape curve that is smooth and continuous, fitted to the blood vessel and stable in mechanical properties is obtained.

[0035] Finally, at step S105, a microcatheter front segment corresponding to the calibrated shape curve obtained at step S104 is set as a fixed segment, an end of the fixed segment away from the aneurysm body is extended by a preset length to form a movable segment, and an elastic mechanics model is used to model the fixed segment and the movable segment, to simulate the microcatheter pushing operation until a preset stop condition is met, and to output a microcatheter shaping result including a primary curve and a secondary curve.

[0036] Specifically, the fixed segment extends a preset length away from the one end of the aneurysm to form a movable segment, and the length of the movable segment is adapted to the flexible requirements of the clinical pushing operation. The elastic mechanics model is specifically a dynamic elastic rod model or a hybrid model based on the dynamics of the position and the elastic rod. The fixed segment remains unchanged after shaping, and the movable segment responds to external force according to the law of elastic mechanics. Then, the microcatheter pushing operation is simulated. The pushing process is performed according to the uniform speed rule and the balance state of the blood vessel wall friction and the microcatheter internal force is calculated in real time until the preset stopping condition is met. Finally, the microcatheter shaping result containing the first bend and the second bend is output.

[0037] In actual operation scenarios, the setting of the fixed segment combines the actual size of the aneurysm and matches the support demand after the microcatheter shaping. The length of the fixed segment can be set according to the actual size of the aneurysm, and can be usually 10 to 15 millimeters. The preset length of the movable segment is adapted to the flexible requirements of the clinical pushing operation, and can be usually 50 unit lengths, which can meet the operation space of the doctor pushing and adjusting the microcatheter. In addition, the preset stopping condition can include but is not limited to the head end of the microcatheter reaching a preset position of the aneurysm or the pushing force of the microcatheter reaching a preset safety threshold. Usually, the preset position is 1 mm to 2 mm away from the aneurysm top, which can ensure that the head end of the microcatheter reaches the effective filling area and avoids touching the aneurysm top to cause damage; and the preset safety threshold can be set based on the clinical safety operation standard, and the mechanical properties of the microcatheter material and the elastic tolerance range of the blood vessel wall are referred to, to ensure the safety of the pushing process.

[0038] The above Figure 1 The method for shaping the microcatheter provided by the embodiments of the present application is described. The method can accurately obtain the blood vessel reconstruction model and the anatomical parameters, calculate the key feature points, determine the reference control points, dynamically adjust the target control points based on the aneurysm incident angle, form the calibrated shape curve through spline fitting, wall touching calibration and twisting processing, and simulate the modeling and pushing of the elastic mechanics model. The microcatheter shaping result containing the first bend of the head end and the second bend conforming to the blood vessel tortuosity can be generated, the microcatheter can be easily positioned in the aneurysm and the support is stable, and the operation habit of the doctor, i.e., filling the proximal end first, then gradually withdrawing the tube and finally filling the distal end, can be adapted.

[0039] Figure 10 An exemplary flowchart of the process 200 of obtaining the target control points from the reference control points of the embodiments of the present application is shown. It can be understood that the following description of Figure 10 is a specific implementation of the foregoing step S103, and clearly presents the complete logical link of the transformation of the reference control points to the target control points. Therefore, the features described in the foregoing Figure 1 can be similarly applicable.

[0040] As Figure 10As shown, at step S201, it can be determined whether the aneurysm incidence angle angle calculated based on the foregoing step S101 is greater than 90°. Further, the determination result directly determines the processing mode of the reference control point. When the aneurysm incidence angle angle is greater than 90°, step S202 can be performed, otherwise, when the aneurysm incidence angle angle is less than or equal to 90°, step S203 can be performed.

[0041] Specifically, at step S202, since the aneurysm incidence angle angle is greater than 90° when the blood vessel is relatively straight, there is no need to adjust the offset of the reference control point, and the original spatial position can meet the subsequent shaping requirements, so the tumor neck center point A, the tumor body center point B and the intersection point S can be directly used as the target control point.

[0042] At step S203, since the aneurysm incidence angle angle is less than or equal to 90° when the blood vessel is relatively tortuous, the supportability of the microcatheter needs to be strengthened through offset adjustment, so the first offset coefficient alpha and the second offset coefficient beta can be calculated first, and the offset processing of each reference control point can be completed step by step based on the first offset coefficient alpha and the second offset coefficient beta, to obtain the offset tumor neck center point A', the offset tumor body center point B' and the offset intersection point S', and the offset tumor neck center point A', the offset tumor body center point B' and the offset intersection point S' are used as the target control point.

[0043] Specifically, the first offset coefficient alpha = sigmod((angle-90) / 90) x coeff1, and the second offset coefficient beta = sigmod((angle-90) / 90) x coeff2, wherein the sigmod function is used to smooth the change rate of the offset coefficient with the aneurysm incidence angle, to ensure that the offset amount transitions naturally, and coeff1 and coeff2 are empirical parameters preset based on the material properties of the microcatheter and clinical shaping data, to determine the overall change amplitude of the offset coefficient.

[0044] In addition, based on the first offset coefficient alpha and the second offset coefficient beta, the offset tumor neck center point A', the offset tumor body center point B' and the offset intersection point S' can be obtained by performing the following operations: First, a target plane is constructed with the tumor neck center point A as the origin and the tumor neck plane normal N as the reference, the target plane is constructed to provide a stable reference coordinate system for the offset vector, and then the second vector dir is translated to the tumor neck center point A. The second vector after translation is projected onto the target plane, which can ensure that the offset vector is always within the blood vessel cross section, avoiding deviation of the offset direction from the blood vessel direction, and finally obtaining the offset vector A_Dir. The second vector dir is a vector from the nearest point C of the aneurysm-bearing artery centerline to the tumor neck center point A.

[0045] Secondly, based on the three-dimensional coordinates of the vessel wall of the blood vessel reconstruction model, the first distance Dis_A of the offset vector A_Dir to the vessel wall is calculated by the spatial distance algorithm, and then the offset aneurysm neck center point A' of the aneurysm neck center point A is obtained along the extension direction of the offset vector A_Dir, which is the position with a distance of alpha x Dis_A from the aneurysm neck center point A. The value of alpha x Dis_A can dynamically adjust the offset distance according to the angle of the aneurysm, so that A' adheres to the vessel wall and does not cause compression.

[0046] Thirdly, the offset vector A_Dir is translated to the aneurysm center point B, and the opposite direction of the translated vector is taken as the third vector B_Dir. The opposite direction is set to make the offset direction of B' form a cooperative support with A' to avoid distortion of the microcatheter shape. Then, the second distance Dis_B of the third vector B_Dir to the vessel wall is calculated based on the blood vessel reconstruction model. Dis_B is calculated by the same spatial distance algorithm as Dis_A to ensure the consistency of the offset distance calculation. Finally, the offset aneurysm center point B' of the aneurysm center point B is obtained along the extension direction of the third vector B_Dir, which is the position with a distance of beta x Dis_B from the aneurysm center point B.

[0047] Finally, based on the specific value of the aneurysm incidence angle angle, a differentiated strategy is adopted to offset the intersection point S to obtain the offset intersection point S'. The generation of S' aims to strengthen the support stability of the middle segment of the microcatheter. Different offset strategies are adopted for different aneurysm incidence angles to ensure that the support effect is adapted to the degree of vascular tortuosity.

[0048] Specifically, if the aneurysm incidence angle angle is less than 60°, a fourth vector AC is determined based on the aneurysm-bearing artery center line closest point C and the aneurysm neck center point A. The second wall contact point SS2 of the fourth vector AC and the vessel wall in the blood vessel reconstruction model is calculated by a spatial geometric intersection algorithm. The second wall contact point SS2 is updated to a new intersection point S to correct the deviation of the original wall contact point caused by the too small angle. Then, the offset intersection point S' of the intersection point S is obtained along the extension direction of the opposite vector CA of the fourth vector AC, which is the position with a distance of 2 x tube_diameter from the updated intersection point S. tube_diameter is the diameter of the microcatheter, and the offset distance of 2 x tube_diameter is set with reference to the diameter of the microcatheter, which can ensure a reasonable support gap between the microcatheter and the vessel wall.

[0049] In addition, if the aneurysm incidence angle angle is greater than or equal to 60° and less than or equal to 90°, the extension direction of the reverse vector AB of the first vector BA is offset, which is consistent with the long diameter of the aneurysm, which can provide stable middle support for the microcatheter into the aneurysm. The intersection point S' of the intersection point S is taken as the position of 2x tube_diameter, where tube_diameter is the diameter of the microcatheter, and the offset distance of 2x tube_diameter is also based on the diameter of the microcatheter. The support effect is matched with the vascular anatomy.

[0050] Next, combined with Figure 11 An example of the device 300 for shaping a microcatheter provided by the embodiments of the present application is described. As shown in Figure 11 The electronic device 300 of the embodiments of the present application can include a processor 301, a memory 302 and a communication bus 303.

[0051] In the process of the specific embodiments, the above-mentioned processor 301 can be at least one of an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing image processing device (DSPD), a programmable logic image processing device (PLD), a field programmable gate array (FPGA), a CPU, a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic devices used to implement the above-mentioned processor functions can also be others, and the embodiments are not limited specifically.

[0052] In the embodiments of the present application, the communication bus 303 is used to realize the connection and communication between the processor 301 and the memory 302; the memory 302 stores program instructions for shaping a microcatheter; and the processor 301 executes the program instructions stored in the memory 302 to realize the method for shaping a microcatheter described in combination with Figures 1 to 10 The method for shaping a microcatheter described above.

[0053] The above Figure 11 The electronic device for shaping a microcatheter can be used to execute the present application. It should be understood that the device structure or architecture herein is only exemplary, and the implementation manner and implementation entity of the present application are not limited thereto, but can be changed without departing from the spirit of the present application.

[0054] According to the above description in conjunction with the drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by a software program. Therefore, the present application also provides a computer readable storage medium. The computer readable storage medium stores program instructions for shaping the microcatheter, which can be used to implement the method for shaping the microcatheter of the present application Figures 1 to 10 the method for shaping the microcatheter is described.

[0055] It should be understood that the structures or architectures described above are only exemplary, and the implementation manners and implementation entities of the present application are not limited thereto, but can be changed without departing from the spirit of the present application. It can be understood that the description of each embodiment of the present disclosure emphasizes the differences between each embodiment, and the same or corresponding parts can be referred to each other. For the purpose of brevity, the present disclosure will not be described one by one.

[0056] It should be noted that although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all of the shown operations must be performed to achieve the desired result. On the contrary, the steps depicted in the flowchart can change the order of execution. Additionally or alternatively, some steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps.

[0057] Although the embodiments of the present application have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided only by way of example. Those skilled in the art can think of many changes, modifications and alternatives without departing from the idea and spirit of the present application. It should be understood that various alternatives to the embodiments of the present application described herein can be employed in practicing the present application. The appended claims are intended to define the scope of protection of the present application, and therefore cover the equivalents or alternatives within the scope of the claims.

Claims

1. A method for shaping a microcatheter, characterized by, The method comprises the following steps: obtaining a blood vessel reconstruction model and an anatomical parameter, and calculating a tumor center point, an aneurysm incidence angle and a nearest point of a parent artery center line based on the blood vessel reconstruction model and the anatomical parameter, wherein the anatomical parameter comprises a parent artery center line, a neck center point, an aneurysm long diameter vector and a neck plane normal; determining a first vector based on the neck center point and the tumor center point, extending in the opposite direction of the first vector, calculating the intersection of the extended line and the blood vessel wall in the blood vessel reconstruction model, and taking the neck center point, the tumor center point and the intersection as reference control points; performing offset processing on the reference control points or directly using the reference control points according to the size of the aneurysm incidence angle to obtain target control points; performing spline fitting based on the target control points to generate a preliminary microcatheter shape curve, calculating a first touch wall point of the microcatheter and the blood vessel wall in the curvature direction of the preliminary shape curve, and performing touch wall calibration and twisting processing on the preliminary shape curve based on the first touch wall point to obtain a calibrated shape curve; setting a microcatheter front segment corresponding to the calibrated shape curve as a fixed segment, extending a distal end of the fixed segment away from the tumor by a preset length to form a movable segment, and modeling the fixed segment and the movable segment using an elastic mechanics model to simulate microcatheter pushing operation until a preset stop condition is met, and outputting a microcatheter shaping result containing a primary curve and a secondary curve.

2. The method of claim 1, wherein, The aneurysm incidence angle is the angle between the aneurysm long diameter and the parent artery center line, and the nearest point of the parent artery center line is the point on the parent artery center line closest to the neck center point. Furthermore The calculation of the tumor center point comprises: extending from the neck center point to the midpoint of the aneurysm long diameter in the direction of the aneurysm long diameter vector, and the midpoint is the tumor center point.

3. The method of claim 1, wherein, The calculation of the target control points based on the size of the aneurysm incidence angle comprises: when the aneurysm incidence angle is less than or equal to 90°, calculating a first offset coefficient (alpha) and a second offset coefficient (beta), and obtaining offset neck center points, offset tumor center points and offset intersection points based on the first offset coefficient and the second offset coefficient, and taking the offset neck center points, the offset tumor center points and the offset intersection points as target control points; when the aneurysm incidence angle is greater than 90°, taking the neck center point, the tumor center point and the intersection as target control points.

4. The method of claim 3, wherein, The first offset coefficient alpha = sigmod ((angle-90) / 90) × coeff1, and the second offset coefficient beta = sigmod ((angle-90) / 90) × coeff2, wherein the sigmod function controls the rate of change of the offset coefficient with the aneurysm incidence angle, and coeff1 and coeff2 determine the change amplitude of the offset coefficient.

5. The method of claim 3, wherein, The calculation of the offset neck center points, the offset tumor center points and the offset intersection points based on the first offset coefficient and the second offset coefficient comprises: constructing a target plane with the aneurysm neck center point as an origin and with a normal of the aneurysm neck plane as a reference, translating the second vector to the aneurysm neck center point, and projecting the translated second vector to the target plane to obtain an offset vector, wherein the second vector is a vector from a nearest point of the parent artery centerline to the aneurysm neck center point; calculating a first distance (Dis_A) of the offset vector to a blood vessel wall based on the blood vessel reconstruction model, and taking a position at alpha x Dis_A from the aneurysm neck center point as an offset aneurysm neck center point along an extension direction of the offset vector; translating the offset vector to the aneurysm body center point, taking a reverse direction of the translated vector as a third vector, calculating a second distance (Dis_B) of the third vector to the blood vessel wall based on the blood vessel reconstruction model, and taking a position at beta x Dis_B from the aneurysm body center point as an offset aneurysm body center point along an extension direction of the third vector; performing offset processing on the intersection point based on the aneurysm incidence angle to obtain an offset intersection point.

6. The method of claim 5, wherein, The offset processing on the intersection point includes: if the aneurysm incidence angle is less than 60°, determining a fourth vector based on the nearest point of the parent artery centerline and the aneurysm neck center point, calculating a second wall contact point of the fourth vector to the blood vessel wall in the blood vessel reconstruction model, updating the second wall contact point as a new intersection point, and taking a position at 2 x tube_diameter from the updated intersection point as the offset intersection point along an extension direction of a reverse vector of the fourth vector, wherein tube_diameter is a diameter of the microcatheter; if the aneurysm incidence angle is greater than or equal to 60° and less than or equal to 90°, taking a position at 2 x tube_diameter from the intersection point as the offset intersection point along an extension direction of a reverse vector of the first vector, wherein tube_diameter is a diameter of the microcatheter.

7. The method of claim 1, wherein, The preset stop condition includes: a head end of the microcatheter reaches a preset position of the aneurysm body, and the preset position is at 1 mm to 2 mm from an aneurysm top; or a pushing force of the microcatheter reaches a preset safety threshold.

8. The method of claim 1, wherein, The first-level bending is a bending of the head end of the microcatheter and is toward a proximal end of the aneurysm neck; and the second-level bending is a bending of a middle segment of the microcatheter and extends along a tortuous direction of the blood vessel in the blood vessel reconstruction model.

9. An apparatus for shaping a microcatheter, comprising: include: a processor; and a memory storing program instructions for shaping the microcatheter, which, when executed by the processor, cause the implementation of the method according to any one of claims 1-8.

10. A computer-readable storage medium storing computer-readable instructions for shaping a microcatheter, which, when executed by one or more processors, implement the method according to any one of claims 1-8.

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