Blood vessel parameter determination method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of computer medicine, in particular to a blood vessel parameter determination method and device, electronic equipment and a storage medium, and the method determines the boundary position and the center position of a target blood vessel included in a target blood vessel image in a three-dimensional space, and the instrument position of a target instrument. And correcting the boundary position, the center position and the instrument position according to a preset correction rule. Blood vessel shape parameters and instrument state parameters are determined according to the corrected boundary position, the center position and the instrument position, the blood vessel shape parameters are used for representing the current blood vessel shape of the target blood vessel, and the instrument state parameters are used for representing the state of the target instrument in the target blood vessel. According to the method, the blood vessel form and the instrument state are accurately determined in a mode of spatially positioning the position of the target blood vessel and the position of the instrument in the blood vessel, so that the condition of the target blood vessel and the condition of the instrument in the target blood vessel are identified and displayed in real time.

Description

Technical Field

[0001] This application relates to the field of computer medical technology, and in particular to a method, apparatus, electronic device, and storage medium for determining vascular parameters. Background Technology

[0002] Cardiovascular and cerebrovascular diseases have become the leading threats to human physical and mental health. With the development of various medical diagnostic and treatment technologies, minimally invasive interventional therapy, with its advantages of low intraoperative risk, minimal trauma, and rapid recovery, has become a major treatment method for vascular diseases. Under the guidance of digital subtraction angiography (DSA), surgeons can precisely deliver interventional instruments such as guidewires, guiding catheter systems, and stents to the lesion site during interventional surgery to perform specific surgical procedures, and can use images to evaluate the surgical outcome. While interventional surgery has many advantages, this treatment method still has the potential to cause related complications due to limited intraoperative imaging information and insufficient judgment and experience of the surgeon. These complications include iatrogenic problems such as inaccurate instrument positioning, guidewire perforation, and damage to the vascular wall (dissection). Specifically, one of the problems leading to interventional complications is the lack of intuitive and effective vascular morphology and instrument-vessel interaction parameters in real-time DSA images. Real-time binary images can cause surgeons to lose sight of the target vessel and interventional instruments, especially in complex and minute branch areas, such as cerebral and coronary arteries. Summary of the Invention

[0003] In view of this, this application proposes a method, apparatus, electronic device and storage medium for determining vascular parameters, which aims to accurately determine the vascular morphology and instrument status, and to identify and display the condition of the target vascular vessel and the instrument therein.

[0004] According to a first aspect of this application, a method for determining vascular parameters is provided, the method comprising: Determine the boundary and center positions of the target blood vessels in the target blood vessel image in three-dimensional space, as well as the instrument position of the target device; At least one of the boundary position, center position, and instrument position is corrected according to the preset correction rules; The vessel morphology parameters and device status parameters are determined based on the corrected boundary position, center position, and device position. The vessel morphology parameters are used to characterize the current morphology of the target vessel, and the device status parameters are used to characterize the state of the target device within the target vessel.

[0005] In one possible implementation, the target blood vessel image includes a first blood vessel image and a second blood vessel image obtained by imaging the target blood vessel in a first angiography space and a second angiography space at the same time.

[0006] In one possible implementation, determining the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument, includes: Determine the first boundary coordinates, the first center position coordinates, and the first instrument coordinates of the target blood vessel in the first blood vessel image; Determine the second boundary coordinates, the second center position coordinates of the target blood vessel in the second blood vessel image, and the second instrument coordinates of the target instrument; Based on the spatial geometric constraints of the first and second angiography spaces, as well as the first boundary coordinates, the first center position coordinates, the first instrument coordinates, the second boundary coordinates, the second center position coordinates, and the second instrument coordinates, the boundary position and center position of the target blood vessel in three-dimensional space, and the instrument position of the target instrument are determined.

[0007] In one possible implementation, the first boundary coordinates, the first center position coordinates, the second boundary coordinates, and the second center position coordinates are determined by a threshold segmentation algorithm, an edge detection algorithm, and a region growing algorithm.

[0008] In one possible implementation, the first instrument coordinates and the second instrument coordinates are determined by performing connected component identification on the first blood vessel image and the second blood vessel image.

[0009] In one possible implementation, the vascular morphology parameters include at least one of vascular angle, radius change rate, and slope change rate; the device state includes at least one of device acceleration and device velocity; the boundary position includes multiple sets of boundary point coordinates, each set of boundary points including upper boundary point coordinates and lower boundary point coordinates; the center position includes multiple center position coordinates; and the device position includes device endpoint coordinates.

[0010] In one possible implementation, vascular morphology parameters and device state parameters are determined based on the corrected boundary position, center position, and device position, including: The center position coordinates that are closest to the instrument endpoint coordinates are determined as the target center position coordinates; The first vector is determined based on the preset number of center position coordinates located to the left of the target's center position coordinates; The second vector is determined based on the preset number of center position coordinates located to the right of the target's center position coordinates; The angle of the blood vessel is determined by the angle between the first vector and the second vector.

[0011] In one possible implementation, vascular morphology parameters and device state parameters are determined based on the corrected boundary position, center position, and device position, including: Determine a set of boundary point coordinates corresponding to each center position coordinate, and determine the blood vessel radius at the corresponding position based on the center position coordinates and the corresponding set of boundary point coordinates; The first radius feature value is determined based on the blood vessel radius at a predetermined number of center position coordinates to the left of the target center position coordinates. The second radius feature value is determined based on the radii of blood vessels at positions corresponding to a predetermined number of center position coordinates located to the right of the target center position coordinates. The radius change rate is determined based on the first and second radius characteristic values.

[0012] In one possible implementation, vascular morphology parameters and device state parameters are determined based on the corrected boundary position, center position, and device position, including: The first fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates to the left of the target center position coordinates. The second fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates located to the right of the target center position coordinates. The rate of change of slope is determined based on the slope of the first fitted curve and the slope of the second fitted curve.

[0013] In one possible implementation, the method also includes: Identify a reference vascular image corresponding to the target vascular image, wherein the reference vascular image was acquired before and / or after the target vascular image; Based on the corrected boundary position, center position, and device position, determine the vascular morphology parameters and device status parameters, including: The device acceleration and device velocity are determined based on the device endpoint coordinates in the target vessel image, the device endpoint coordinates in the reference vessel image, and the acquisition time difference between the target vessel image and the reference vessel image.

[0014] According to a second aspect of this application, a vascular parameter determination device is provided, the device comprising: The location determination module is used to determine the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument. The position correction module is used to correct at least one of the boundary position, center position and instrument position according to preset correction rules; The parameter determination module is used to determine the vascular morphology parameters and device status parameters based on the corrected boundary position, center position and device position. The vascular morphology parameters are used to characterize the current vascular morphology of the target vessel, and the device status parameters are used to characterize the state of the target device in the target vessel.

[0015] In one possible implementation, the target blood vessel image includes a first blood vessel image and a second blood vessel image obtained by imaging the target blood vessel in a first angiography space and a second angiography space at the same time.

[0016] In one possible implementation, the location determination module is further used for: Determine the first boundary coordinates, the first center position coordinates, and the first instrument coordinates of the target blood vessel in the first blood vessel image; Determine the second boundary coordinates, the second center position coordinates of the target blood vessel in the second blood vessel image, and the second instrument coordinates of the target instrument; Based on the spatial geometric constraints of the first and second angiography spaces, as well as the first boundary coordinates, the first center position coordinates, the first instrument coordinates, the second boundary coordinates, the second center position coordinates, and the second instrument coordinates, the boundary position and center position of the target blood vessel in three-dimensional space, and the instrument position of the target instrument are determined.

[0017] In one possible implementation, the first boundary coordinates, the first center position coordinates, the second boundary coordinates, and the second center position coordinates are determined by a threshold segmentation algorithm, an edge detection algorithm, and a region growing algorithm.

[0018] In one possible implementation, the first instrument coordinates and the second instrument coordinates are determined by performing connected component identification on the first blood vessel image and the second blood vessel image.

[0019] In one possible implementation, the vascular morphology parameters include at least one of vascular angle, radius change rate, and slope change rate; the device state includes at least one of device acceleration and device velocity; the boundary position includes multiple sets of boundary point coordinates, each set of boundary points including upper boundary point coordinates and lower boundary point coordinates; the center position includes multiple center position coordinates; and the device position includes device endpoint coordinates.

[0020] In one possible implementation, the parameter determination module is further used for: The center position coordinates that are closest to the instrument endpoint coordinates are determined as the target center position coordinates; The first vector is determined based on the preset number of center position coordinates located to the left of the target's center position coordinates; The second vector is determined based on the preset number of center position coordinates located to the right of the target's center position coordinates; The angle of the blood vessel is determined by the angle between the first vector and the second vector.

[0021] In one possible implementation, the parameter determination module is further used for: Determine a set of boundary point coordinates corresponding to each center position coordinate, and determine the blood vessel radius at the corresponding position based on the center position coordinates and the corresponding set of boundary point coordinates; The first radius feature value is determined based on the blood vessel radius at a predetermined number of center position coordinates to the left of the target center position coordinates. The second radius feature value is determined based on the radii of blood vessels at positions corresponding to a predetermined number of center position coordinates located to the right of the target center position coordinates. The radius change rate is determined based on the first and second radius characteristic values.

[0022] In one possible implementation, the parameter determination module is further used for: The first fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates to the left of the target center position coordinates. The second fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates located to the right of the target center position coordinates. The rate of change of slope is determined based on the slope of the first fitted curve and the slope of the second fitted curve.

[0023] In one possible implementation, the device further includes: The reference image determination module is used to determine the reference blood vessel image corresponding to the target blood vessel image. The acquisition time of the reference blood vessel image is before and / or after the target blood vessel image. The parameter determination module is further used for: The device acceleration and device velocity are determined based on the device endpoint coordinates in the target vessel image, the device endpoint coordinates in the reference vessel image, and the acquisition time difference between the target vessel image and the reference vessel image.

[0024] According to a third aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described method when executing instructions stored in the memory.

[0025] According to a fourth aspect of this application, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the above-described method.

[0026] According to a fifth aspect of this application, a computer program product is provided, comprising computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code, wherein when the computer-readable code is run in a processor of an electronic device, the processor in the electronic device performs the above-described method.

[0027] In this embodiment, the method determines the boundary position and center position of the target blood vessel in a three-dimensional space, as well as the instrument position of the target device, within the target blood vessel image. The boundary position, center position, and instrument position are corrected according to a preset correction rule. Based on the corrected boundary position, center position, and instrument position, blood vessel morphology parameters and instrument state parameters are determined. The blood vessel morphology parameters characterize the current morphology of the target blood vessel, and the instrument state parameters characterize the state of the target device within the target blood vessel. This application accurately determines the blood vessel morphology and instrument state by spatially locating the target blood vessel and the instrument within it, enabling real-time identification and display of the target blood vessel's condition and the instrument's condition.

[0028] Other features and aspects of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0029] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0030] Figure 1 A flowchart illustrating a method for determining vascular parameters according to an embodiment of this application is shown; Figure 2 A schematic diagram showing a three-dimensional spatial position correction result according to an embodiment of this application; Figure 3 A schematic diagram showing a three-dimensional spatial position determination result according to an embodiment of this application; Figure 4 A schematic diagram illustrating a process for determining device status parameters according to an embodiment of this application is shown; Figure 5 A schematic diagram of a vascular parameter determination device according to an embodiment of this application is shown; Figure 6 A schematic diagram of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0031] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0032] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0033] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0034] The vascular parameter determination method of this application embodiment can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, or wearable device. The server can be a single server or a server cluster consisting of multiple servers. Any electronic device can implement the vascular parameter determination method of this application embodiment by having its processor call computer-readable instructions stored in its memory.

[0035] In the embodiments of this application, the vascular parameter determination method can be used in any application scenario that requires the detection of vascular parameters, such as pathological diagnosis, research and education.

[0036] For example, the vascular parameter determination method of this application embodiment can, in the context of disease diagnosis, determine vascular morphology parameters based on medical imaging of the vascular morphology in a target vascular region, and analyze the patient's pathological characteristics based on the prediction results, thus aiding in disease research. Alternatively, in the context of interventional surgery, vascular morphology parameters can be determined based on medical imaging of the vascular morphology in a target vascular region, and instrument parameters can be determined for the target instrument within the target vascular vessel. The determination results can be used to assist doctors in performing interventional surgeries. In summary, the vascular parameter determination method has broad application prospects in medical imaging, not only enabling interventional disease treatment by determining vascular parameters but also promoting the development of medical research and education.

[0037] Given the aforementioned technological background, there are technologies that can improve the auxiliary diagnosis of real-time images during interventional surgery in several ways, such as using machine learning-based image recognition, feature extraction, and interventional path planning. However, most artificial intelligence models are trained on a large number of static images of patients, ignoring the dynamic changes of the vascular system during surgery. Furthermore, the computation of these models increases the system load, leading to image delays that affect the timeliness of the surgery and increase the risk to patients during the procedure. Complex models also require high-performance hardware, increasing medical costs and subsequent maintenance costs.

[0038] Therefore, this application proposes a method for determining vascular parameters, aiming to identify and display vascular features, instrument endpoint tracking, and instrument-vascular interaction data within vascular images during interventional surgery, thereby providing timely and accurate auxiliary information for surgeons during the procedure. This method determines the boundary and center positions of the target vascular vessel in three-dimensional space, as well as the instrument position of the target device, within the target vascular image. The boundary, center, and instrument positions are corrected according to preset correction rules. Based on the corrected boundary, center, and instrument positions, vascular morphology parameters and instrument state parameters are determined. The vascular morphology parameters characterize the current vascular morphology of the target vessel, and the instrument state parameters characterize the state of the target device within the target vascular vessel. This application accurately determines the vascular morphology and instrument state by spatially locating the target vessel and the instrument within it, enabling real-time identification and display of the target vascular condition and the instrument's status.

[0039] Figure 1 A flowchart illustrating a method for determining vascular parameters according to an embodiment of this application is shown. Figure 1 As shown, the method for determining vascular parameters in this application embodiment may include the following steps S10-S12.

[0040] The following description uses electronic devices as the executing entity. It can be understood that the electronic device is not limited to the electronic device itself, but also includes modules such as processors or processing chips in the electronic device that can perform computer tasks.

[0041] Step S10: Determine the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument.

[0042] In one possible implementation, embodiments of this application can first determine a target blood vessel image using an electronic device. This target blood vessel image can include the target blood vessel for the interventional procedure, as well as images of interventional target devices such as guidewires, guiding catheter systems, and stents within the target blood vessel. Optionally, during the interventional procedure on the patient, the electronic device can periodically acquire images of the target blood vessel location where the target device is located at a preset time frequency to obtain a target blood vessel image. After each image acquisition, the electronic device can locate the boundary position and center position of the target blood vessel in three-dimensional space, as well as the device position in three-dimensional space, and determine blood vessel parameters based on the location results.

[0043] In some embodiments of this application, the target vessel image can be a medical image obtained by performing digital subtraction angiography (DSA) on the target vessel undergoing the interventional procedure. Digital subtraction angiography is a medical imaging technique specifically designed for clear, real-time observation of the morphology and blood flow of the human vascular system.

[0044] For example, in the embodiments of this application, the image type of the target blood vessel image can be a single-tube DSA image or a dual-tube DSA image. In a DSA system, the X-ray tube is the core component that generates X-rays. It can be simply understood as the light source of a super-powerful "X-ray camera." A single imaging session requires one X-ray generating device (X-ray tube) and one X-ray receiving device (flat panel detector). Therefore, a single-tube DSA image can be obtained by imaging the target blood vessel from one angle in one angiography space at the same time. A dual-tube DSA image can be obtained by imaging the target blood vessel from two angles at the same time, respectively in a first angiography space and a second angiography space, resulting in a first blood vessel image and a second blood vessel image, which are then used together as the target blood vessel image. That is, the target blood vessel image can include the first blood vessel image and the second blood vessel image obtained by imaging the target blood vessel at the same time in the first angiography space and the second angiography space.

[0045] Optionally, for single-tube DSA images, embodiments of this application can extract the vessel centerline and boundary lines to obtain the two-dimensional coordinate information of the region of interest (ROI) in the image while identifying the device endpoint. Then, based on the two-dimensional coordinate information, vessel morphology parameters, device status parameters, and some interaction data between the device and the vessel are determined. For dual-tube DSA images, embodiments of this application can use the first and second vessel images corresponding to the first and second angiography spaces, respectively, as single-tube DSA images to extract the two-dimensional coordinate information of the ROI. Then, based on the two-dimensional coordinate information of the ROI in the two angiography spaces, three-dimensional spatial positioning is performed. Finally, based on the three-dimensional spatial positioning results, vessel morphology parameters, device status parameters, and some interaction data between the device and the vessel are determined. For dual-tube DSA images...

[0046] Since determining vascular parameters from dual-tube DSA images also requires the same two-dimensional image localization as with single-tube DSA images, the technical solution will be detailed below using dual-tube DSA images as an example. In this embodiment, the region of interest can be the boundary and center of the target vascular region, as well as the instrument position of the target device. Localization of the target vascular vessel and target device based on dual-tube DSA images enables three-dimensional localization based on two angiographic spaces, accurately identifying the spatial positions of the target vascular vessel and target device, improving the accuracy of the identification results, and further obtaining accurate vascular parameters.

[0047] In some embodiments, for a first blood vessel image and a second blood vessel image obtained by imaging the target blood vessel in a first angiography space and a second angiography space, the electronic device in this application embodiment determines the boundary position and center position of the target blood vessel in the target blood vessel image in three-dimensional space, and the instrument position of the target device in three-dimensional space, in a manner that may include: determining the first boundary coordinates and the first center position coordinates of the target blood vessel in the first blood vessel image, and the first instrument coordinates of the target device; determining the second boundary coordinates and the second center position coordinates of the target blood vessel in the second blood vessel image, and the second instrument coordinates of the target device; and determining the boundary position and center position of the target blood vessel in three-dimensional space, and the instrument position of the target device, based on the spatial geometric constraints of the first angiography space and the second angiography space, and the first boundary coordinates, the first center position coordinates, the first instrument coordinates, the second boundary coordinates, the second center position coordinates, and the second instrument coordinates.

[0048] The electronic device first performs two-dimensional localization on the first and second vascular images, and then performs three-dimensional spatial localization based on the two-dimensional localization results obtained from the two angiographic spaces, thus obtaining an accurate localization result. This method of three-dimensional spatial localization of the target blood vessel and target instrument within the target vascular image accurately identifies the spatial position of the target blood vessel and target instrument, improving the accuracy of the identification results.

[0049] For example, in this embodiment, the two-dimensional location identification of the target blood vessel can be achieved through threshold segmentation, edge detection, and region growing algorithms. Specifically, the first boundary coordinates, first center coordinates, second boundary coordinates, and second center coordinates are determined using these algorithms. The electronic device can first use threshold segmentation to binarize the first and second blood vessel images, and then perform edge detection and region growing algorithms on the binarized target blood vessel image to obtain continuous target blood vessel boundary lines and center lines. Specifically, the electronic device determines the boundary line position of the two-dimensional blood vessel in the first blood vessel image as the first boundary coordinates and the center line position as the first center coordinates. Similarly, the electronic device determines the boundary line position of the two-dimensional blood vessel in the second blood vessel image as the second boundary coordinates and the center line position as the second center coordinates.

[0050] In some embodiments, the two-dimensional coordinates of the boundary line and the center line in the two-dimensional image acquired by the electronic device in this application embodiment are respectively used as boundary coordinates and center position coordinates. Specifically, the electronic device can extract the positions of the vascular skeleton lines adjacent to each endpoint in the first vascular image as the two-dimensional coordinates of the center point, and calculate the intersection of the perpendicular line from the center line at the center position coordinate and the vascular boundary line as the boundary coordinate. Each boundary coordinate has a corresponding center position coordinate, and includes two-dimensional boundary coordinates located above and below the center position coordinate.

[0051] After determining the first boundary coordinates and first center position coordinates in the first vascular image, and the second boundary coordinates and second center position coordinates in the second vascular image, the geometric constraints between the two angiography spaces can be determined through the spatial positional relationship between the two angiography spaces and the intrinsic parameter matrices of the first and second vascular images. These geometric constraints include rotation and translation. Further, the centerline position of the target vessel in three-dimensional space is determined as the center position, and the boundary line position of the target vessel in three-dimensional space is determined as the boundary position, based on the spatial geometric constraints (rotation and translation) between the first and second vascular images. Thus, the electronic device can determine multiple sets of boundary point coordinates as the boundary positions of the target vessel in three-dimensional space, each set including upper and lower boundary point coordinates. And multiple center position coordinates are determined as the center position of the target vessel in three-dimensional space.

[0052] For example, in this embodiment, the two-dimensional location identification of the target device can be achieved through connected component analysis. Specifically, the first and second device coordinates are determined by performing connected component analysis on the first and second vascular images. The electronic device can first perform thresholding on the first and second vascular images, then perform dilation and erosion operations on the processed images, and find the largest connected component to identify the target device in the image. Specifically, the electronic device determines the two-dimensional location of the target device in the first vascular image as the first device coordinates. The electronic device determines the two-dimensional location of the target device in the second vascular image as the second device coordinates.

[0053] In some embodiments, the electronic device can determine the device image by calculating the minimum distance between the boundary points of the largest connected component and the other two connected components in a first vascular image, process it through a thinning algorithm to obtain the device skeleton, and obtain the pixel coordinates of the target device head end in the first vascular image as the first device coordinates. Similarly, the electronic device can determine the device image by calculating the minimum distance between the boundary points of the largest connected component and the other two connected components in a second vascular image, process it through a thinning algorithm to obtain the device skeleton, and obtain the pixel coordinates of the target device head end in the first vascular image as the second device coordinates.

[0054] After determining the first device coordinates in the first vascular image and the second device coordinates in the second vascular image, the geometric constraints between the two angiography spaces can be determined through the spatial positional relationship between the two angiography spaces and the intrinsic parameter matrices of the first and second vascular images. These geometric constraints include rotation and translation. Furthermore, the spatial geometric constraints (rotation and translation) between the first and second vascular images are used to determine the device endpoint coordinates in three-dimensional space as the device position.

[0055] Step S11: Correct at least one of the boundary position, center position and instrument position according to the preset correction rules.

[0056] In one possible implementation, the width of the instrument tip in dual-tube imaging may experience projection errors (such as artifact overlap) due to differences in angiography angles, resulting in errors in at least one of the boundary position, center position, and instrument position determined in step S10. Furthermore, image processing alone (connected component analysis, thinning algorithms) cannot eliminate such physical errors. Therefore, to further improve the accuracy of the boundary and center positions of the target blood vessel in three-dimensional space, and the instrument position of the target instrument within it, the electronic device can logically correct these positions based on the spatial topological constraints of the vascular anatomy. That is, after obtaining the boundary position, center position, and instrument position, the electronic device corrects these positions based on preset correction rules.

[0057] In some embodiments, the electronic device in this application can use the reconstructed vascular centerline and corresponding radius to determine whether the currently identified device position is located inside the blood vessel. If the device is not located inside the blood vessel, an error is identified, and the device position needs to be corrected. Specifically, after determining the device position, the electronic device can iteratively search the distances between the device position and all center position coordinates to find the nearest center position coordinate. It then calculates the perpendicular distance between the device position and the spatial segment formed by the center position coordinates before and after the nearest center position coordinate. When the perpendicular falls in the middle of the segment, the corresponding center position coordinate with the smallest distance is selected for correction. The corrected device position is obtained by proportionally calculating the radius and distance corresponding to the current center position coordinate. When neither perpendicular point is in the middle of the spatial segment between the two center position coordinates, considering extreme cases, the distance between the device position and the center position coordinates, along with their radius, is used directly for correction, thereby achieving device position correction based on vascular centerline constraints.

[0058] Figure 2 A schematic diagram illustrating a three-dimensional spatial position correction result according to an embodiment of this application is shown. Figure 2 As shown, after logically correcting at least one of the above-mentioned boundary position, center position and device position by the spatial topological constraints of the electronic device based on the vascular anatomy structure, the boundary position, center position and device position that conform to the vascular anatomy structure can be obtained, which improves the accuracy of the three-dimensional spatial positioning of the target blood vessel and the target device in the embodiments of this application, and further improves the accuracy of vascular parameter calculation based on the positioning results.

[0059] Step S12: Determine the vascular morphology parameters and device status parameters based on the corrected boundary position, center position, and device position.

[0060] In one possible implementation, the electronic device can, after correcting at least one of the boundary position, center position, and device position to obtain the accurate three-dimensional spatial position of the target blood vessel and the target device, determine the blood vessel morphology parameters and device state parameters based on the corrected boundary position, center position, and device position. The blood vessel morphology parameters may include at least one of the blood vessel angle, radius change rate, and slope change rate, and the device state may include at least one of the device acceleration and device velocity. Alternatively, the electronic device can also determine arbitrary parameters such as the rotation angle of the target device within the target blood vessel according to user requirements.

[0061] Optionally, the vessel morphology parameter, Angle Variation Index (AVI), can be represented as: This is used to reflect the curvature of a target blood vessel through angular values. The Radius Ratio Index (RRI) can be expressed as... This is used to reflect the degree of stenosis in the target blood vessel at the device endpoint location. The Radius Gradient Index (RGI) can be expressed as... This is used to reflect the change in the angle of the target blood vessel at the endpoint position of the target device. Device acceleration is used to characterize the current acceleration of the target device in the target blood vessel, and device velocity is used to characterize the current velocity of the target device in the target blood vessel.

[0062] Figure 3 This diagram illustrates a result of determining a three-dimensional spatial position according to an embodiment of this application. Figure 3 As shown in the embodiments of this application, the center position of the target blood vessel obtained after three-dimensional spatial positioning includes N center points, and the center position coordinates corresponding to each center point are represented as follows: Simultaneously, the endpoint coordinates of the target instrument obtained from three-dimensional spatial positioning are defined as P. Furthermore, a set of boundary point coordinates corresponding to each center position coordinate can be determined, and the vessel radius corresponding to that center position coordinate is determined based on the average distance between that center position coordinate and the coordinates of its upper boundary point, and the average distance between that center position coordinate and the coordinates of its lower boundary point. This vessel radius can be expressed as... .

[0063] In some embodiments, the electronic device may calculate the vessel angle by first determining the center position coordinates closest to the device endpoint coordinates as the target center position coordinates. Then, a first vector is determined based on a predetermined number of center position coordinates located to the left of the target center position coordinates. Next, a second vector is determined based on a predetermined number of center position coordinates located to the right of the target center position coordinates. Finally, the vessel angle is determined based on the angle between the first and second vectors. The predetermined number can be set as needed.

[0064] For example, in calculating blood vessel morphology parameters In this case, first calculate the distance between the instrument endpoint coordinate P and all center position coordinates, and then determine the nearest center position coordinate as the target center position coordinate. The electronic device can determine the first vector by comparing the target's center position with the coordinates of the tenth center position to the left of that target's center position. Simultaneously, the electronic device can determine the second vector by comparing the target's center position with the coordinates of the tenth center position to the right of that target's center position. Furthermore, the vessel angle is obtained by calculating the angle between the first and second vectors. The angle of the blood vessel can be calculated using the following formula.

[0065]

[0066] In some embodiments, the electronic device calculates the radius change rate by including determining a set of boundary point coordinates corresponding to each center position coordinate, and determining the vessel radius at the corresponding position based on the center position coordinates and the corresponding set of boundary point coordinates. A first radius feature value is determined based on the vessel radii at positions corresponding to a predetermined number of center position coordinates to the left of the target center position coordinates. A second radius feature value is determined based on the vessel radii at positions corresponding to a predetermined number of center position coordinates to the right of the target center position coordinates. The radius change rate is then determined based on the first and second radius feature values. The predetermined number can be set as needed.

[0067] For example, in calculating blood vessel morphology parameters In this case, the electronic device first calculates the distance between the device endpoint coordinate P and all center position coordinates, and then determines the nearest center position coordinate as the target center position coordinate. Then, based on the vessel radii at the ten center coordinates to the left of the target center coordinates... The sum determines the first radius eigenvalue The second radius feature value is determined by the sum of the radii of the blood vessels at the ten center position coordinates to the right of the target center position coordinates. Furthermore, the rate of change of radius can be determined based on the first radius eigenvalue and the second radius eigenvalue. .

[0068] In some embodiments, the electronic device may calculate the slope change rate by determining a first fitting curve based on the radii of blood vessels at a predetermined number of center position coordinates to the left of the target center position coordinates. A second fitting curve may be determined based on the radii of blood vessels at a predetermined number of center position coordinates to the right of the target center position coordinates. The slope change rate may be determined based on the slopes of the first and second fitting curves.

[0069] For example, in calculating blood vessel morphology parameters In this case, the electronic device can first calculate the distance between the device endpoint coordinate P and all center position coordinates, and then determine the nearest center position coordinate as the target center position coordinate. Then, based on the vessel radii corresponding to the ten center coordinates to the left of the target center position, the first fitting curve is determined, and the slope of the first fitting curve is determined. Simultaneously, a second fitting curve is determined based on the vessel radii corresponding to the ten center position coordinates to the right of the target center position coordinates, and the slope of the second fitting curve is determined. Furthermore, based on the slopes of the first and second fitted curves, the formula is used... Calculate the rate of change of the slope. Wherein, When the value is greater than 0, the target blood vessel may be in a state of accelerated expansion or decelerated narrowing. When the value is less than 0, the target blood vessel may be in a state of accelerated expansion or decelerated narrowing.

[0070] In some embodiments, the electronic device can also determine a reference vascular image corresponding to the target vascular image, wherein the acquisition time of the reference vascular image is before and / or after the target vascular image. For example, when the electronic device acquires vascular images at a preset sampling frequency, at least one frame before and / or at least one frame after the target vascular image can be determined as the corresponding reference vascular image. The electronic device can calculate the device acceleration and device velocity by determining the device acceleration and device velocity based on the device endpoint coordinates in the target vascular image, the device endpoint coordinates in the reference vascular image, and the acquisition time difference between the target vascular image and the reference vascular image.

[0071] Furthermore, the instrument status parameters may also include the instrument rotation angle. It is used to observe the physician's application of rotational manipulation in real time during interventional surgery, and to characterize the correlation with proximal manipulation through this value.

[0072] Figure 4 This diagram illustrates a process for determining device status parameters according to an embodiment of this application. Figure 4 As shown, given a fixed rotation angle of the instrument, the electronic device can calculate the coordinates of the instrument's endpoints. Distances to all center position coordinates are used to determine the target center position coordinates closest to the instrument endpoint. and will In a three-dimensional coordinate system Translate along the axis to obtain After translation Three points can determine that the centerline is perpendicular to... The plane containing the plane Next, the coordinates of the instrument's endpoints are calculated. exist and To find the distance between two spatial line segments, choose the segment with the shortest distance and calculate the foot of its perpendicular. and mapped to the plane get At this point, the vector with vector Vertically, calculate the normal vector perpendicular to these two vectors. Since there are two directions for the normal vector, further judgment is required. Take the vector as the axis, and take the vector as the axis for rotation, then the normal vector as the axis can be obtained . Based on the normal vector and the vector , calculate the angles with the vector respectively, and finally convert them into angle data from -180 to 180 degrees as the instrument angle. After calculating the instrument angles of the target blood vessel image and at least one reference blood vessel image by the electronic device, the rotation data of the instrument end point during the entire intervention process can be obtained as the instrument rotation angle .

[0073] Furthermore, when the electronic device calculates the instrument speed and instrument acceleration corresponding to the target instrument in the target blood vessel image, the force decomposition in the three directions can also be achieved through coordinates. The process of this force decomposition can be to further decompose the instrument speed and instrument acceleration into radial and axial components according to the blood vessel morphology, and calculate the spatial distance of the axial speed and acceleration relative to the center line.

[0074] Exemplarily, after the electronic device calculates the instrument acceleration vector A, it can calculate the product of the cosine value between the acceleration vector and the vector through the formula to obtain the axial acceleration , and its positive and negative values represent the acceleration of forward and backward respectively; the calculation method of the axial speed is the same as this. The radial acceleration can be obtained through the subtraction operation of spatial vectors, and its calculation formula can be , and the judgment basis of its speed direction is the angle difference of the rotation angle at this moment, positive value represents clockwise, negative value represents counterclockwise; the calculation method of the radial speed is the same reason.

[0075] In some other embodiments, the electronic device can also calculate the spatial distance between the acceleration vector and based on the formula to obtain the distance between the spatial position of the acceleration vector and the target blood vessel center line, and the distance between the spatial position of the speed vector and the target blood vessel center line is calculated in the same way as .

[0076] Optionally, depending on the needs of the actual application scenario, the electronic device can also acquire the movement path (FPP) of the target instrument endpoint at the foot of the centerline during the intervention process. And the wall contact ratio (WCR). Parameters such as these are used. The motion path of the target instrument's endpoint at the perpendicular foot of the centerline can be calculated using the cumulative length of each perpendicular foot. The instrument-to-wall contact ratio of the target instrument's endpoint can be determined by calculating the ratio of the distance between the target instrument's endpoint coordinates and the centerline to its radius.

[0077] Based on the aforementioned technical features, the embodiments of this application can accurately determine the vascular morphology and device status by spatially locating the target blood vessel and the intravascular device, thereby enabling real-time identification and display of the target blood vessel and the device within it. This method of determining vascular parameters allows for real-time identification and display of vascular features within DSA images, device endpoint tracking, and device-vascular interaction data during interventional surgery, thus providing timely and accurate auxiliary information for the surgeon during the procedure.

[0078] Figure 5 A schematic diagram of a dynamic prediction device for vascular parameters according to an embodiment of this application is shown. Figure 5 As shown, the vascular parameter dynamic prediction device of this application embodiment may include: The position determination module 50 is used to determine the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument. The position correction module 51 is used to correct at least one of the boundary position, center position and instrument position according to a preset correction rule; The parameter determination module 52 is used to determine the vascular morphology parameters and the device status parameters based on the corrected boundary position, center position and device position. The vascular morphology parameters are used to characterize the current vascular morphology of the target vessel, and the device status parameters are used to characterize the state of the target device in the target vessel.

[0079] In one possible implementation, the target blood vessel image includes a first blood vessel image and a second blood vessel image obtained by imaging the target blood vessel in a first angiography space and a second angiography space at the same time.

[0080] In one possible implementation, the position determination module 50 is further used for: Determine the first boundary coordinates, the first center position coordinates, and the first instrument coordinates of the target blood vessel in the first blood vessel image; Determine the second boundary coordinates, the second center position coordinates of the target blood vessel in the second blood vessel image, and the second instrument coordinates of the target instrument; Based on the spatial geometric constraints of the first and second angiography spaces, as well as the first boundary coordinates, the first center position coordinates, the first instrument coordinates, the second boundary coordinates, the second center position coordinates, and the second instrument coordinates, the boundary position and center position of the target blood vessel in three-dimensional space, and the instrument position of the target instrument are determined.

[0081] In one possible implementation, the first boundary coordinates, the first center position coordinates, the second boundary coordinates, and the second center position coordinates are determined by a threshold segmentation algorithm, an edge detection algorithm, and a region growing algorithm.

[0082] In one possible implementation, the first instrument coordinates and the second instrument coordinates are determined by performing connected component identification on the first blood vessel image and the second blood vessel image.

[0083] In one possible implementation, the vascular morphology parameters include at least one of vascular angle, radius change rate, and slope change rate; the device state includes at least one of device acceleration and device velocity; the boundary position includes multiple sets of boundary point coordinates, each set of boundary points including upper boundary point coordinates and lower boundary point coordinates; the center position includes multiple center position coordinates; and the device position includes device endpoint coordinates.

[0084] In one possible implementation, the parameter determination module 52 is further used for: The center position coordinates that are closest to the instrument endpoint coordinates are determined as the target center position coordinates; The first vector is determined based on the preset number of center position coordinates located to the left of the target's center position coordinates; The second vector is determined based on the preset number of center position coordinates located to the right of the target's center position coordinates; The angle of the blood vessel is determined by the angle between the first vector and the second vector.

[0085] In one possible implementation, the parameter determination module 52 is further used for: Determine a set of boundary point coordinates corresponding to each center position coordinate, and determine the blood vessel radius at the corresponding position based on the center position coordinates and the corresponding set of boundary point coordinates; The first radius feature value is determined based on the blood vessel radius at a predetermined number of center position coordinates to the left of the target center position coordinates. The second radius feature value is determined based on the radii of blood vessels at positions corresponding to a predetermined number of center position coordinates located to the right of the target center position coordinates. The radius change rate is determined based on the first and second radius characteristic values.

[0086] In one possible implementation, the parameter determination module 52 is further used for: The first fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates to the left of the target center position coordinates. The second fitting curve is determined based on the radii of blood vessels at a predetermined number of center position coordinates located to the right of the target center position coordinates. The rate of change of slope is determined based on the slope of the first fitted curve and the slope of the second fitted curve.

[0087] In one possible implementation, the device further includes: The reference image determination module is used to determine the reference blood vessel image corresponding to the target blood vessel image. The acquisition time of the reference blood vessel image is before and / or after the target blood vessel image. Parameter determination module 52 is further used for: The device acceleration and device velocity are determined based on the device endpoint coordinates in the target vessel image, the device endpoint coordinates in the reference vessel image, and the acquisition time difference between the target vessel image and the reference vessel image.

[0088] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0089] This application also proposes a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the above-described method. The computer-readable storage medium can be volatile or non-volatile.

[0090] This application also proposes an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0091] This application also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code, wherein when the computer-readable code is run in the processor of an electronic device, the processor in the electronic device performs the above-described method.

[0092] Figure 6 A schematic diagram of an electronic device 1900 according to an embodiment of this application is shown. For example, the electronic device 1900 may be provided as a server or a terminal device. (Refer to...) Figure 6The electronic device 1900 includes a processing component 1922, which further includes one or more processors, and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by the processing component 1922. The application programs stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 1922 is configured to execute instructions to perform the methods described above.

[0093] Electronic device 1900 may also include a power supply component 1926 configured to perform power management of electronic device 1900, a wired or wireless network interface 1950 configured to connect electronic device 1900 to a network, and an input / output interface 1958 (I / O interface). Electronic device 1900 can operate on an operating system, such as Windows Server, stored in memory 1932. TM Mac OS X TM Unix TM Linux TM FreeBSD TM Or similar.

[0094] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions that can be executed by a processing component 1922 of an electronic device 1900 to perform the above-described method.

[0095] This application may be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this application.

[0096] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0097] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0098] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing the status information of the computer-readable program instructions. These electronic circuits can execute the computer-readable program instructions to implement various aspects of this application.

[0099] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0100] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0101] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0103] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for determining vascular parameters, characterized in that, The method includes: Determine the boundary and center positions of the target blood vessels in the target blood vessel image in three-dimensional space, as well as the instrument position of the target device; At least one of the boundary position, the center position, and the instrument position is corrected according to a preset correction rule; The vascular morphology parameters and device state parameters are determined based on the corrected boundary position, the center position, and the device position. The vascular morphology parameters are used to characterize the current vascular morphology of the target blood vessel, and the device state parameters are used to characterize the state of the target device within the target blood vessel.

2. The method according to claim 1, characterized in that, The target blood vessel image includes a first blood vessel image and a second blood vessel image obtained by imaging the target blood vessel in a first angiography space and a second angiography space at the same time.

3. The method according to claim 2, characterized in that, The determination of the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument, includes: Determine the first boundary coordinates, the first center position coordinates, and the first instrument coordinates of the target blood vessel in the first blood vessel image; Determine the second boundary coordinates, the second center position coordinates, and the second instrument coordinates of the target vessel in the second vascular image; Based on the spatial geometric constraints between the first angiography space and the second angiography space, as well as the first boundary coordinates, the first center position coordinates, the first instrument coordinates, the second boundary coordinates, the second center position coordinates, and the second instrument coordinates, the boundary position and center position of the target blood vessel in three-dimensional space, and the instrument position of the target instrument are determined.

4. The method according to claim 3, characterized in that, The first boundary coordinates, the first center position coordinates, the second boundary coordinates, and the second center position coordinates are determined by a threshold segmentation algorithm, an edge detection algorithm, and a region growing algorithm.

5. The method according to claim 3, characterized in that, The first instrument coordinates and the second instrument coordinates are determined by performing connected component identification on the first blood vessel image and the second blood vessel image.

6. The method according to claim 1, characterized in that, The vascular morphology parameters include at least one of vascular angle, radius change rate, and slope change rate; the device state includes at least one of device acceleration and device velocity; the boundary position includes multiple sets of boundary point coordinates, each set of boundary points including upper boundary point coordinates and lower boundary point coordinates; the center position includes multiple center position coordinates; and the device position includes device endpoint coordinates.

7. The method according to claim 6, characterized in that, The process of determining vascular morphology parameters and device status parameters based on the corrected boundary position, center position, and device position includes: The center position coordinates that are closest to the endpoint coordinates of the instrument are determined as the target center position coordinates; The first vector is determined based on the preset number of center position coordinates located to the left of the center position coordinates of the target; The second vector is determined based on the preset number of center position coordinates located to the right of the target's center position coordinates; The vessel angle is determined based on the angle between the first vector and the second vector.

8. The method according to claim 7, characterized in that, The process of determining vascular morphology parameters and device status parameters based on the corrected boundary position, center position, and device position includes: Determine a set of boundary point coordinates corresponding to each of the central position coordinates, and determine the blood vessel radius at the corresponding position based on the central position coordinates and the corresponding set of boundary point coordinates; The first radius feature value is determined based on the blood vessel radius at a predetermined number of center position coordinates located to the left of the target center position coordinates. The second radius feature value is determined based on the blood vessel radius at a predetermined number of center position coordinates located to the right of the target center position coordinates. The radius change rate is determined based on the first radius characteristic value and the second radius characteristic value.

9. The method according to claim 8, characterized in that, The process of determining vascular morphology parameters and device status parameters based on the corrected boundary position, center position, and device position includes: The first fitting curve is determined based on the blood vessel radii at the positions corresponding to a preset number of center position coordinates located to the left of the target center position coordinates. The second fitting curve is determined based on the radii of blood vessels at positions corresponding to a preset number of center position coordinates located to the right of the target center position coordinates. The rate of change of slope is determined based on the slope of the first fitted curve and the slope of the second fitted curve.

10. The method according to claim 6, characterized in that, The method further includes: A reference blood vessel image corresponding to the target blood vessel image is determined, wherein the acquisition time of the reference blood vessel image is before and / or after the target blood vessel image; The process of determining vascular morphology parameters and device status parameters based on the corrected boundary position, center position, and device position includes: The device acceleration and the device velocity are determined based on the device endpoint coordinates in the target vascular image, the device endpoint coordinates in the reference vascular image, and the acquisition time difference between the target vascular image and the reference vascular image.

11. A device for determining vascular parameters, characterized in that, The device includes: The location determination module is used to determine the boundary position and center position of the target blood vessel included in the target blood vessel image in three-dimensional space, as well as the instrument position of the target instrument. The position correction module is used to correct at least one of the boundary position, the center position, and the instrument position according to a preset correction rule; The parameter determination module is used to determine vascular morphology parameters and device status parameters based on the corrected boundary position, center position and device position. The vascular morphology parameters are used to characterize the current vascular morphology of the target vascular vessel, and the device status parameters are used to characterize the state of the target device within the target vascular vessel.

12. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method of any one of claims 1 to 9 when executing instructions stored in the memory.

13. A non-volatile computer-readable storage medium storing computer program instructions thereon, characterized in that, When the computer program instructions are executed by the processor, they implement the method described in any one of claims 1 to 9.

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