Method for generating a catheter intervention path, catheter intervention control method and system

Abstract

This disclosure provides a method for generating a catheter intervention path, a catheter intervention control method, and a system. The generation method includes: receiving target three-dimensional image data; constructing a three-dimensional vascular model containing a target region based on the target three-dimensional image data; acquiring a target vessel matching the target region in the three-dimensional vascular model; determining the hemodynamic parameters of the target vessel within a preset time period; and determining several embolization support points after catheter intervention in the target vessel based on the hemodynamic parameters and a preset determination strategy, thereby generating a catheter intervention path based on the several embolization support points and the embolization target point. In this solution, by integrating fluid dynamics principles, the wall contact points of the blood vessel are accurately, comprehensively, and thoroughly evaluated to obtain reasonable and stable embolization support points for catheter intervention, effectively ensuring the accuracy, efficiency, and rationality of the catheter intervention path determination, as well as the precision and safety of the surgery.

Description

Technical Field

[0001] This disclosure relates to the field of medical technology, and in particular to a method for generating a catheter intervention path, a method for controlling catheter intervention, and a system thereof. Background Technology

[0002] Interventional embolization is a highly precise, minimally invasive medical technique. Under the precise guidance of medical imaging equipment, a catheter is carefully inserted selectively or superselectively into the blood supply artery of the tumor. As a precise and minimally invasive treatment, interventional embolization provides an effective alternative for some patients who are unsuitable for surgery or face high surgical risks. It not only improves treatment outcomes but also significantly enhances patients' quality of life, reducing pain and complications during treatment. However, current interventional embolization techniques generally fall short of practical requirements in terms of precision and efficiency. Summary of the Invention

[0003] The technical problem to be solved by this disclosure is to overcome the above-mentioned defects in the prior art and to provide a method for generating a catheter intervention path, a method for controlling catheter intervention, and a system.

[0004] This disclosure solves the above-mentioned technical problems through the following technical solution:

[0005] In a first aspect, this disclosure provides a method for generating a catheter interventional path, the method comprising:

[0006] Receive target 3D image data;

[0007] A three-dimensional blood vessel model containing the target region is constructed based on the target three-dimensional image data;

[0008] Obtain the target blood vessel in the three-dimensional blood vessel model that matches the target region;

[0009] Determine the hemodynamic parameters of the target blood vessel within a preset time period;

[0010] Based on the hemodynamic parameters and a preset determination strategy, several embolization support points are determined after the catheter is inserted into the target blood vessel, and the catheter intervention path is generated based on the several embolization support points and the embolization target point.

[0011] Preferably, before the step of determining several embolization support points after catheter intervention in the target blood vessel based on the hemodynamic parameters and a preset determination strategy, the method further includes:

[0012] Determine the target embolization point of the catheter intervention;

[0013] The step of determining several embolization support points after catheter intervention in the target blood vessel based on the hemodynamic parameters and a preset determination strategy includes:

[0014] Starting from the target embolization point, determine the direction of movement of the catheter at the target embolization point;

[0015] The action space for the current step is determined based on the action direction described in the previous step;

[0016] The preset determination strategy is used to determine the optimal action of the catheter in the action space of the current step, and the current step and the corresponding embolization support point are obtained until the embolization support point corresponding to the last step in the target blood vessel is obtained; wherein, the embolization support point corresponding to the last step is the embolization starting point of the catheter intervention path.

[0017] Preferably, the step of determining the action space of the current step based on the action direction of the previous step includes:

[0018] The direction of the action described in the previous step is taken as the polar axis to determine the blood vessel cross-section in the current step;

[0019] The set of semi-neighborhoods on the blood vessel cross-section forms the action space for the current step.

[0020] Preferably, the step of determining the optimal action of the catheter in the action space of the current step using the preset determination strategy, and obtaining the current step and the corresponding embolization support point, includes:

[0021] Using a pre-constructed step cost function, the optimal action of the catheter in the action space of the current step is calculated, and the current step and the corresponding embolization support point are obtained.

[0022] The step cost function is determined based on spatial potential energy and elastic potential energy, or based on spatial potential energy, elastic potential energy, and the hemodynamic parameters.

[0023] Preferably, the step cost function is determined based on a weighted sum of the spatial potential energy and the elastic potential energy; or, it is determined based on a weighted sum of the spatial potential energy, the elastic potential energy, and the hemodynamic parameters.

[0024] Preferably, the step of determining the target embolization point for catheter intervention further includes:

[0025] The target region of the target lesion in the three-dimensional vascular model is located based on the lesion features;

[0026] The preset location point of the target area is used as the embolization target point for the catheter intervention;

[0027] Alternatively, a preset screening method can be used to analyze several blood vessels around the lesion area to screen out the blood vessels that correctly supply the target lesion and use them as the target blood vessels.

[0028] Preferably, the step of determining the hemodynamic parameters of the target blood vessel within a preset time period includes:

[0029] Based on the three-dimensional blood vessel model after meshing and the preset inlet and outlet boundary conditions of the target blood vessel, a fluid dynamics solver is used to process the blood flow parameters of the target blood vessel within the preset time period.

[0030] And / or,

[0031] The step of generating the catheter intervention path based on a plurality of the embolization support points and the embolization target points includes:

[0032] An ordered path is determined based on several embolization support points and embolization target points;

[0033] Curve smoothing is performed on several target spatial points on the ordered path to generate the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points.

[0034] In a second aspect, this disclosure provides a catheter intervention control method, which is implemented using the aforementioned catheter intervention path generation method.

[0035] The catheter intervention control method includes:

[0036] Obtain the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points;

[0037] In response to the overlap of the main branches, the working angle of the catheter at the next target spatial point is calculated based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, and the catheter intervention is controlled according to the working angle.

[0038] A third aspect of this disclosure provides a catheter intervention path generation system, the generation system comprising:

[0039] Image data receiving module, used to receive target 3D image data;

[0040] The blood vessel model building module is used to build a three-dimensional blood vessel model containing the target region based on the target three-dimensional image data.

[0041] The target blood vessel acquisition module is used to acquire target blood vessels in the three-dimensional blood vessel model that match the target region.

[0042] The hemodynamic parameter acquisition module is used to determine the hemodynamic parameters of the target blood vessel within a preset time period;

[0043] The support point determination module is used to determine several embolization support points after the catheter is inserted into the target blood vessel, based on the hemodynamic parameters and a preset determination strategy.

[0044] The path generation module is used to generate the catheter intervention path based on several embolization support points and embolization target points.

[0045] In a fourth aspect, this disclosure provides a catheter intervention control system, which is implemented using the aforementioned catheter intervention path generation system.

[0046] The catheter interventional control system includes:

[0047] The angiography angle acquisition module is used to acquire the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points;

[0048] The intervention control module is used to respond to the overlap of the main branches, calculate the working angle of the catheter intervention at the next target spatial point based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, and perform catheter intervention control according to the working angle.

[0049] In a fifth aspect, this disclosure provides a vascular interventional angiography machine, the vascular interventional angiography machine including the catheter interventional control system described above.

[0050] A sixth aspect of this disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and for running on the processor, wherein the processor executes the computer program to implement the above-described method for generating a catheter intervention path; or, the catheter intervention control method as described above.

[0051] In a seventh aspect, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for generating a catheter intervention path; or, as described above, a catheter intervention control method.

[0052] In an eighth aspect, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the catheter intervention path generation method as described above; or, the catheter intervention control method as described above.

[0053] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this disclosure.

[0054] The positive and progressive effects of this disclosure are as follows:

[0055] This approach proposes a novel method for generating catheter intervention pathways, specifically targeting various complex vascular configurations. By integrating fluid dynamics principles, it accurately, comprehensively, and thoroughly assesses the vessel wall contact points to identify reasonable and stable embolization support points for catheter intervention. This approach takes into account the complex characteristics of blood flow in the artery and the catheter's course selection at bifurcation points, effectively ensuring the accuracy, efficiency, and rationality of catheter intervention pathway determination. This further guarantees the precision and safety of the procedure, while reducing the risk of intraoperative complications, providing patients with safer and more effective treatment options. Attached Figure Description

[0056] Figure 1 This is a flowchart of the method for generating the catheter intervention path according to Embodiment 1 of this disclosure;

[0057] Figure 2 This is a flowchart of the method for generating the catheter intervention path according to Embodiment 2 of this disclosure;

[0058] Figure 3 This is a first schematic diagram of the action space of Embodiment 2 of this disclosure;

[0059] Figure 4 This is a second schematic diagram of the action space of Embodiment 2 of this disclosure;

[0060] Figure 5 This is a spatial schematic diagram of the catheter intervention path in Embodiment 2 of this disclosure;

[0061] Figure 6 This is a distance map of the bounding box corresponding to the lesion area in Embodiment 2 of this disclosure;

[0062] Figure 7 This is a schematic diagram showing the distribution of wall shear stress (WSS) in a blood vessel according to Embodiment 2 of this disclosure;

[0063] Figure 8 This is a schematic diagram of the distribution of velocity streamlines in a blood vessel according to Embodiment 2 of this disclosure;

[0064] Figure 9 This is a flowchart of the catheter intervention control method according to Embodiment 3 of this disclosure;

[0065] Figure 10 This is a schematic diagram showing the overlapping of the main branches in Embodiment 3 of this disclosure;

[0066] Figure 11This is a schematic diagram showing the optimal imaging angle for the overlapping area of ​​the main branches in Embodiment 3 of this disclosure;

[0067] Figure 12 For this disclosure Figure 11 A diagram showing the working angle corresponding to the optimal imaging angle;

[0068] Figure 13 This is a schematic diagram of the module of the catheter intervention path generation system of Embodiment 4 of this disclosure;

[0069] Figure 14 This is a schematic diagram of the module of the catheter intervention path generation system of Embodiment 5 of this disclosure;

[0070] Figure 15 This is a schematic diagram of the catheter intervention control system according to Embodiment 6 of this disclosure;

[0071] Figure 16 This is a schematic diagram of the structure of the electronic device according to Embodiment 8 of this disclosure. Detailed Implementation

[0072] The present disclosure is further illustrated below by way of embodiments, but the present disclosure is not limited to the scope of the embodiments described herein.

[0073] The prefixes such as "first" and "second" used in this disclosure are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this disclosure does not constitute a limitation on the described objects. The description of the described objects is given in the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0074] In this embodiment of the disclosure, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good morals.

[0075] Liver cancer is the fourth most common malignant tumor and the second leading cause of cancer death. In China, approximately 410,000 new cases of liver cancer are diagnosed annually, with about 390,000 deaths, representing an annual increase of about 3%. Approximately 1-1.5 million liver cancer surgeries are performed annually. Normal liver tissue receives 75% of its blood supply from the portal vein, while the hepatic artery supplies only 25%. Tumors, however, receive 95%-99% of their blood supply from the hepatic artery. Interventional embolization is a highly precise, minimally invasive medical technique. Under precise guidance from medical imaging equipment, a catheter is carefully inserted selectively or superselectively into the tumor's blood supply artery. During this process, chemotherapy drugs and embolic agents are injected to induce ischemic necrosis of the tumor tissue, achieving the treatment goal. This technique, with its significant targeting, minimal invasiveness, safety, and high efficiency, occupies an important position in comprehensive cancer treatment strategies.

[0076] Interventional embolization has demonstrated its indispensable importance in the treatment of intracranial aneurysms. Intracranial aneurysms, a type of localized vascular bulging caused by endothelial damage, pose a high mortality and disability rate when they rupture, leading to subarachnoid hemorrhage. Interventional embolization involves precisely inserting a microcatheter into the aneurysm cavity and filling it with special materials such as coils to effectively prevent blood from flowing into the aneurysm, thereby occluding the aneurysm and avoiding the risk of rupture. As a precise and minimally invasive treatment, interventional embolization provides an effective alternative for patients who are unsuitable for surgery or face high surgical risks. It not only improves treatment outcomes but also significantly enhances patients' quality of life, reducing pain and complications during treatment.

[0077] However, interventional embolization also faces challenges in practice. Specifically, vascular angiography machines typically only provide two-dimensional images, while the human body has a complex three-dimensional vascular structure. Furthermore, the tumor vessels requiring embolization are generally tortuous and delicate. Therefore, surgeons must rely on their experience to estimate the three-dimensional structural information of the vascular branches from the embolization initiation point to the embolization endpoint before inserting the catheter or guidewire. Additionally, multiple angiography sessions are usually required during the procedure to precisely select the route at vascular bifurcation points. For less experienced surgeons, this significantly prolongs the procedure time while also increasing radiation and contrast agent doses. Therefore, precise planning of the catheter intervention path during the procedure is of great clinical value and significance for improving the success rate, increasing efficiency, and reducing the incidence of intraoperative complications.

[0078] This embodiment addresses the aforementioned problems by innovatively proposing a novel and cutting-edge catheter intervention path planning scheme. This ensures the rationality, accuracy, and efficiency of the catheter intervention path determination, thereby effectively improving the accuracy and safety of the procedure. Specifically:

[0079] Example 1

[0080] like Figure 1 As shown, the method for generating the catheter intervention path in this embodiment includes:

[0081] S101, Receive target 3D image data;

[0082] S102. Based on the target three-dimensional image data, construct a three-dimensional blood vessel model containing the target region;

[0083] The target 3D image data includes image data of CTA (non-invasive angiography), CBCT (cone-beam computed tomography), and DSA (digital subtraction angiography) types; that is, there are no specific restrictions on the data type of 3D image data. The target area generally corresponds to the area where the lesion is located.

[0084] By using preset image processing methods, including but not limited to multi-scale Frangi filtering (an image processing technique that can extract targets with specific shapes and sizes by detecting blood vessels or small structures in an image), blood vessel enhancement, and blood vessel enhancement using deep learning algorithms, a blood vessel mask containing the target lesion (such as an aneurysm, liver tumor, etc.) is extracted from the target 3D image data to construct a 3D blood vessel model.

[0085] S103. Obtain the target blood vessel in the three-dimensional blood vessel model that matches the target lesion;

[0086] Specifically, the target vessel is the correct blood vessel supplying the target lesion.

[0087] S104. Determine the hemodynamic parameters of the target blood vessel within a preset time period;

[0088] The hemodynamic parameters are data on the distribution of hemodynamic characteristics; these parameters include pressure, velocity, vessel wall shear stress, and oscillatory shear index. The preset time period includes one cardiac cycle.

[0089] S105. Based on hemodynamic parameters and a preset determination strategy, determine several embolization support points after catheter intervention in the target blood vessel;

[0090] Among them, by using a preset strategy to evaluate the wall contact point of the target blood vessel based on hemodynamic parameters, a reasonable and stable embolization support point for catheter intervention is found.

[0091] S106. Generate the catheter intervention path based on several embolization support points and embolization target points.

[0092] The different embolization support points and embolization target points are sequentially connected and arranged to form a path, which serves as the catheter intervention path.

[0093] This approach proposes a novel method for generating catheter intervention pathways, specifically targeting various complex vascular configurations. By integrating fluid dynamics principles, it accurately, comprehensively, and thoroughly assesses the vessel wall contact points to identify reasonable and stable embolization support points for catheter intervention. This approach takes into account the complex characteristics of blood flow in the artery and the catheter's course selection at bifurcation points, effectively ensuring the accuracy, efficiency, and rationality of catheter intervention pathway determination. This further guarantees the precision and safety of the procedure, while reducing the risk of intraoperative complications, providing patients with safer and more effective treatment options.

[0094] Example 2

[0095] The catheter intervention path generation method in this embodiment is a further improvement on Embodiment 1, specifically:

[0096] In one feasible solution, the steps following step S101 and before step S105 include:

[0097] Determine the target embolization point for catheter-based intervention;

[0098] For example, in the case of aneurysm embolization, the target point for embolization of the aneurysm can be set at the geometric center of the aneurysm; in the case of liver tumor embolization, a target vessel that is correctly supplied by the liver tumor can be selected, and the endpoint of the target vessel can be used as the target point for embolization.

[0099] like Figure 2 As shown, step S105 includes:

[0100] S1051. Starting from the target embolization point, determine the direction of catheter movement at the target embolization point;

[0101] Specifically, starting from the embolization target point, the initial direction of the catheter intervention is determined by using the embolization target point as a reference. For example, for intracranial aneurysm interventional embolization, the embolization target point is used as the initial location point, and the vector direction from the embolization target point to the midpoint of the aneurysm neck is used as the initial direction of the intervention.

[0102] S1052. Determine the action space of the current step based on the action direction of the previous step;

[0103] The action space is a set consisting of several actions in different directions;

[0104] S1053. Using a preset determination strategy, determine the optimal action of the catheter in the action space of the current step, obtain the current step and the corresponding embolization support point, until the embolization support point corresponding to the last step in the target blood vessel is obtained; wherein, the embolization support point corresponding to the last step is the embolization starting point of the catheter intervention path.

[0105] In this disclosure, starting from the location of the embolization target point of the catheter intervention in the reconstructed three-dimensional data space, the action space of the current step is determined based on the spatial points of the previous step. The optimal action decision is calculated according to the pre-determined preset determination strategy to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained, the action is executed and the action space of the next step is updated, and so on, until the termination condition is reached, so as to quickly and accurately obtain a reasonable and stable embolization support point for catheter intervention.

[0106] In one feasible embodiment, step S1052 includes:

[0107] Using the direction of the previous step as the polar axis, determine the blood vessel cross-section for the current step;

[0108] The set of semi-neighborhoods on the blood vessel cross-section forms the action space for the current step.

[0109] In this disclosure, the action space of the current step is reasonably determined by the action direction of the previous step, taking into account the complex characteristics of blood flow in the artery and the choice of catheter travel at the bifurcation point, so as to ensure that the determination of each embolization support point is reasonable and accurate.

[0110] In one feasible embodiment, step S1053 includes:

[0111] Using a pre-constructed step cost function, the optimal action of the catheter in the action space of the current step is calculated, and the current step and the corresponding embolization support point are obtained.

[0112] The step cost function is determined based on spatial potential energy and elastic potential energy, or based on spatial potential energy, elastic potential energy, and hemodynamic parameters. The step cost function is used to calculate the cost value corresponding to each action, and the action with the minimum cost value in the action space is taken as the optimal action. This optimal action corresponds to the direction and position of the next embolization support point.

[0113] Specifically, for any point reached in any action direction in the action space, if the nearest distance from that point to the centerline is less than the corresponding contour radius, then the point in that direction is determined to be located inside the lumen of the blood vessel, and the step cost function is determined only by spatial potential energy and elastic potential energy; if the nearest distance from that point to the centerline is equal to the corresponding contour radius, then the point in that direction is determined to be located on the blood vessel wall, and the step cost function is determined only by spatial potential energy, elastic potential energy, and hemodynamic parameters.

[0114] In this disclosure, starting from the location of the embolization target point of the catheter intervention, the action space of the current step is determined based on the spatial point of the previous step. The optimal action decision is calculated based on the pre-constructed step cost function to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained until all embolization support points are obtained. That is, by integrating the principles of fluid dynamics, the wall contact points of the blood vessel are accurately, comprehensively and deeply evaluated to find reasonable and stable embolization support points for catheter intervention. This can take into account the complex characteristics of blood flow in the artery and the choice of catheter travel at bifurcation points, effectively ensuring the accuracy, efficiency and rationality of the catheter intervention path determination.

[0115] In one feasible approach, the step cost function is determined based on a weighted sum of spatial potential energy and elastic potential energy; or, based on a weighted sum of spatial potential energy, elastic potential energy, and hemodynamic parameters.

[0116] Among them, hemodynamic parameters include vessel wall shear stress and / or oscillatory shear index;

[0117] Blood vessel wall shear stress is used to characterize the force acting on the blood vessel when blood flows in the blood vessel. The collision point where the force of blood flow is less than the preset value is found based on the distribution of blood vessel wall shear stress on the surface of the three-dimensional blood vessel model.

[0118] The oscillatory shear index is used to characterize the degree of directional change of shear stress on the blood vessel wall within a unit cardiac cycle. The value of the oscillatory shear index is positively correlated with the degree of high disturbance to the flow field.

[0119] The spatial potential energy is determined based on the Euclidean distance function between the embolization support point and the embolization target point of the current step when calculating the action space from the action direction of the current step to the action of the next step; and / or, the sine function used to calculate the angle between the action direction of the current step and the tangent vector of the centerline of the target blood vessel.

[0120] The elastic potential energy is determined based on the material properties of the conduit and / or the bending angle, and is positively correlated with the bending angle.

[0121] In this scheme, a step cost function is rationally designed for spatial potential energy, elastic potential energy, vascular wall shear stress, and oscillatory shear index to obtain the embolization support point that can be reasonably and accurately determined for any vascular with different routes, thereby effectively ensuring the accuracy of catheter intervention path determination.

[0122] like Figure 3 As shown in the figure, direction S is the direction of the polar axis when the direction of the previous step is taken as the polar axis. The dashed line corresponds to the blood vessel cross-section determined based on this polar axis, and the rectangular area corresponds to the action space of the current step. This action space includes the embolization support point A from the previous step. iAs a set of actions derived from the foundation, these arrows in the action space represent possible intervention actions in the direction of the current step. Using a pre-constructed step cost function, the optimal action and the embolization support point for the current step are selected from this action space to obtain the embolization support point A for the current step corresponding to the optimal action in this action space. i+1 .

[0123] like Figure 4 As shown, it is based on Figure 3 The determination of the embolization support point in the previous step corresponds to the determination of the embolization support point in the action space of the next step, resulting in multiple embolization support points in the multi-step action space.

[0124] like Figure 5 As shown, the blue dots correspond to different embolization support points in the target blood vessel, and the yellow lines represent the partial catheter intervention path generated by multiple embolization support points.

[0125] Specifically, taking intracranial aneurysm interventional embolization as an example, the process of determining different embolization support points is as follows:

[0126] (1) Determine the initial location and initial direction of catheter intervention for intracranial aneurysm.

[0127] The initial location can be defined manually, using a point within the intracranial aneurysm as the initial location; or the central location of the intracranial aneurysm can be calculated based on morphology and used as the initial location point.

[0128] The vector direction from the initial position point to the midpoint of the neck surface is taken as the initial direction of motion.

[0129] (2) Determine the action space and embolization support point of the current step.

[0130] Using the direction of the previous step as the polar axis, determine the blood vessel cross-section for the current step;

[0131] The set of semi-neighborhoods on the blood vessel cross-section is used to form the action space for the current step.

[0132] Using a pre-constructed step cost function, the optimal action of the catheter in the action space of the current step is calculated, and the current step and the corresponding embolization support point are obtained, until the embolization support point in the action space of the last step is obtained.

[0133] Specifically, the step cost function is determined based on a weighted sum of spatial potential energy and elastic potential energy; or, it is determined based on a weighted sum of spatial potential energy, elastic potential energy, and hemodynamic parameters. The corresponding formula for the step cost function is as follows:

[0134]

[0135] in, K represents the loss value corresponding to different actions in the action space. space K represents spatial potential energy. e Represents elastic potential energy, K WSS K represents the shear stress on the blood vessel wall. OSI This represents the oscillatory shear index; γ, δ, μ, and π are constants, representing the weight values ​​corresponding to each part. These weight values ​​are determined based on experience or experimental methods; of course, they can also be adjusted according to the actual situation.

[0136] For any point reached by any movement direction in the action space, d represents the shortest distance from that point to the centerline of the target blood vessel, and R represents the contour radius corresponding to that point.

[0137] Based on the step cost function described above, when the nearest distance from the point to the centerline is less than the corresponding contour radius, the point in that direction is determined to be located inside the lumen of the blood vessel, and the step cost function is determined only by spatial potential energy and elastic potential energy; when the nearest distance from the point to the centerline is equal to the corresponding contour radius, the point in that direction is determined to be located on the blood vessel wall, and the step cost function is determined only by spatial potential energy, elastic potential energy, and hemodynamic parameters.

[0138] Furthermore, the spatial potential energy K space The corresponding formula is:

[0139]

[0140] In the formula, the action space includes M actions, 1≤i≤M and i is an integer; p i p represents the position of the point reached by the i-th action in the action space of the current step. end Represents the endpoint in three-dimensional space. These are the direction vector of the i-th action and the tangent vector of the centerline of the target blood vessel, respectively; the spatial potential energy is maximized when a point exceeds the blood vessel boundary.

[0141] elastic potential energy K e The corresponding formula is:

[0142] K e =τ·sinθ i

[0143] Where τ is the elastic modulus of the material, θ i It represents the angle between the current action vector and the previous action vector, and its range is within π / 2.

[0144] Blood vessel wall shear stress K WSS The corresponding formula is:

[0145]

[0146] Oscillating Shear Index K OSI The corresponding formula is:

[0147]

[0148] Where μ is the blood viscosity, which can be obtained through actual in vitro measurement or through simulation assuming that blood is an ideal Newtonian fluid; The gradient of blood flow velocity on the vessel wall is used to calculate the numerical distribution of vessel wall shear stress (WSS) over a cardiac cycle T for different vessel shapes using CFD simulation, and then the oscillatory shear index (OSI) is obtained.

[0149] In one feasible approach, the step of extracting the centerline corresponding to the target blood vessel includes:

[0150] Obtain the predefined starting point corresponding to the target blood vessel;

[0151] The predefined starting point is generally the location information of the angiography catheter or the location information predefined by the user.

[0152] Obtain the skeletonized lines of the target blood vessel after refinement;

[0153] Based on the first distance from each point on the skeletonized line to the starting point, and the second distance from each point on the skeletonized line to the edge of the target blood vessel, a pre-constructed first cost function is used to calculate the centerline between the starting point and the embolization target point.

[0154] Specifically, the segmented target blood vessel is progressively refined to obtain the skeletonized lines of the target blood vessel, and the distance from each point on the skeletonized lines to the edge of the blood vessel is calculated.

[0155] The first distance from each point on the skeletonized line to the starting point, and the second distance from each point on the skeletonized line to the edge of the target blood vessel, are substituted into the pre-constructed first cost function. The centerline from the starting point to the target point is obtained by combining the optimal path method. The corresponding formula for the first cost function is as follows:

[0156] Cost1=α*Distance1+β*Distance2

[0157] Where Distance1 is the first distance from the current position point on the skeletonized line to the starting point; Distance2 is the second distance from the current position point on the skeletonized line to the edge of the target blood vessel; Cost1 corresponds to the cost value calculated under different conditions; α and β are constants, which are the weight values ​​of the first distance and the second distance, and can be readjusted according to the actual scenario.

[0158] Specifically, the optimal path method is combined with the cost value calculated by the first cost function to finally obtain the optimal path, which is the centerline from the starting point to the target point.

[0159] In this disclosure, morphological analysis is performed on the target blood vessel, and the target blood vessel is refined to obtain skeletonized lines. By combining the constructed first cost function and the optimal path method, the center line from the starting point to the target point is determined quickly and with high accuracy. This ensures the accuracy of subsequent processing based on hemodynamic parameters to determine the embolization support point, thereby effectively improving the overall processing accuracy.

[0160] In a feasible approach, the steps of determining the target embolization point for catheter intervention also include:

[0161] Based on lesion features, the target region of the target lesion in the three-dimensional vascular model is located;

[0162] The preset location points in the target area are used as the embolization target points for catheter intervention;

[0163] For example, in the case of aneurysm embolization, the target point for embolization of the aneurysm can be set at the geometric center of the aneurysm.

[0164] Alternatively, a pre-defined screening method can be used to analyze several blood vessels around the lesion area to screen out the correct blood vessels supplying the target lesion and use them as the target blood vessels.

[0165] For example, in the case of liver tumor embolization, the correct target blood vessel supplying the liver tumor can be selected, and the endpoint of the target blood vessel can be used as the embolization target point.

[0166] In this disclosure, a matching method is used to determine the embolization target point for catheter intervention for different target lesions, so as to ensure the accuracy of the determination of the embolization target point, and thus ensure the accuracy of the determination of other embolization support points based on this.

[0167] In one feasible approach, the step of analyzing several blood vessels surrounding the lesion area using a pre-defined screening method to identify the correct blood vessels supplying the target lesion and designating them as the target vessels includes:

[0168] The lesion area is segmented to obtain a bounding box, and the location information of each blood vessel in the bounding box is obtained.

[0169] Based on the location information and the radius information of the corresponding blood vessel, a pre-constructed second cost function is used to determine the cost of each blood vessel as the correct blood vessel to supply the target lesion.

[0170] The blood vessel with the lowest generation value among several generations is selected as the correct blood vessel to supply the target lesion, so as to obtain the target blood vessel.

[0171] Specifically, the process of identifying the target blood vessel (or feeding vessel) for liver tumors:

[0172] Obtain the segmentation results of the lesion region where the liver tumor is located, and obtain the bounding box and the corresponding distance map, as shown in the following example. Figure 6 As shown;

[0173] The bounding box includes multiple blood vessels. The distance between each blood vessel and the distance map is calculated. Based on the radius of each blood vessel and the distance between each blood vessel and the distance map, the data of the two dimensions are fed into the pre-constructed second cost function to calculate the cost value of each blood vessel as a feeding vessel for the liver tumor. Finally, the blood vessel with the smallest cost value among the N blood vessels is selected as the feeding vessel for the liver tumor.

[0174] The corresponding formula for the second cost function is as follows:

[0175]

[0176] Where Cost2 represents the cost of each blood vessel j as a supply vessel for the liver tumor, R represents the radius of each blood vessel, and D... j The distance between each blood vessel and the distance map is represented by j, where j is the j-th blood vessel in the bounding box, 1≤j≤N, and N is the total number of blood vessels contained in the bounding box. In this disclosure, by pre-constructing a second cost function, the target blood vessel can be quickly and accurately identified from multiple adjacent blood vessels in the lesion area of ​​the current type, ensuring the efficiency and accuracy of catheter intervention path generation.

[0177] In one feasible embodiment, step S104 includes:

[0178] Based on the meshed 3D vascular model and the preset inlet and outlet boundary conditions of the target vascular vessel, a fluid dynamics solver is used to process the data and obtain the hemodynamic parameters of the target vascular vessel within a preset time period.

[0179] Specifically, to facilitate numerical calculations, the three-dimensional blood vessel model is first discretized into a three-dimensional mesh using surface mesh reconstruction technology, and the specific reconstruction method is not limited.

[0180] In the three-dimensional vascular model, each blood vessel has corresponding preset inlet and outlet boundary conditions, which include, but are not limited to, parameters such as blood viscosity, inlet and outlet flow rate, and blood pressure.

[0181] The hemodynamic parameters in the target blood vessel are simulated by solving the Navier-Stokes equations, based on the meshed three-dimensional blood vessel model and the preset inlet and outlet boundary conditions matched with the target blood vessel.

[0182] Hemodynamic parameters include wall shear stress (WSS), oscillatory shear index (OSI), and velocity streamlines. Different vessel shapes determine blood flow characteristics. Wall shear stress (WSS) reflects the tangential frictional force of blood flow against the vessel wall, while the oscillatory shear index (OSI) is the amplitude of WSS variation within the reaction period. A higher OSI indicates more unstable blood flow at that wall shear stress point, and a greater disturbance to the stability of the microcatheter path. Figure 7 The diagram shows the distribution of wall shear stress (WSS) in a blood vessel. Figure 8 The diagram shown illustrates the distribution of velocity streamlines in a blood vessel.

[0183] In this disclosure, by integrating the principles of fluid dynamics, the contact points of the blood vessel wall are accurately, comprehensively, and thoroughly evaluated to find a reasonable and stable embolization support point for catheter intervention. This approach takes into account the complex characteristics of blood flow in the artery and the catheter's course selection at bifurcation points, effectively ensuring the accuracy, efficiency, and rationality of the catheter intervention path determination. This further guarantees the precision and safety of the procedure, while reducing the risk of intraoperative complications, providing patients with safer and more effective treatment options.

[0184] In one feasible embodiment, step S106 includes:

[0185] An ordered path is determined based on several embolization support points and embolization target points; wherein, the several embolization support points and embolization target points constitute several target spatial points;

[0186] Curve smoothing is performed on several target spatial points on an ordered path to generate a catheter intervention path; each different target spatial point corresponds to several embolization support points and embolization target points.

[0187] In this disclosure, starting from the location of the embolization target point in the reconstructed three-dimensional data space, the action space of the current step is determined based on the spatial points of the previous step. The optimal action decision is calculated based on the pre-constructed step cost function to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained, the action is executed, and the action space of the next step is updated. This process is repeated until the termination condition is met. Then, the ordered spatial points (i.e., several embolization support points) obtained in each step are used to reverse the process to obtain the embolization start point and the ordered path from the embolization start point to the embolization target point. The path is then smoothed to obtain the final catheter intervention path.

[0188] Example 3

[0189] The catheter intervention control method in this embodiment is implemented using the catheter intervention path generation method in Embodiment 1 or Embodiment 2.

[0190] like Figure 9 As shown, the catheter intervention control method in this embodiment includes:

[0191] S201. Obtain the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points;

[0192] S202. In response to the overlap of the main branches, based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, the working angle of the catheter intervention at the next target spatial point is calculated, and the catheter intervention is controlled by the working angle.

[0193] Specifically, taking embolization support point A i For example, based on spatial point A i-1 With spatial point A i The direction of movement is used as the projection plane; the normal vector of this projection plane is obtained and fine-tuned within a certain angle range; taking ±20° as an example, the obstruction of blood vessels around 5° is calculated, and the angle with the smallest obstruction is selected as the current embolization support point A. i The best imaging angle.

[0194] like Figure 10 As shown in Figure 11, the circled area in B1 indicates overlapping of main branches; the optimal angiography angle for catheter travel to this area is calculated using two adjacent embolization support points, as shown in Figure 11, where the circled area in B2 corresponds to the calculated optimal angiography angle; this optimal angiography angle is sent to the interventional angiography machine, which then determines the working angle for catheter intervention at this location, and the catheter intervention is controlled according to the working angle; as shown in Figure 11. Figure 12 As shown in the figure, the part circled out of B3 corresponds to the calculated working angle.

[0195] During the procedure, the optimal angiography angle corresponding to the current embolization support point is calculated and sent to the interventional angiography machine in real time based on the position of the guidewire tip of the catheter, so as to obtain the working angle of the catheter at that point.

[0196] In this disclosure, based on the generated catheter intervention path, the optimal angiography angle, which is the most suitable angle for doctors to observe the bifurcation vessel opening, is identified. This optimal angiography angle is then sent to the angiography machine to determine the most suitable working angle, which is then sent to doctors and other relevant staff. This improves the success rate, efficiency, and convenience of the surgery while effectively reducing the risk of intraoperative complications, providing patients with a safer and more effective treatment option.

[0197] Example 4

[0198] like Figure 13As shown, the catheter intervention path generation system of this embodiment includes:

[0199] Image data receiving module 1 is used to receive target three-dimensional image data;

[0200] The vascular model construction module 2 is used to construct a three-dimensional vascular model containing the target lesion based on the target three-dimensional image data.

[0201] The target 3D image data includes image data of CTA, CBCT, and DSA data types, without specific restrictions.

[0202] By using preset image processing methods, including but not limited to multi-scale Frangi filtering for vascular enhancement and deep learning algorithms for vascular enhancement, a vascular mask containing the target lesion (such as an aneurysm, liver tumor, etc.) is extracted from the target 3D image data to construct a 3D vascular model.

[0203] Target vessel acquisition module 3 is used to acquire target vessels that match the target lesion in the three-dimensional vessel model;

[0204] Specifically, the target vessel is the correct blood vessel supplying the target lesion.

[0205] The hemodynamic parameter acquisition module is used to determine the hemodynamic parameters of the target blood vessel within a preset time period;

[0206] The hemodynamic parameters are data on the distribution of hemodynamic characteristics; these parameters include pressure, velocity, vessel wall shear stress, and oscillatory shear index. The preset time period includes one cardiac cycle.

[0207] Support point determination module 4 is used to determine several embolization support points after catheter intervention in the target blood vessel based on hemodynamic parameters and preset determination strategies;

[0208] Among them, by using a preset strategy to evaluate the wall contact point of the target blood vessel based on hemodynamic parameters, a reasonable and stable embolization support point for catheter intervention is found.

[0209] The path generation module 5 is used to generate a catheter intervention path based on several embolization support points and embolization target points.

[0210] The different embolization support points and embolization target points are sequentially connected and arranged to form a path, which serves as the catheter intervention path.

[0211] This paper proposes a novel catheter intervention path generation scheme. Specifically, by integrating fluid dynamics principles, it accurately, comprehensively, and deeply evaluates the contact points on the blood vessel wall to find a reasonable and stable embolization support point for catheter intervention. This approach takes into account the complex characteristics of blood flow in the artery and the catheter's course selection at bifurcation points, effectively ensuring the accuracy, efficiency, and rationality of the catheter intervention path determination. This further guarantees the precision and safety of the procedure, while reducing the risk of intraoperative complications, providing patients with safer and more effective treatment options.

[0212] Example 5

[0213] like Figure 14 As shown, the catheter intervention path generation system in this embodiment is a further improvement on Embodiment 4, specifically:

[0214] In one feasible embodiment, the catheter intervention path generation system of this example further includes:

[0215] Target point determination module 6 is used to determine the embolization target point during catheter intervention;

[0216] For example, in the case of aneurysm embolization, the target point for embolization of the aneurysm can be set at the geometric center of the aneurysm; in the case of liver tumor embolization, a target vessel that is correctly supplied by the liver tumor can be selected, and the endpoint of the target vessel can be used as the target point for embolization.

[0217] The initial motion direction determination unit, used in the support point determination module 4, includes determining the motion direction of the catheter at the embolization target point, starting from the embolization target point.

[0218] Specifically, starting from the embolization target point, the initial direction of the catheter intervention is determined by using the embolization target point as a reference. For example, for intracranial aneurysm interventional embolization, the embolization target point is used as the initial location point, and the vector direction from the embolization target point to the midpoint of the aneurysm neck is used as the initial direction of the intervention.

[0219] The motion space determination unit is used to determine the motion space of the current step based on the motion direction of the previous step.

[0220] The action space is a set consisting of several actions in different directions;

[0221] The embolization support point acquisition unit is used to determine the optimal action of the catheter in the action space of the current step using a preset determination strategy, acquire the current step and the corresponding embolization support point, until the embolization support point corresponding to the last step in the target blood vessel is acquired; wherein, the embolization support point corresponding to the last step is the embolization starting point of the catheter intervention path.

[0222] In this disclosure, starting from the location of the embolization target point of the catheter intervention in the reconstructed three-dimensional data space, the action space of the current step is determined based on the spatial points of the previous step. The optimal action decision is calculated according to the pre-determined preset determination strategy to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained, the action is executed and the action space of the next step is updated, and so on, until the termination condition is reached, so as to quickly and accurately obtain a reasonable and stable embolization support point for catheter intervention.

[0223] In one feasible scheme, the action space determination unit is also used to determine the blood vessel cross section of the current step with the action direction of the previous step as the polar axis; and to form the action space of the current step by assembling the set of semi-neighborhoods on the blood vessel cross section.

[0224] In this disclosure, the action space of the current step is reasonably determined by the action direction of the previous step, taking into account the complex characteristics of blood flow in the artery and the choice of catheter travel at the bifurcation point, so as to ensure that the determination of each embolization support point is reasonable and accurate.

[0225] In one feasible scheme, the embolization support point acquisition unit is also used to calculate the optimal action of the catheter in the action space of the current step using a pre-constructed step cost function, and to acquire the current step and the corresponding embolization support point.

[0226] The step cost function is determined based on spatial potential energy and elastic potential energy, or based on spatial potential energy, elastic potential energy, and hemodynamic parameters. The step cost function is used to calculate the cost value corresponding to each action, and the action with the minimum cost value in the action space is taken as the optimal action. This optimal action corresponds to the direction and position of the next embolization support point.

[0227] Specifically, for Figure 3 In the action space, if the point reached by any action direction is less than the radius of the corresponding contour line, then the point in that direction is determined to be located inside the lumen of the blood vessel, and the step cost function is determined only by the spatial potential energy and elastic potential energy; if the point is equal to the radius of the corresponding contour line, then the point in that direction is determined to be located on the blood vessel wall, and the step cost function is determined only by the spatial potential energy, elastic potential energy, and hemodynamic parameters.

[0228] In this disclosure, starting from the location of the embolization target point of the catheter intervention, the action space of the current step is determined based on the spatial point of the previous step. The optimal action decision is calculated based on the pre-constructed step cost function to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained until all embolization support points are obtained. That is, by integrating the principles of fluid dynamics, the wall contact points of the blood vessel are accurately, comprehensively and deeply evaluated to find reasonable and stable embolization support points for catheter intervention. This can take into account the complex characteristics of blood flow in the artery and the choice of catheter travel at bifurcation points, effectively ensuring the accuracy, efficiency and rationality of the catheter intervention path determination.

[0229] In one feasible approach, the step cost function is determined based on a weighted sum of spatial potential energy and elastic potential energy; or, based on a weighted sum of spatial potential energy, elastic potential energy, and hemodynamic parameters.

[0230] Among them, hemodynamic parameters include vessel wall shear stress and / or oscillatory shear index;

[0231] Blood vessel wall shear stress is used to characterize the force acting on the blood vessel when blood flows in the blood vessel. The collision point where the force of blood flow is less than the preset value is found based on the distribution of blood vessel wall shear stress on the surface of the three-dimensional blood vessel model.

[0232] The oscillatory shear index is used to characterize the degree of directional change of shear stress on the blood vessel wall within a unit cardiac cycle. The value of the oscillatory shear index is positively correlated with the degree of high disturbance to the flow field.

[0233] The spatial potential energy is determined based on the Euclidean distance function between the embolization support point and the embolization target point of the current step when calculating the action space from the action direction of the current step to the action of the next step; and / or, the sine function used to calculate the angle between the action direction of the current step and the tangent vector of the centerline of the target blood vessel.

[0234] The elastic potential energy is determined based on the material properties of the conduit and / or the bending angle, and is positively correlated with the bending angle.

[0235] In this scheme, a step cost function is rationally designed for spatial potential energy, elastic potential energy, vascular wall shear stress, and oscillatory shear index to obtain the embolization support point that can be reasonably and accurately determined for any vascular with different routes, thereby effectively ensuring the accuracy of catheter intervention path determination.

[0236] like Figure 3 As shown in the figure, direction S is the direction of the polar axis when the direction of the previous step is taken as the polar axis. The dashed line corresponds to the blood vessel cross-section determined based on this polar axis, and the rectangular area corresponds to the action space of the current step. This action space includes the embolization support point A from the previous step. iAs a set of actions derived from the foundation, these arrows in the action space represent possible intervention actions in the direction of the current step. Using a pre-constructed step cost function, the optimal action and the embolization support point for the current step are selected from this action space to obtain the embolization support point A for the current step corresponding to the optimal action in this action space. i+1 .

[0237] like Figure 4 As shown, it is based on Figure 3 The diagram shows the process of determining the embolization support point in the previous step to obtain the embolization support point in the action space of the next step, thus obtaining multiple embolization support points in the multi-step action space.

[0238] like Figure 5 As shown, the blue dots correspond to different embolization support points in the target blood vessel, and the yellow lines represent the partial catheter intervention path generated by multiple embolization support points.

[0239] In one feasible embodiment, the catheter intervention path generation system further includes:

[0240] Starting point acquisition module 7 is used to acquire the predefined starting point corresponding to the target blood vessel;

[0241] The predefined starting point is generally the location information of the angiography catheter or the location information predefined by the user.

[0242] The refinement module 8 is used to obtain the skeletonized lines of the target blood vessel after refinement.

[0243] Centerline acquisition module 9 is used to calculate the centerline between the starting point and the target embolization point by processing the first distance from each point on the skeletonized line to the starting point and the second distance from each point on the skeletonized line to the edge of the target blood vessel using a pre-constructed first cost function.

[0244] In this disclosure, morphological analysis is performed on the target blood vessel, and the target blood vessel is refined to obtain skeletonized lines. By combining the constructed first cost function and the optimal path method, the center line from the starting point to the target point is determined quickly and with high accuracy. This ensures the accuracy of subsequent processing based on hemodynamic parameters to determine the embolization support point, thereby effectively improving the overall processing accuracy.

[0245] In one feasible embodiment, the target point determination module 6 includes:

[0246] The lesion region acquisition unit is used to locate the target region of the target lesion in the three-dimensional vascular model based on the lesion features.

[0247] The embolization target point determination unit is used to use a preset location point in the target area as the embolization target point for catheter intervention;

[0248] For example, in the case of aneurysm embolization, the target point for embolization of the aneurysm can be set at the geometric center of the aneurysm.

[0249] Alternatively, the embolization target point determination unit is used to analyze several blood vessels around the lesion area using a preset screening method, so as to screen out the correct blood vessels supplying the target lesion and use them as target blood vessels.

[0250] For example, in the case of liver tumor embolization, the correct target blood vessel supplying the liver tumor can be selected, and the endpoint of the target blood vessel can be used as the embolization target point.

[0251] In this disclosure, a matching method is used to determine the embolization target point for catheter intervention for different target lesions, so as to ensure the accuracy of the determination of the embolization target point, and thus ensure the accuracy of the determination of other embolization support points based on this.

[0252] In one feasible solution, the embolization target point determination unit is used to segment the lesion area to obtain a bounding box and obtain the location information of each blood vessel in the bounding box.

[0253] Based on the location information and the radius information of the corresponding blood vessel, a pre-constructed second cost function is used to determine the cost of each blood vessel as the correct blood vessel to supply the target lesion.

[0254] The blood vessel with the lowest generation value among several generations is selected as the correct blood vessel to supply the target lesion, so as to obtain the target blood vessel.

[0255] Specifically, the process of identifying the target blood vessel (or feeding vessel) for liver tumors:

[0256] Obtain the segmentation results of the lesion region where the liver tumor is located, and obtain the bounding box and the corresponding distance map, as shown in the following example. Figure 6 As shown;

[0257] The bounding box includes multiple blood vessels. The distance between each blood vessel and the distance map is calculated. Based on the radius of each blood vessel and the distance between each blood vessel and the distance map, the data of the two dimensions are fed into the pre-constructed second cost function to calculate the cost value of each blood vessel as a feeding vessel for the liver tumor. Finally, the blood vessel with the smallest cost value among the N blood vessels is selected as the feeding vessel for the liver tumor.

[0258] The corresponding formula for the second cost function is as follows:

[0259]

[0260] Where Cost2 represents the cost of each blood vessel j as a supply vessel for the liver tumor, R represents the radius of each blood vessel, and D... j The distance between each blood vessel and the distance map is represented by j, where j is the j-th blood vessel in the bounding box, 1≤j≤N, and N is the total number of blood vessels contained in the bounding box. In this disclosure, by pre-constructing a second cost function, the target blood vessel can be quickly and accurately identified from multiple adjacent blood vessels in the lesion area of ​​the current type, ensuring the efficiency and accuracy of catheter intervention path generation.

[0261] In one feasible scheme, the dynamic parameter acquisition module is also used to process the three-dimensional blood vessel model after meshing and the preset inlet and outlet boundary conditions of the target blood vessel using a fluid dynamics solver to obtain the hemodynamic parameters of the target blood vessel within a preset time period.

[0262] Specifically, to facilitate numerical calculations, the three-dimensional blood vessel model is first discretized into a three-dimensional mesh using surface mesh reconstruction technology, and the specific reconstruction method is not limited.

[0263] In the three-dimensional vascular model, each blood vessel has corresponding preset inlet and outlet boundary conditions, which include, but are not limited to, parameters such as blood viscosity, inlet and outlet flow rate, and blood pressure.

[0264] The CFD is used to perform calculations based on the meshed 3D vascular model and the preset inlet and outlet boundary conditions of the target vascular model. Specifically, the Navier-Stokes equations are solved to simulate the corresponding hemodynamic parameters in the target vascular model.

[0265] Hemodynamic parameters include wall shear stress (WSS), oscillatory shear index (OSI), and velocity streamlines. Different vessel shapes determine blood flow characteristics. Wall shear stress (WSS) reflects the tangential frictional force of blood flow against the vessel wall, while the oscillatory shear index (OSI) is the amplitude of WSS variation within the reaction period. A higher OSI indicates more unstable blood flow at that wall shear stress point, and a greater disturbance to the stability of the microcatheter path. Figure 7 The diagram shows the distribution of wall shear stress (WSS) in a blood vessel. Figure 8 The diagram shown illustrates the distribution of velocity streamlines in a blood vessel.

[0266] In this disclosure, by integrating the principles of fluid dynamics, the contact points of the blood vessel wall are accurately, comprehensively, and thoroughly evaluated to find a reasonable and stable embolization support point for catheter intervention. This approach takes into account the complex characteristics of blood flow in the artery and the catheter's course selection at bifurcation points, effectively ensuring the accuracy, efficiency, and rationality of the catheter intervention path determination. This further guarantees the precision and safety of the procedure, while reducing the risk of intraoperative complications, providing patients with safer and more effective treatment options.

[0267] In one feasible embodiment, the path generation module 5 is further configured to determine an ordered path based on a plurality of embolization support points and embolization target points; wherein the plurality of embolization support points and embolization target points constitute a plurality of target spatial points;

[0268] Curve smoothing is performed on several target spatial points on an ordered path to generate a catheter intervention path; each different target spatial point corresponds to several embolization support points and embolization target points.

[0269] In this disclosure, starting from the location of the embolization target point in the reconstructed three-dimensional data space, the action space of the current step is determined based on the spatial points of the previous step. The optimal action decision is calculated based on the pre-constructed step cost function to obtain the optimal action in the action space. The current step and the corresponding embolization support point are obtained, the action is executed, and the action space of the next step is updated. This process is repeated until the termination condition is met. Then, the ordered spatial points (i.e., several embolization support points) obtained in each step are used to reverse the process to obtain the embolization start point and the ordered path from the embolization start point to the embolization target point. The path is then smoothed to obtain the final catheter intervention path.

[0270] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0271] Example 6

[0272] The catheter intervention control system in this embodiment is implemented using the catheter intervention path generation system of embodiment 4 or 5 above;

[0273] like Figure 15 As shown, the catheter intervention control system of this embodiment includes:

[0274] The angiography angle acquisition module 10 is used to acquire the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points;

[0275] The intervention control module 11 is used to respond to the overlap of the main branches, calculate the working angle of the catheter intervention at the next target spatial point based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, and perform catheter intervention control based on the working angle.

[0276] Specifically, taking embolization support point A i For example, based on spatial point A i-1 With spatial point A i The direction of motion is taken as the projection plane; the normal vector of the projection plane is obtained and fine-tuned within a certain angle range; taking ±20° as an example, the obstruction of blood vessels around 5° is calculated, and the angle with the smallest obstruction is selected as the best angiography angle.

[0277] like Figure 10 As shown in Figure 11, the circled area in B1 indicates overlapping of main branches; the optimal angiography angle for catheter travel to this area is calculated using two adjacent embolization support points, as shown in Figure 11, where the circled area in B2 corresponds to the calculated optimal angiography angle; this optimal angiography angle is sent to the interventional angiography machine, which then determines the working angle for catheter intervention at this location, and the catheter intervention is controlled according to the working angle; as shown in Figure 11. Figure 12 As shown in the figure, the part circled out of B3 corresponds to the calculated working angle.

[0278] During the procedure, the optimal angiography angle corresponding to the current embolization support point is calculated and sent to the interventional angiography machine in real time based on the position of the guidewire tip of the catheter, so as to obtain the working angle of the catheter at that point.

[0279] In this disclosure, based on the generated catheter intervention path, the optimal angiography angle, which is the most suitable angle for doctors to observe the bifurcation vessel opening, is identified. This optimal angiography angle is then sent to the angiography machine to determine the most suitable working angle, which is then sent to doctors and other relevant staff. This improves the success rate, efficiency, and convenience of the surgery while effectively reducing the risk of intraoperative complications, providing patients with a safer and more effective treatment option.

[0280] For the system embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The system embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs.

[0281] Example 7

[0282] The vascular interventional angiography machine of this embodiment includes the catheter interventional control system of embodiment 6 above.

[0283] In this solution, the vascular interventional angiography machine integrates the aforementioned catheter interventional control system, which can quickly, reasonably, and accurately obtain the catheter interventional path and identify the most suitable bifurcation vessel opening angle for the doctor to observe, i.e., the optimal angiography angle. Then, by sending the optimal angiography angle to the vascular angiography machine to determine the most suitable working angle, it sends the information to the doctor and other relevant staff. This not only improves the success rate, efficiency, and convenience of the surgery, but also effectively reduces the risk of intraoperative complications, providing patients with safer and more effective treatment options, thereby effectively improving the overall product performance of the vascular interventional angiography machine.

[0284] Example 8

[0285] Figure 16 This is a schematic diagram of the structure of an electronic device according to an example embodiment of the present disclosure. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the method described in any of the above embodiments. Figure 16 The electronic device 90 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0286] like Figure 16 As shown, the electronic device 90 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including memory 92 and processor 91).

[0287] Bus 93 includes a data bus, an address bus, and a control bus.

[0288] The memory 92 may include volatile memory, such as random access memory (RAM) 921 and / or cache memory 922, and may further include read-only memory (ROM) 923.

[0289] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) program module 924, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0290] The processor 91 executes various functional applications and data processing, such as the methods provided in any of the above embodiments, by running computer programs stored in the memory 92.

[0291] Electronic device 90 can also communicate with one or more external devices 94 (e.g., keyboard, pointing device, etc.). This communication can be performed through input / output (I / O) interface 95. Furthermore, electronic device 90 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public network, such as the Internet) via network adapter 96. As shown, network adapter 96 communicates with other modules of electronic device 90 via bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.

[0292] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0293] Example 9

[0294] This disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in any of the above embodiments.

[0295] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.

[0296] Example 10

[0297] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the above embodiments.

[0298] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0299] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.

Claims

1. A method of generating a catheter intervention path, characterized by, The generation method includes: Receive target 3D image data; A three-dimensional blood vessel model containing the target region is constructed based on the target three-dimensional image data; Obtain the target blood vessel in the three-dimensional blood vessel model that matches the target region; Determine the hemodynamic parameters of the target blood vessel within a preset time period; Based on the hemodynamic parameters and a preset determination strategy, several embolization support points are determined after the catheter is inserted into the target blood vessel, and the catheter intervention path is generated based on the several embolization support points and the embolization target point.

2. The method of generating a catheter intervention path according to claim 1, wherein, Before the step of determining several embolization support points after catheter intervention in the target blood vessel based on the hemodynamic parameters and a preset determination strategy, the method further includes: Determine the target embolization point of the catheter intervention; The step of determining several embolization support points after catheter intervention in the target blood vessel based on the hemodynamic parameters and a preset determination strategy includes: Starting from the target embolization point, determine the direction of movement of the catheter at the target embolization point; The action space for the current step is determined based on the action direction described in the previous step; The preset determination strategy is used to determine the optimal action of the catheter in the action space of the current step, and the current step and the corresponding embolization support point are obtained until the embolization support point corresponding to the last step in the target blood vessel is obtained.

3. The method of generating a catheter intervention path according to claim 2, wherein, The step of determining the action space of the current step based on the action direction of the previous step includes: The direction of the action described in the previous step is taken as the polar axis to determine the blood vessel cross-section in the current step; The set of semi-neighborhoods on the blood vessel cross-section forms the action space for the current step.

4. The method for generating a catheter intervention path as described in claim 3, characterized in that, The step of determining the optimal action of the catheter in the action space of the current step using the preset determination strategy, and obtaining the current step and the corresponding embolization support point, includes: Using a pre-constructed step cost function, the optimal action of the catheter in the action space of the current step is calculated, and the current step and the corresponding embolization support point are obtained. The step cost function is determined based on spatial potential energy and elastic potential energy, or based on spatial potential energy, elastic potential energy, and the hemodynamic parameters.

5. The method for generating a catheter intervention path as described in claim 4, characterized in that, The step cost function is determined based on a weighted sum of the spatial potential energy and the elastic potential energy; or, it is determined based on a weighted sum of the spatial potential energy, the elastic potential energy, and the hemodynamic parameters.

6. The method for generating a catheter intervention path as described in claim 2, characterized in that, The step of determining the target embolization point for catheter intervention further includes: The target region of the target lesion in the three-dimensional vascular model is located based on the lesion features; The preset location point of the target area is used as the embolization target point for the catheter intervention; Alternatively, a preset screening method can be used to analyze several blood vessels around the lesion area to screen out the blood vessels that correctly supply the target lesion and use them as the target blood vessels.

7. The method for generating a catheter intervention path as described in any one of claims 1 to 6, characterized in that, The step of determining the hemodynamic parameters of the target blood vessel within a preset time period includes: Based on the three-dimensional blood vessel model after meshing and the preset inlet and outlet boundary conditions of the target blood vessel, a fluid dynamics solver is used to process the blood flow parameters of the target blood vessel within the preset time period. And / or, The step of generating the catheter intervention path based on a plurality of the embolization support points and the embolization target points includes: An ordered path is determined based on several embolization support points and embolization target points; Curve smoothing is performed on several target spatial points on the ordered path to generate the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points.

8. A catheter intervention control method, characterized in that, The catheter intervention control method is implemented using the catheter intervention path generation method described in any one of claims 1 to 7; The catheter intervention control method includes: Obtain the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points; In response to the overlap of the main branches, the working angle of the catheter at the next target spatial point is calculated based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, and the catheter intervention is controlled according to the working angle.

9. A system for generating catheter interventional pathways, characterized in that, The generation system includes: Image data receiving module, used to receive target 3D image data; The blood vessel model building module is used to build a three-dimensional blood vessel model containing the target region based on the target three-dimensional image data. The target blood vessel acquisition module is used to acquire target blood vessels in the three-dimensional blood vessel model that match the target region. The hemodynamic parameter acquisition module is used to determine the hemodynamic parameters of the target blood vessel within a preset time period; The support point determination module is used to determine several embolization support points after the catheter is inserted into the target blood vessel, based on the hemodynamic parameters and a preset determination strategy. The path generation module is used to generate the catheter intervention path based on several embolization support points and embolization target points.

10. A catheter intervention control system, characterized in that, The catheter intervention control system is implemented using the catheter intervention path generation system described in claim 9; The catheter interventional control system includes: The angiography angle acquisition module is used to acquire the target angiography angle corresponding to each target spatial point on the catheter intervention path; wherein, each different target spatial point corresponds to several embolization support points and embolization target points; The intervention control module is used to respond to the overlap of the main branches, calculate the working angle of the catheter intervention at the next target spatial point based on the target angiography angle corresponding to the next target spatial point of the catheter's travel, and perform catheter intervention control according to the working angle.

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