Vascular interventional surgical navigation method and apparatus, device, and storage medium

Abstract

The present application relates to the field of data processing, and relates to a vascular interventional surgical navigation method and apparatus, a device, and a storage medium. The method comprises: calculating model blood vessel center points and a model blood vessel radius of a three-dimensional blood vessel model, and generating a blood vessel center line; recognizing bifurcation points of the blood vessel center line, and segmenting the blood vessel center line on the basis of the bifurcation points to obtain a plurality of segmented center lines; marking and sorting the plurality of segmented center lines, arranging an association relationship between the segmented center lines, and adding the association relationship to the segmented center lines to obtain segmented association center lines; calculating an instrument operation path on the basis of operation information and initial instrument position information, and determining whether a surgical instrument has collided with a model blood vessel wall during operation; and if the surgical instrument has collided with the model blood vessel wall, calculating a return path on the basis of collision position information, and adjusting the position. In the present application, when the surgical instrument is manipulated, the collision between the surgical instrument and the blood vessel wall can be effectively avoided, improving the surgical safety.

Description

Vascular interventional surgery navigation method, device, equipment and storage medium

[0001] This application claims priority to a Chinese patent application filed on November 1, 2023, with application number 202311447500.5 and invention name “Vascular interventional surgery navigation method, device, equipment and storage medium”. The entire contents of this Chinese patent application are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of data processing technology, and in particular to a vascular interventional surgery navigation method, apparatus, computer equipment, and storage medium. Background Art

[0003] Vascular interventional surgery is a treatment method that uses surgical instruments to treat the patient's intravascular diseases. During the treatment, the operator generally performs surgical treatment on the patient by remotely controlling the surgical instruments.

[0004] During remote control, the operator needs to view the vascular imaging image in real time to obtain the position of the surgical instrument in the patient's blood vessels, so as to adjust the surgical instrument in real time according to the position so that the surgical instrument can safely reach the target position in the blood vessels.

[0005] During the operation, the system will calculate and display the centerline of the patient's blood vessels based on the parameter information of the blood vessels. The operator will control the movement or rotation of the surgical instruments in the blood vessels according to the navigation prompts generated by the system based on the centerline of the blood vessels, so that the surgical instruments reach the target position inside the blood vessels. Technical issues

[0006] Since blood vessels are bifurcated and arranged at certain angles, surgical instruments are prone to collide with the walls of blood vessels when they are moved, thus affecting the smooth progress of the operation. Technical Solutions

[0007] The purpose of this application is to propose a vascular interventional surgery navigation method, apparatus, computer equipment and storage medium to solve the problem that surgical instruments easily collide with the blood vessel wall during the operation.

[0008] In order to solve the above technical problems, the present application provides a vascular interventional surgery navigation method, which adopts the following technical solutions:

[0009] Acquiring a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point;

[0010] Identifying bifurcation points of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines;

[0011] Marking and sorting the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines;

[0012] Obtaining operation information and initial position information of the equipment, calculating an equipment running path based on the operation information and the initial position information of the equipment, and determining whether the surgical equipment collides with the wall of the model blood vessel during operation based on the equipment running path, the segmented associated center line, and the radius of the model blood vessel;

[0013] If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is acquired, a return route is calculated based on the collision position information, and the surgical instrument is controlled to adjust its position based on the return route.

[0014] Furthermore, before the steps of obtaining a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point, the method further includes the following steps:

[0015] receiving a medical image data acquisition request, and extracting medical image data from a medical image database according to the medical image data acquisition request;

[0016] The key blood vessel information of the medical image data is acquired according to a preset blood vessel model construction rule, and the three-dimensional blood vessel model is generated according to the key blood vessel information.

[0017] Furthermore, the step of obtaining key vascular information of the medical image data according to a preset vascular model construction rule and generating the three-dimensional vascular model according to the key vascular information specifically includes:

[0018] Parsing the medical image data to obtain attribute information and a medical image, wherein the attribute information includes a medical image serial number, a medical image horizontal spacing, and a medical image layer spacing;

[0019] sorting the medical images according to the medical image sequence numbers, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set;

[0020] identifying blood vessel regions and organ regions in the medical image sorting set according to a preset image recognition algorithm;

[0021] Acquiring an organ density value of the organ region, and marking the region according to the organ density value to obtain an organ marked region;

[0022] The blood vessel region and the organ marking region are used as key blood vessel information for three-dimensional reconstruction to obtain the three-dimensional blood vessel model.

[0023] Furthermore, the step of calculating the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model and generating the blood vessel centerline according to the model blood vessel center point specifically includes:

[0024] Acquiring a model threshold corresponding to a blood vessel wall, and acquiring corresponding vessel wall coordinate data in the three-dimensional blood vessel model according to the model threshold;

[0025] Calculating the center point of the model blood vessel and the radius of the model blood vessel according to the vessel wall coordinate data;

[0026] All the center points of the model blood vessels are acquired, and the blood vessel centerline is generated according to all the center points of the model blood vessels.

[0027] Furthermore, the step of marking and sorting the plurality of segment center lines to obtain segment center line marks and segment center line serial numbers, arranging the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines specifically includes:

[0028] Obtaining a preset centerline marking rule and sequence information, marking the segmented centerline according to the centerline marking rule and the sequence information to obtain the segmented centerline mark;

[0029] Acquire position information of the segment center lines, sort the segment center lines according to the position information and the sequence information, and obtain sequence numbers of the segment center lines;

[0030] Obtaining a bifurcation point associated with the segment centerline serial number, and arranging the child-parent set relationship of the segment centerline according to the bifurcation point and the segment centerline serial number;

[0031] Classifying the segmented centerlines according to the parent-child relationship to obtain trunk centerlines and branch centerlines;

[0032] The segment centerline mark, the trunk centerline, and the branch centerline are associated to obtain the association relationship, and the association relationship is added to the segment centerline to obtain the segment association centerline.

[0033] Furthermore, the step of obtaining the operation information and the equipment initial position information, and calculating the equipment running route according to the operation information and the equipment initial position information specifically includes:

[0034] Obtaining an operation request and parsing the operation request to obtain the operation information, wherein the operation information includes an operation type and an operation change value;

[0035] Check whether surgical instruments are in place;

[0036] If the surgical instrument is in place, the initial position information of the instrument is obtained, and the equipment operation route is calculated according to the operation type, the operation change value, and the initial position information of the instrument.

[0037] Furthermore, the collision position information includes the collision position and the collision position coordinates. The steps of obtaining the collision position information, calculating the return route according to the collision position information, and controlling the surgical instrument to adjust its position according to the return route specifically include:

[0038] Obtaining the collision position information, identifying the segment-associated centerline where the collision position is located, and calculating the Euclidean distance from the collision position to the segment-associated centerline, the Euclidean distance being calculated as follows: d = sqrt(x1-x2)^2+(y1-y2)^2+(z1-z2)^2), where d represents the Euclidean distance, x1, y1, and z1 are coordinate values ​​of the collision position, and x2, y2, and z2 are coordinate values ​​of the center point on the segment-associated centerline;

[0039] Selecting the center point on the segment-association centerline corresponding to the minimum Euclidean distance as the projection point, and determining the collision plane corresponding to the collision position according to the collision position and the projection point;

[0040] The return route is calculated according to the segment center line and the collision position coordinate value, and the surgical instrument is controlled to adjust its position according to the return route.

[0041] In order to solve the above technical problems, the present application also provides a vascular interventional surgery navigation device, including:

[0042] a centerline generation module, configured to obtain a three-dimensional blood vessel model, calculate a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel centerline according to the model blood vessel center point;

[0043] a centerline segmentation module, configured to identify bifurcation points of the blood vessel centerline and segment the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines;

[0044] a centerline association module, configured to mark and sort the segmented centerlines to obtain segmented centerline marks and segmented centerline serial numbers, sort the association relationships between the segmented centerlines according to the segmented centerline marks and the segmented centerline serial numbers, and add the association relationships to the segmented centerlines to obtain segmented associated centerlines;

[0045] a collision judgment module, configured to obtain operation information and initial position information of the equipment, calculate the equipment's running path based on the operation information and the initial position information of the equipment, and judge whether the surgical equipment collides with the model blood vessel wall during operation based on the equipment's running path, the segment-associated centerline, and the model blood vessel radius;

[0046] The operation adjustment module is used to obtain collision position information if the surgical instrument collides with the wall of the model blood vessel during operation, calculate a return path according to the collision position information, and control the surgical instrument to adjust its position according to the return path.

[0047] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0048] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned vascular interventional surgery navigation method when executing the computer program.

[0049] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0050] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned vascular interventional surgery navigation method. Beneficial effects

[0051] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0052] The present application obtains a three-dimensional vascular model, calculates the model vascular center point and the model vascular radius of the three-dimensional vascular model, and thus generates a vascular centerline of the model vascular according to the model vascular center point; identifies the bifurcation point of the vascular centerline and segments the vascular centerline according to the bifurcation point, thereby obtaining a plurality of segmented centerlines segmented according to the bifurcation point; marks and sorts the plurality of segmented centerlines, thereby obtaining segmented centerline marks and segmented centerline serial numbers after adding marks and serial numbers; and sorts the association relationship between the segmented centerlines according to the segmented centerline marks and segmented centerline serial numbers, and adds the association relationship to the segmented centerlines. The method comprises the following steps: obtaining the operation information and the initial position information of the equipment, calculating the equipment operation route according to the operation information and the initial position information of the equipment, and effectively obtaining the movement and position of the equipment after the operation. The method comprises the following steps: judging whether the surgical equipment collides with the wall of the model blood vessel during operation according to the equipment operation route, the segmented associated center line, and the radius of the model blood vessel, and making corresponding adjustments according to the collision situation. If the surgical equipment collides with the wall of the model blood vessel during operation, the collision position information is obtained, the return route is calculated according to the collision position information, and the surgical equipment is controlled to adjust its position according to the return route. The present application can effectively avoid collisions between the surgical equipment and the wall of the blood vessel when manipulating the surgical equipment through the above method, so as to ensure that the surgical equipment can move safely and effectively within the blood vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the solutions in this application, a brief introduction will be given below to the drawings required for use in the description of the embodiments of this application. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0054] FIG1 is a flow chart of an embodiment of a vascular interventional surgery navigation method according to the present application;

[0055] FIG2 is a flow chart of a specific implementation of step S10 in FIG1 ;

[0056] FIG3 is a flow chart of a specific implementation of step S30 in FIG1 ;

[0057] FIG4 is a flow chart of a specific implementation of step S40 in FIG1 ;

[0058] FIG5 is a flow chart of a specific implementation of step S50 in FIG1 ;

[0059] FIG6 is a schematic structural diagram of an embodiment of a vascular interventional surgery navigation device according to the present application;

[0060] FIG7 is a schematic structural diagram of a computer device according to an embodiment of the present application. Best Mode for Carrying Out the Invention

[0061] 1 , a flow chart of an embodiment of a vascular interventional surgery navigation method according to the present application is shown. The vascular interventional surgery navigation method includes the following steps:

[0062] Step S10, obtaining a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point;

[0063] In this embodiment, there are several model blood vessel center points, which refer to the center points of the current model blood vessel cross-section in the three-dimensional blood vessel model. Since the cross-section of the model blood vessel is circular, the center point is the center of the model blood vessel cross-section, and the model blood vessel radius is the radius of the model blood vessel cross-section. The blood vessel centerline is formed by connecting several blood vessel center points.

[0064] Step S20, identifying bifurcation points of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines;

[0065] In this embodiment, when a bifurcation line appears in the blood vessel centerline, the intersection of the bifurcation line and the blood vessel centerline is the bifurcation point, and the blood vessel centerline between the bifurcation point and the next bifurcation point is used as the segment centerline.

[0066] Step S30: marking and sorting the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines;

[0067] In this embodiment, the segment centerline at the predetermined starting point is used as the segment centerline with a serial number of 1 and is marked. The blood flow direction of the blood vessel corresponding to the segment centerline is used as the sorting direction of the segment centerlines. The serial number of the next segment centerline in this direction is marked as 2a, and the bifurcation centerline corresponding to the segment centerline with a serial number of 2a is marked as 2b. In the next segment centerline, the serial numbers are marked as 3a, 3b, 3c, 3d, and so on, until the serial numbers of all the segment centerlines are marked.

[0068] In this embodiment, the association relationship refers to the correspondence between the current segment centerline and the previous segment centerline and the next segment centerline. For example, the segment centerline with sequence number 3a corresponds to the previous segment centerline with sequence number 2a, and the segment centerline with sequence number 3a corresponds to the next segment centerline with sequence number 4a and sequence number 4b. After sorting out the association relationships of all segment centerlines, the association relationship is added to the attribute information of the corresponding segment centerline on the system to obtain the segment-associated centerline. In this embodiment, an upstream relationship can also be established between the current segment centerline and the segment centerline before it, and a downstream relationship can be established between the current segment centerline and the segment centerline after it. The upstream and downstream relationships are added to the association relationship to facilitate the rapid positioning of the target position in the blood vessel and effective regulation when manipulating surgical instruments.

[0069] Step S40, obtaining operation information and initial position information of the equipment, calculating the equipment running path based on the operation information and the initial position information of the equipment, and determining whether the surgical equipment will collide with the wall of the model blood vessel during operation based on the equipment running path, the segment-related centerline, and the radius of the model blood vessel;

[0070] In this embodiment, operational information refers to the operational instructions and operational parameters entered by the operator on the system. Operational instructions include movement instructions and rotation instructions, and operational parameters include movement time, movement distance, rotation time, and rotation angle. The initial position information of the instrument is obtained by querying the initial position of the surgical instrument upon entering the blood vessel. Based on the operational instructions, operating parameters, and initial position information, the surgical instrument is simulated and calculated to determine its trajectory. Whether the trajectory intersects the plane of the model vessel wall determines whether the surgical instrument will collide with the model vessel wall during operation. In this embodiment, the surgical instruments are the guidewire and catheter of the vascular interventional surgery robot.

[0071] Step S50 : If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is obtained, a return path is calculated based on the collision position information, and the surgical instrument is controlled to adjust its position based on the return path.

[0072] In an embodiment, the collision position information includes a collision position and a collision position coordinate, wherein the collision position refers to the position where the equipment's running route intersects with the plane where the model blood vessel wall is located, and the collision position coordinate refers to the corresponding coordinate value in the coordinate system constructed with the blood vessel centerline corresponding to the model blood vessel section corresponding to the collision position as the coordinate origin. The return distance is calculated based on the offset distance between the collision position information and the blood vessel center point, and the return angle is calculated based on the offset angle of the blood vessel centerline of the collision position information. The movement parameters and rotation parameters are determined based on the return distance and the return angle, and the surgical equipment is controlled to adjust its position according to the movement parameters and the rotation parameters.

[0073] The present application obtains a three-dimensional vascular model, calculates the model vascular center point and the model vascular radius of the three-dimensional vascular model, and thus generates a vascular centerline of the model vascular according to the model vascular center point; identifies the bifurcation point of the vascular centerline and segments the vascular centerline according to the bifurcation point, thereby obtaining a plurality of segmented centerlines segmented according to the bifurcation point; marks and sorts the plurality of segmented centerlines, thereby obtaining segmented centerline marks and segmented centerline serial numbers after adding marks and serial numbers; and sorts the association relationship between the segmented centerlines according to the segmented centerline marks and segmented centerline serial numbers, and adds the association relationship to the segmented centerlines. The method uses the following methods to calculate the surgical instrument's movement path and the instrument's initial position information: the movement of the surgical instrument after the operation and the position of the instrument after the operation are effectively obtained. The method uses the surgical instrument's movement path, the segmented associated centerline, and the model vessel radius to determine whether the surgical instrument collides with the model vessel wall during operation, thereby enabling corresponding regulation based on the collision situation. If the surgical instrument collides with the model vessel wall during operation, the collision position information is obtained, a return path is calculated based on the collision position information, and the surgical instrument is controlled to adjust its position based on the return path. The above method effectively controls the surgical instrument when it collides with the vessel during vascular interventional surgery, thereby ensuring its safety and stability. Modes for Carrying Out the Invention

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0075] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0076] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0077] 1 , a flow chart of an embodiment of a vascular interventional surgery navigation method according to the present application is shown. The vascular interventional surgery navigation method includes the following steps:

[0078] Step S10, obtaining a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point;

[0079] In this embodiment, there are several model blood vessel center points, which refer to the center points of the current model blood vessel cross-section in the three-dimensional blood vessel model. Since the cross-section of the model blood vessel is circular, the center point is the center of the model blood vessel cross-section, and the model blood vessel radius is the radius of the model blood vessel cross-section. The blood vessel centerline is formed by connecting several blood vessel center points.

[0080] Step S20, identifying bifurcation points of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines;

[0081] In this embodiment, when a bifurcation line appears in the blood vessel centerline, the intersection of the bifurcation line and the blood vessel centerline is the bifurcation point, and the blood vessel centerline between the bifurcation point and the next bifurcation point is used as the segment centerline.

[0082] Step S30: marking and sorting the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines;

[0083] In this embodiment, the segment centerline at the predetermined starting point is used as the segment centerline with a serial number of 1 and is marked. The blood flow direction of the blood vessel corresponding to the segment centerline is used as the sorting direction of the segment centerlines. The serial number of the next segment centerline in this direction is marked as 2a, and the bifurcation centerline corresponding to the segment centerline with a serial number of 2a is marked as 2b. In the next segment centerline, the serial numbers are marked as 3a, 3b, 3c, 3d, and so on, until the serial numbers of all the segment centerlines are marked.

[0084] In this embodiment, the association relationship refers to the correspondence between the current segment centerline and the previous segment centerline and the next segment centerline. For example, the segment centerline with sequence number 3a corresponds to the previous segment centerline with sequence number 2a, and the segment centerline with sequence number 3a corresponds to the next segment centerline with sequence number 4a and sequence number 4b. After sorting out the association relationships of all segment centerlines, the association relationship is added to the attribute information of the corresponding segment centerline on the system to obtain the segment-associated centerline. In this embodiment, an upstream relationship can also be established between the current segment centerline and the segment centerline before it, and a downstream relationship can be established between the current segment centerline and the segment centerline after it. The upstream and downstream relationships are added to the association relationship to facilitate the rapid positioning of the target position in the blood vessel and effective regulation when manipulating surgical instruments.

[0085] Step S40, obtaining operation information and initial position information of the equipment, calculating the equipment running path based on the operation information and the initial position information of the equipment, and determining whether the surgical equipment will collide with the wall of the model blood vessel during operation based on the equipment running path, the segment-related centerline, and the radius of the model blood vessel;

[0086] In this embodiment, operational information refers to the operational instructions and operational parameters entered by the operator on the system. Operational instructions include movement instructions and rotation instructions, and operational parameters include movement time, movement distance, rotation time, and rotation angle. The initial position information of the instrument is obtained by querying the initial position of the surgical instrument upon entering the blood vessel. Based on the operational instructions, operating parameters, and initial position information, the surgical instrument is simulated and calculated to determine its trajectory. Whether the trajectory intersects the plane of the model vessel wall determines whether the surgical instrument will collide with the model vessel wall during operation. In this embodiment, the surgical instruments are the guidewire and catheter of the vascular interventional surgery robot.

[0087] Step S50 : If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is obtained, a return path is calculated based on the collision position information, and the surgical instrument is controlled to adjust its position based on the return path.

[0088] In an embodiment, the collision position information includes a collision position and a collision position coordinate, wherein the collision position refers to the position where the equipment's running route intersects with the plane where the model blood vessel wall is located, and the collision position coordinate refers to the corresponding coordinate value in the coordinate system constructed with the blood vessel centerline corresponding to the model blood vessel section corresponding to the collision position as the coordinate origin. The return distance is calculated based on the offset distance between the collision position information and the blood vessel center point, and the return angle is calculated based on the offset angle of the blood vessel centerline of the collision position information. The movement parameters and rotation parameters are determined based on the return distance and the return angle, and the surgical equipment is controlled to adjust its position according to the movement parameters and the rotation parameters.

[0089] The present application obtains a three-dimensional vascular model, calculates the model vascular center point and the model vascular radius of the three-dimensional vascular model, and thus generates a vascular centerline of the model vascular according to the model vascular center point; identifies the bifurcation point of the vascular centerline and segments the vascular centerline according to the bifurcation point, thereby obtaining a plurality of segmented centerlines segmented according to the bifurcation point; marks and sorts the plurality of segmented centerlines, thereby obtaining segmented centerline marks and segmented centerline serial numbers after adding marks and serial numbers; and sorts the association relationship between the segmented centerlines according to the segmented centerline marks and segmented centerline serial numbers, and adds the association relationship to the segmented centerlines. The method uses the following methods to calculate the surgical instrument's movement path and the instrument's initial position information: the movement of the surgical instrument after the operation and the position of the instrument after the operation are effectively obtained. The method uses the surgical instrument's movement path, the segmented associated centerline, and the model vessel radius to determine whether the surgical instrument collides with the model vessel wall during operation, thereby enabling corresponding regulation based on the collision situation. If the surgical instrument collides with the model vessel wall during operation, the collision position information is obtained, a return path is calculated based on the collision position information, and the surgical instrument is controlled to adjust its position based on the return path. The above method effectively controls the surgical instrument when it collides with the vessel during vascular interventional surgery, thereby ensuring its safety and stability.

[0090] In an optional embodiment of this embodiment, before step S10, the following steps are further included:

[0091] receiving a medical image data acquisition request, and extracting medical image data from a medical image database according to the medical image data acquisition request;

[0092] In this embodiment, the medical image data acquisition request is sent by the system when loading medical image data. The medical image data refers to the CT / MRI image obtained by the system scanning the human body. The CT / MRI image is obtained by extracting the medical image data set in the database.

[0093] The key blood vessel information of the medical image data is acquired according to a preset blood vessel model construction rule, and the three-dimensional blood vessel model is generated according to the key blood vessel information.

[0094] In an optional embodiment of this embodiment, the step of acquiring key vascular information of the medical image data according to a preset vascular model construction rule, and generating the three-dimensional vascular model according to the key vascular information specifically includes:

[0095] Parsing the medical image data to obtain attribute information and a medical image, wherein the attribute information includes a medical image serial number, a medical image horizontal spacing, and a medical image layer spacing;

[0096] In this embodiment, the medical image serial number is obtained by querying the image parameters of the medical image, the medical image horizontal spacing refers to the horizontal distance between the corresponding plane positions of the medical image, and the medical image layer spacing refers to the vertical distance between the corresponding plane positions of the medical image.

[0097] sorting the medical images according to the medical image sequence numbers, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set;

[0098] In this embodiment, the medical image serial number refers to the serial number generated when the medical image is scanned. By obtaining the image parameters corresponding to the medical image serial number, such as the human body space coordinates corresponding to the image, image angle information, etc., custom attributes are assigned to the image parameters and processed to generate a model matrix corresponding to the medical image, and the sorting order of the medical images is obtained according to the output results of the model matrix. The corresponding medical images are sorted according to the medical image arrangement order, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set.

[0099] identifying blood vessel regions and organ regions in the medical image sorting set according to a preset image recognition algorithm;

[0100] In this embodiment, the image recognition algorithm may adopt a feature extraction algorithm to identify the blood vessel region and the organ region in the medical image by extracting features corresponding to the blood vessels and features corresponding to the organs.

[0101] Acquiring an organ density value of the organ region, and marking the region according to the organ density value to obtain an organ marked region;

[0102] In this embodiment, the organ density value is the organ CT value, which can be directly obtained in the medical image. When marking the organ density value, different colors can be added according to the density mean of different organ density areas to facilitate viewing. When marking the area by color, the color of the organ marking area can be customized according to the different density values.

[0103] The blood vessel region and the organ marking region are used as key blood vessel information for three-dimensional reconstruction to obtain the three-dimensional blood vessel model.

[0104] In this embodiment, the actual distribution positions of blood vessels in the human body are determined by marking blood vessel regions and organ regions, thereby constructing a three-dimensional blood vessel model.

[0105] 2 , a flowchart of a specific embodiment of step S10 is shown, which includes the following steps:

[0106] Step S101, obtaining a model threshold corresponding to a blood vessel wall, and obtaining corresponding vessel wall coordinate data in the three-dimensional blood vessel model according to the model threshold;

[0107] In this embodiment, the model threshold is generated by assigning values ​​to different tissues such as blood, vessel walls, and organs in the model when constructing a three-dimensional vascular model. The above-mentioned different tissues correspond to different model thresholds. By inputting the model threshold, the corresponding tissue and its associated data can be effectively queried in the constructed three-dimensional vascular model.

[0108] Step S102, calculating the center point and radius of the model blood vessel according to the vessel wall coordinate data;

[0109] In this embodiment, the maximum inscribed circle in the blood vessel wall is calculated using the vessel wall coordinate data, the center of the inscribed circle is used as the model blood vessel center point, and the radius of the inscribed circle is used as the model blood vessel radius.

[0110] Step S103 , obtaining all center points of the model blood vessels, and generating the blood vessel centerline according to all center points of the model blood vessels.

[0111] In this embodiment, the center points of the model blood vessels are connected to generate a blood vessel centerline. Since there are intervals between the center points of the model blood vessels, the blood vessel centerline can be obtained by calculating the blood vessel center points and a curve fitting algorithm.

[0112] Continuing to refer to FIG3 , a flowchart of a specific embodiment of step S30 is shown, which includes the following steps:

[0113] Step S301: obtaining a preset centerline marking rule and sequence information, marking the segmented centerline according to the centerline marking rule and the sequence information to obtain the segmented centerline mark;

[0114] In this embodiment, the segment centerline mark refers to the mark sequence number corresponding to the segment centerline.

[0115] Step S302: acquiring position information of the segment center lines, and sorting the segment center lines according to the position information and the sequence information to obtain sequence numbers of the segment center lines;

[0116] Step S303, obtaining the bifurcation point associated with the segment centerline serial number, and sorting the child-parent set relationship of the segment centerline according to the bifurcation point and the segment centerline serial number;

[0117] In this embodiment, after sorting according to the serial numbers of the segmented center lines, the previous segmented center line is the parent level of the associated next segmented center line, and the next segmented center line is the child level of the associated previous segmented center line. The child-parent set relationship of the segmented center lines is obtained based on the association between the parent level and the child level of the segmented center lines.

[0118] Step S304, classifying the segment centerlines according to the parent-child relationship to obtain trunk centerlines and branch centerlines;

[0119] In this embodiment, the trunk centerline refers to the current segment centerline of the parent level, and the branch centerline refers to the next segment centerline of the child level. For example, the segment centerlines of sequence numbers 4a and 4b are the child level centerlines associated with the segment centerline of sequence number 3a, then the segment centerline of sequence number 3a is the trunk centerline, and the segment centerlines of sequence numbers 4a and 4b are the branch centerlines.

[0120] Step S305 , associating the segment centerline mark, the trunk centerline, and the branch centerline to obtain the association relationship, and adding the association relationship to the segment centerline to obtain the segment association centerline.

[0121] In this embodiment, the segmented centerline marks corresponding to the trunk centerline and the branch centerline are associated to obtain an association relationship. For example, the segmented centerlines with serial numbers 4a and 4b are associated with the segmented centerline with serial number 3a, and the fields 4a and 4b are added after the serial number 3a to obtain association information, such as 3a-4a+ab, and the association relationship is added to the attribute information corresponding to the segmented centerlines with serial numbers 3a, 4a, and 4b to obtain the segmented associated centerlines.

[0122] Continuing to refer to FIG4 , a flowchart of a specific embodiment of step S40 is shown, which includes the following steps:

[0123] Step S401: Acquire an operation request, and parse the operation request to obtain the operation information, wherein the operation information includes an operation type and an operation change value;

[0124] Step S402, detecting whether the surgical instruments are in place;

[0125] In this embodiment, whether the surgical instrument is in place is detected by sending a detection instruction to the surgical instrument and receiving a returned response signal.

[0126] Step S403: If the surgical instrument is in place, the initial position information of the instrument is obtained, and the equipment operation route is calculated according to the operation type, the operation change value, and the initial position information of the instrument.

[0127] In this embodiment, the operation types include movement operations and rotation operations, and the operation change values ​​include movement distances and rotation angles.

[0128] 5 , a flowchart of a specific embodiment of step S50 is shown, which includes the following steps:

[0129] Step S501: Acquire the collision position information, identify the segment-associated centerline where the collision position is located, and calculate the Euclidean distance from the collision position to the segment-associated centerline. The Euclidean distance is calculated as follows: d = sqrt(x1-x2)^2+(y1-y2)^2+(z1-z2)^2), where d represents the Euclidean distance, x1, y1, and z1 are the coordinate values ​​of the collision position, and x2, y2, and z2 are the coordinate values ​​of the center point on the segment-associated centerline.

[0130] In this embodiment, a three-dimensional coordinate system is constructed with the center point of the vessel slice image corresponding to the collision location as the origin, thereby obtaining the coordinate values ​​corresponding to the collision location and the coordinate values ​​of the center points of the segment-related center lines. Because the collision location may occur at a vessel bifurcation or bend, when calculating the Euclidean distance, to ensure the validity and reliability of the Euclidean distance, it is necessary to select several points close to the center point of the vessel slice image as the center points of the segment-related center lines. The Euclidean distance is then calculated based on the coordinate values ​​of these points in the above coordinate system.

[0131] Step S502: selecting the center point on the segment-association centerline corresponding to the minimum Euclidean distance as a projection point, and determining the collision plane corresponding to the collision position according to the collision position and the projection point;

[0132] In this embodiment, the minimum value of the Euclidean distance calculated above is selected, and the corresponding center point is used as the projection point to calculate the shortest return route, thereby effectively ensuring the return efficiency.

[0133] Step S503 , calculating the return route according to the segment center line and the collision position coordinate value, and controlling the surgical instrument to adjust its position according to the return route.

[0134] In this embodiment, when calculating the return route, in addition to considering the coordinate value of the collision position, it is also necessary to consider the end position of the surgical instrument closest to the collision position. Since in this embodiment, the return condition is set to calculate the return route and perform return only when the distance between the end position and the collision position is less than a preset collision threshold, in this embodiment, the collision threshold is initially set to 0.3mm, which can be adjusted accordingly according to actual conditions. In this embodiment, since the collision threshold is small, the return route can be calculated directly based on the coordinate value of the collision position during calculation to facilitate calculation. In this embodiment, the calculation of the return route is iteratively calculated based on the condition that the distance value of the surgical instrument from the segment centerline meets the safety threshold. Among them, the collision position coordinate value and the extension direction of the surgical instrument can be used as parameters to obtain a more accurate return route.

[0135] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0136] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0137] Further referring to FIG6 , as an implementation of the method shown in FIG1 above, the present application provides an embodiment of a vascular interventional surgery navigation device. The device embodiment corresponds to the method embodiment shown in FIG1 , and the device can be specifically applied to various electronic devices.

[0138] As shown in FIG6 , the vascular interventional surgery navigation device 6 of this embodiment includes: a centerline generation module 601 , a centerline segmentation module 602 , a centerline association module 603 , a collision judgment module 604 , and an operation adjustment module 605 . Among them:

[0139] The centerline generation module 601 is used to obtain a three-dimensional blood vessel model, calculate the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel centerline according to the model blood vessel center point;

[0140] A centerline segmentation module 602 is configured to identify bifurcation points of the blood vessel centerline and segment the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines;

[0141] The centerline association module 603 is configured to mark and sort the segment centerlines to obtain segment centerline marks and segment centerline serial numbers, sort the association relationships between the segment centerlines based on the segment centerline marks and the segment centerline serial numbers, and add the association relationships to the segment centerlines to obtain segment-associated centerlines.

[0142] Collision determination module 604 is configured to obtain operation information and initial equipment position information, calculate an equipment operation path based on the operation information and the initial equipment position information, and determine whether the surgical instrument collides with the model blood vessel wall during operation based on the equipment operation path, the segment-associated centerline, and the model blood vessel radius;

[0143] The operation adjustment module 605 is used to obtain collision position information if the surgical instrument collides with the wall of the model blood vessel during operation, calculate a return path according to the collision position information, and control the surgical instrument to adjust its position according to the return path.

[0144] This embodiment, by providing a device module corresponding to the vascular interventional surgery navigation method, can effectively avoid collisions between surgical instruments and the walls of blood vessels when manipulating the surgical instruments, thereby improving the safety of the surgery.

[0145] To solve the above technical problems, the present application also provides a computer device. Specific reference is made to FIG7 , which is a basic structural block diagram of the computer device of the present embodiment.

[0146] The computer device 7 includes a memory 71, a processor 72, and a network interface 73 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 7 having components 71-73, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0147] The computer device may be a desktop computer, notebook computer, PDA, cloud server, etc. The computer device may interact with the user via a keyboard, mouse, remote control, touchpad, or voice control device.

[0148] The memory 71 includes at least one type of readable storage medium, including flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, a magnetic disk, an optical disk, etc. In some embodiments, the memory 71 can be an internal storage unit of the computer device 7, such as the hard disk or memory of the computer device 7. In other embodiments, the memory 71 can also be an external storage device of the computer device 7, such as a plug-in hard disk equipped on the computer device 7, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Of course, the memory 71 can also include both the internal storage unit of the computer device 7 and its external storage device. In this embodiment, the memory 71 is generally used to store the operating system and various application software installed on the computer device 7, such as the program code of the vascular interventional surgery navigation method. In addition, the memory 71 can also be used to temporarily store various types of data that have been output or are to be output.

[0149] In some embodiments, the processor 72 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor 72 is generally used to control the overall operation of the computer device 7. In this embodiment, the processor 72 is used to execute program code stored in the memory 71 or process data, such as executing the program code of the vascular interventional surgery navigation method.

[0150] The network interface 73 may include a wireless network interface or a wired network interface. The network interface 73 is generally used to establish a communication connection between the computer device 7 and other electronic devices.

[0151] This embodiment, by providing computer equipment corresponding to the vascular interventional surgery navigation method, can effectively avoid collisions between surgical instruments and the walls of blood vessels when manipulating surgical instruments, thereby improving the safety of the surgery.

[0152] The present application also provides another embodiment, namely, providing a computer-readable storage medium, which stores a vascular interventional surgery navigation program, and the vascular interventional surgery navigation program can be executed by at least one processor to enable the at least one processor to perform the steps of the vascular interventional surgery navigation method as described above.

[0153] This embodiment, by providing a computer-readable storage medium corresponding to the vascular interventional surgery navigation method, can effectively avoid collisions between surgical instruments and the walls of blood vessels when manipulating the surgical instruments, thereby improving the safety of the surgery.

[0154] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0155] Obviously, the embodiments described above are only some of the embodiments of the present application, rather than all of the embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present application specification and the accompanying drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present application.

Claims

1. A vascular intervention surgery navigation method, characterized in that: The steps include: Acquire a three-dimensional blood vessel model, calculate a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel center line according to the model blood vessel center point; Identifying a bifurcation point of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation point to obtain a plurality of segmented centerlines; Marking and sorting a number of the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines; Acquiring operation information and equipment initial position information, calculating the equipment running route according to the operation information and the equipment initial position information, and judging whether the surgical equipment collides with the model blood vessel wall during operation according to the equipment running route, the segmented associated center line, and the model blood vessel radius; If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is acquired, a return route is calculated according to the collision position information, and the surgical instrument is controlled to adjust its position according to the return route.

2. The vascular intervention surgery navigation method according to claim 1, characterized in that: Before the steps of acquiring the three-dimensional blood vessel model, calculating the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model, and generating the blood vessel center line according to the model blood vessel center point, The following steps are involved: receiving a request for obtaining medical image data, and extracting medical image data from a medical image database according to the request for obtaining medical image data; The key blood vessel information of the medical image data is acquired according to a preset blood vessel model construction rule, and the three-dimensional blood vessel model is generated according to the key blood vessel information.

3. The vascular intervention surgery navigation method according to claim 2, characterized in that: The step of acquiring the key vascular information of the medical image data according to the preset vascular model construction rules, and generating the three-dimensional vascular model according to the key vascular information specifically includes: Parsing the medical image data to obtain attribute information and a medical image, wherein the attribute information includes a medical image serial number, a medical image horizontal spacing, and a medical image layer spacing; Sorting the medical images according to the medical image sequence numbers, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set; Identify the blood vessel region and the organ region in the medical image sorting set according to a preset image recognition algorithm; Acquiring an organ density value of the organ region, and marking the region according to the organ density value to obtain an organ marked region; The blood vessel region and the organ marking region are used as blood vessel key information for three-dimensional reconstruction to obtain the three-dimensional blood vessel model.

4. The vascular intervention surgery navigation method according to claim 1, characterized in that: The step of calculating the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model, and generating the blood vessel center line according to the model blood vessel center point specifically includes: Obtain a model threshold corresponding to the blood vessel wall, and Obtain the corresponding pipe wall coordinate data; Calculate the center point of the model blood vessel and the radius of the model blood vessel according to the vessel wall coordinate data; All the center points of the model blood vessels are obtained, and the blood vessel centerline is generated according to all the center points of the model blood vessels.

5. The vascular intervention surgery navigation method according to claim 1, characterized in that: The step of marking and sorting the plurality of segment center lines to obtain segment center line marks and segment center line serial numbers, arranging the association relationship of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationship to the segment center lines to obtain the segment associated center lines specifically includes: Obtaining a preset centerline marking rule and sequence information, marking the segmented centerline according to the centerline marking rule and the sequence information, and obtaining the segmented centerline mark; Acquire the position information of the segment center line, sort the segment center line according to the position information and the sequence information, and obtain the sequence number of the segment center line; Obtaining the bifurcation point associated with the segment centerline serial number, and sorting the child-parent set relationship of the segment centerline according to the bifurcation point and the segment centerline serial number; Classifying the segment center lines according to the child-parent set relationship to obtain a trunk center line and a branch center line; The segment centerline mark, the trunk centerline, and the branch centerline are associated to obtain the association relationship, and the association relationship is added to the segment centerline to obtain the segment association centerline.

6. The vascular intervention surgery navigation method according to claim 1, characterized in that: The step of obtaining the operation information and the equipment initial position information, and calculating the equipment running route according to the operation information and the equipment initial position information specifically includes: Obtaining an operation request, and parsing the operation request to obtain the operation information, wherein the operation information includes an operation type and an operation change value; Check whether surgical instruments are in place; If the surgical equipment is in place, the initial position information of the equipment is obtained, and the equipment operation route is calculated according to the operation type, the operation change value, and the initial position information of the equipment.

7. The vascular intervention surgery navigation method according to claim 1, characterized in that: The collision position information includes the collision position and the collision position coordinates. The steps of obtaining the collision position information, calculating the return route according to the collision position information, and controlling the surgical instrument to adjust the position according to the return route specifically include: Acquire the collision position information, identify the segment-associated center line where the collision position is located, and calculate the Euclidean distance from the collision position to the segment-associated center line, the calculation formula of the Euclidean distance is: d=sqrt(x1-x2)^2+(y1-y2)^2+(z1-z2)^2), where d represents the Euclidean distance, x1, y1, z1 are the coordinate values ​​of the collision position, and x2, y2, z2 are the coordinate values ​​of the center point on the segment-associated center line; Selecting the center point on the segment-associated center line corresponding to the minimum Euclidean distance as the projection point, and determining the collision plane corresponding to the collision position according to the collision position and the projection point; The return route is calculated according to the segment center line and the collision position coordinate value, and according to The return route controls the surgical instrument to adjust its position.

8. A vascular interventional surgery robot navigation device, characterized in that: include: A centerline generation module, used to obtain a three-dimensional blood vessel model, calculate a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel centerline according to the model blood vessel center point; A centerline segmentation module, used for identifying bifurcation points of the blood vessel centerline and segmenting the blood vessel centerline according to the bifurcation points to obtain a plurality of segmented centerlines; A centerline association module is used to mark and sort the segment centerlines to obtain segment centerline marks and segment centerline serial numbers, sort out the association relationship of the segment centerlines according to the segment centerline marks and the segment centerline serial numbers, and add the association relationship to the segment centerlines to obtain segment-associated centerlines; A collision judgment module is used to obtain operation information and equipment initial position information, calculate the equipment running route according to the operation information and the equipment initial position information, and judge whether the surgical equipment collides with the model blood vessel wall during operation according to the equipment running route, the segmented associated center line, and the model blood vessel radius; The operation adjustment module is used to obtain collision position information if the surgical instrument collides with the wall of the model blood vessel during operation, calculate a return route according to the collision position information, and control the surgical instrument to adjust its position according to the return route.

9. A computer device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: Acquire a three-dimensional blood vessel model, calculate a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel center line according to the model blood vessel center point; Identifying a bifurcation point of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation point to obtain a plurality of segmented centerlines; Marking and sorting a number of the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines; Acquiring operation information and equipment initial position information, calculating the equipment running route according to the operation information and the equipment initial position information, and judging whether the surgical equipment collides with the model blood vessel wall during operation according to the equipment running route, the segmented associated center line, and the model blood vessel radius; If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is acquired, a return route is calculated according to the collision position information, and the surgical instrument is controlled to adjust its position according to the return route.

10. The computer device according to claim 9, characterized in that Before the processor executes the computer program to implement the steps of acquiring a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point, the processor further implements the following steps: receiving a request for obtaining medical image data, and extracting medical image data from a medical image database according to the request for obtaining medical image data; Acquire key vascular information of the medical image data according to preset vascular model construction rules, And the three-dimensional blood vessel model is generated according to the blood vessel key information.

11. The computer device according to claim 10, characterized in that When the processor executes the computer program to implement the steps of acquiring the key blood vessel information of the medical image data according to the preset blood vessel model construction rules and generating the three-dimensional blood vessel model according to the key blood vessel information, the following steps are specifically implemented: Parsing the medical image data to obtain attribute information and a medical image, wherein the attribute information includes a medical image serial number, a medical image horizontal spacing, and a medical image layer spacing; Sorting the medical images according to the medical image sequence numbers, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set; Identify the blood vessel region and the organ region in the medical image sorting set according to a preset image recognition algorithm; Acquiring an organ density value of the organ region, and marking the region according to the organ density value to obtain an organ marked region; The blood vessel region and the organ marking region are used as blood vessel key information for three-dimensional reconstruction to obtain the three-dimensional blood vessel model.

12. The computer device according to claim 9, characterized in that When the processor executes the computer program to implement the steps of calculating the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model and generating the blood vessel center line according to the model blood vessel center point, the following steps are specifically implemented: Acquire a model threshold corresponding to the blood vessel wall, and acquire corresponding wall coordinate data in the three-dimensional blood vessel model according to the model threshold; Calculate the center point of the model blood vessel and the radius of the model blood vessel according to the vessel wall coordinate data; All the center points of the model blood vessels are obtained, and the blood vessel centerline is generated according to all the center points of the model blood vessels.

13. The computer device according to claim 9, characterized in that When the processor executes the computer program to implement the steps of marking and sorting the plurality of segment center lines, obtaining segment center line marks and segment center line serial numbers, arranging the association relationship of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationship to the segment center lines, and obtaining the segment associated center lines, the following steps are specifically implemented: Obtaining a preset centerline marking rule and sequence information, marking the segmented centerline according to the centerline marking rule and the sequence information, and obtaining the segmented centerline mark; Acquire the position information of the segment center line, sort the segment center line according to the position information and the sequence information, and obtain the sequence number of the segment center line; Obtaining the bifurcation point associated with the segment centerline serial number, and sorting the child-parent set relationship of the segment centerline according to the bifurcation point and the segment centerline serial number; Classifying the segment center lines according to the child-parent set relationship to obtain a trunk center line and a branch center line; The segment centerline mark, the trunk centerline, and the branch centerline are associated to obtain the association relationship, and the association relationship is added to the segment centerline to obtain the segment association centerline.

14. The computer device according to claim 9, characterized in that When the processor executes the computer program to implement the steps of: the collision position information includes the collision position and the collision position coordinates; obtaining the collision position information; calculating the return route according to the collision position information; and controlling the surgical instrument to adjust the position according to the return route, the following steps are specifically implemented: Acquire the collision position information, identify the segment-associated center line where the collision position is located, and calculate the Euclidean distance from the collision position to the segment-associated center line, the calculation formula of the Euclidean distance is: d=sqrt(x1-x2)^2+(y1-y2)^2+(z1-z2)^2), where d represents the Euclidean distance, x1, y1, z1 are the coordinate values ​​of the collision position, and x2, y2, z2 are the coordinate values ​​of the center point on the segment-associated center line; Selecting the center point on the segment-associated center line corresponding to the minimum Euclidean distance as the projection point, and determining the collision plane corresponding to the collision position according to the collision position and the projection point; The return route is calculated according to the segment center line and the collision position coordinate value, and the surgical instrument is controlled to adjust its position according to the return route.

15. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the following steps are implemented: Acquire a three-dimensional blood vessel model, calculate a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generate a blood vessel center line according to the model blood vessel center point; Identifying a bifurcation point of the blood vessel centerline, and segmenting the blood vessel centerline according to the bifurcation point to obtain a plurality of segmented centerlines; Marking and sorting a number of the segment center lines to obtain segment center line marks and segment center line serial numbers, sorting the association relationships of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationships to the segment center lines to obtain segment associated center lines; Acquiring operation information and equipment initial position information, calculating the equipment running route according to the operation information and the equipment initial position information, and judging whether the surgical equipment collides with the model blood vessel wall during operation according to the equipment running route, the segmented associated center line, and the model blood vessel radius; If the surgical instrument collides with the wall of the model blood vessel during operation, collision position information is acquired, a return route is calculated according to the collision position information, and the surgical instrument is controlled to adjust its position according to the return route.

16. The computer-readable storage medium according to claim 15, wherein: Before the computer program is executed by the processor to implement the steps of acquiring a three-dimensional blood vessel model, calculating a model blood vessel center point and a model blood vessel radius of the three-dimensional blood vessel model, and generating a blood vessel centerline according to the model blood vessel center point, the following steps are also implemented: receiving a request for obtaining medical image data, and extracting medical image data from a medical image database according to the request for obtaining medical image data; The key blood vessel information of the medical image data is acquired according to a preset blood vessel model construction rule, and the three-dimensional blood vessel model is generated according to the key blood vessel information.

17. The computer-readable storage medium according to claim 16, wherein: When the computer program is executed by the processor to implement the steps of acquiring the key blood vessel information of the medical image data according to the preset blood vessel model construction rules and generating the three-dimensional blood vessel model according to the key blood vessel information, the following steps are specifically implemented: Parsing the medical image data to obtain attribute information and a medical image, wherein the attribute information includes a medical image serial number, a medical image horizontal spacing, and a medical image layer spacing; Sorting the medical images according to the medical image sequence numbers, the medical image horizontal spacing, and the medical image layer spacing to obtain a medical image sorting set; Identify the blood vessel region and the organ region in the medical image sorting set according to a preset image recognition algorithm; Acquiring an organ density value of the organ region, and marking the region according to the organ density value to obtain an organ marked region; The blood vessel region and the organ marking region are used as blood vessel key information for three-dimensional reconstruction to obtain the three-dimensional blood vessel model.

18. The computer-readable storage medium according to claim 15, wherein: When the computer program is executed by the processor to implement the steps of calculating the model blood vessel center point and the model blood vessel radius of the three-dimensional blood vessel model and generating the blood vessel center line according to the model blood vessel center point, the following steps are specifically implemented: Acquire a model threshold corresponding to the blood vessel wall, and acquire corresponding wall coordinate data in the three-dimensional blood vessel model according to the model threshold; Calculate the center point of the model blood vessel and the radius of the model blood vessel according to the vessel wall coordinate data; All the center points of the model blood vessels are obtained, and the blood vessel centerline is generated according to all the center points of the model blood vessels.

19. The computer-readable storage medium according to claim 15, wherein: The step of marking and sorting the plurality of segment center lines to obtain segment center line marks and segment center line serial numbers, arranging the association relationship of the segment center lines according to the segment center line marks and the segment center line serial numbers, and adding the association relationship to the segment center lines to obtain the segment associated center lines specifically includes: Obtaining a preset centerline marking rule and sequence information, marking the segmented centerline according to the centerline marking rule and the sequence information, and obtaining the segmented centerline mark; Acquire the position information of the segment center line, sort the segment center line according to the position information and the sequence information, and obtain the sequence number of the segment center line; Obtaining the bifurcation point associated with the segment centerline serial number, and sorting the child-parent set relationship of the segment centerline according to the bifurcation point and the segment centerline serial number; Classifying the segment center lines according to the child-parent set relationship to obtain a trunk center line and a branch center line; The segment centerline mark, the trunk centerline, and the branch centerline are associated to obtain the association relationship, and the association relationship is added to the segment centerline to obtain the segment association centerline.

20. The computer-readable storage medium of claim 15, wherein: When the computer program is executed by the processor, the collision position information includes the collision position and the collision position coordinates, the steps of obtaining the collision position information, calculating the return route according to the collision position information, and controlling the surgical instrument to adjust the position according to the return route specifically implement the following steps: Acquire the collision position information, identify the segment-associated center line where the collision position is located, and calculate the Euclidean distance from the collision position to the segment-associated center line, the calculation formula of the Euclidean distance is: d=sqrt(x1-x2)^2+(y1-y2)^2+(z1-z2)^2), where d represents the Euclidean distance, x1, y1, z1 are the coordinate values ​​of the collision position, and x2, y2, z2 are the coordinate values ​​of the center point on the segment-associated center line; Selecting the center point on the segment-associated center line corresponding to the minimum Euclidean distance as the projection point, and determining the collision plane corresponding to the collision position according to the collision position and the projection point; The return route is calculated according to the segment center line and the collision position coordinate value, and the surgical instrument is controlled to adjust its position according to the return route.

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