Interventional path planning method, storage medium, and terminal device

Abstract

An interventional path planning method, a storage medium, and a terminal device. The method comprises: controlling a simulated interventional instrument model to move in a three-dimensional blood vessel model according to a preset interventional path; when the simulated interventional instrument model collides with the three-dimensional blood vessel model, detecting collision deformation of the simulated interventional instrument model in real time; acquiring a collision force on the basis of the collision deformation, and correcting the preset interventional path on the basis of the collision force to form a corrected path; and when the simulated interventional instrument model moves to a lesion according to the corrected path, generating a target interventional path on the basis of a movement trajectory of the simulated interventional instrument model. The collision between the simulated interventional instrument model and the three-dimensional blood vessel model is simulated by means of simulation, and the collision force corresponding to the collision deformation is used to modify the preset interventional path, thereby ensuring that the corrected target interventional path is accurate and feasible.

Description

Intervention path planning methods, storage media and terminal devices

[0001] This application claims priority to Chinese Patent Application No. 202411022093.8, filed on July 26, 2024, entitled "Intervention Path Planning Method, Storage Medium and Terminal Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application pertains to interventional surgical path planning technology, specifically involving an interventional path planning method, a storage medium, and a terminal device. Background Technology

[0003] Current preoperative pathway planning typically utilizes CTA angiography data for 3D vascular reconstruction, identifies lesions in the 3D vascular model, and generates the shortest interventional path as the preoperative planning path. However, in actual research and development, it has been found that the preoperative planning path generated in this way differs significantly from the movement path of interventional instruments during actual surgery, increasing the difficulty and risk of the surgery and providing low reference value for the operator (i.e., the physician). Technical issues

[0004] The main purpose of this application is to provide an interventional path planning method, storage medium, and terminal device, aiming to solve the technical problems of existing preoperative planning paths having errors and low reference value. Technical solutions

[0005] Firstly, this application proposes an interventional pathway planning method to at least partially address the problems of errors and low reference value in existing preoperative planning pathways. The method includes:

[0006] Acquire a simulated interventional device model, a three-dimensional vascular model of a specific object, and a preset interventional path, wherein the preset interventional path includes the lesion;

[0007] The simulated interventional device model is controlled to move within the three-dimensional vascular model according to the preset interventional path;

[0008] During the movement, when the simulated interventional device model collides with the three-dimensional blood vessel model, the collision deformation of the simulated interventional device model is detected in real time.

[0009] The collision force is obtained based on the collision deformation, and the preset intervention path is corrected based on the collision force to form a corrected path;

[0010] When the simulated interventional device model moves to the lesion along the corrected path, a target interventional path is generated based on the movement trajectory of the simulated interventional device model.

[0011] Preferably, the real-time detection of the collision deformation of the simulation interventional instrument model comprises:

[0012] Obtaining a collision characteristic region of the simulation interventional instrument model, and determining the collision characteristic region as a top-level bounding volume;

[0013] Dividing the collision characteristic region to form a plurality of sub-level bounding volumes;

[0014] Recursively traversing the top-level bounding volume and the plurality of sub-level bounding volumes to determine a simulation collision region;

[0015] Calculating the simulation collision region to obtain a collision deformation corresponding to the simulation collision region.

[0016] Preferably, the simulation interventional instrument model comprises a simulation catheter model and a simulation guide wire model penetrating the simulation catheter model;

[0017] The control of the simulation interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path comprises:

[0018] Generating an operation instruction, the operation instruction carrying an operation identifier;

[0019] Controlling at least one of the simulation catheter model and the simulation guide wire model to move in the three-dimensional blood vessel model based on the operation identifier.

[0020] Preferably, the obtaining of the collision characteristic region of the simulation interventional instrument comprises:

[0021] Querying a database to obtain and count real collision regions and collision times of real catheters and real guide wires, and obtaining a statistical result;

[0022] Determining a real collision region with a collision time greater than a preset number of times in the statistical result as the collision characteristic region of the simulation interventional instrument.

[0023] Preferably, the obtaining of the collision force based on the collision deformation comprises

[0024] Calculating the collision deformation by using a force algorithm to obtain a normal force of the collision deformation;

[0025] Calculating the collision deformation by using a friction model to obtain a friction force of the collision deformation;

[0026] Calculating the normal force and the friction force by using a numerical solver to obtain the collision force.

[0027] Preferably, the modification of the preset interventional path based on the collision force comprises:

[0028] acquiring a collision blood vessel branch, the collision blood vessel branch being a blood vessel branch deformed by collision between the simulation interventional instrument model and the three-dimensional blood vessel model;

[0029] querying a database to acquire a historical operation and a historical collision force corresponding to the collision blood vessel branch;

[0030] screening the historical operation based on the historical collision force to obtain a correction parameter, the correction parameter including a correction blood vessel branch and a correction interventional instrument motion parameter;

[0031] dynamically correcting the preset interventional path based on at least one of the correction blood vessel branch and the correction interventional instrument motion parameter.

[0032] Preferably, the screening the historical operation based on the historical collision force to obtain a correction parameter includes:

[0033] traversing the historical collision force, and taking a historical operation corresponding to a historical collision force with a minimum force value as a recommended operation;

[0034] acquiring a recommended blood vessel branch and a recommended interventional instrument motion parameter in the recommended operation by using a field matching algorithm;

[0035] determining the recommended blood vessel branch as a correction blood vessel branch and determining the recommended interventional instrument motion parameter as a correction interventional instrument motion parameter.

[0036] Preferably, after the generating a target interventional path based on the motion trajectory of the simulation interventional instrument model, the method further includes:

[0037] grading all the collision deformations to generate a collision grade;

[0038] adopting a same label to mark the collision deformations of a same collision grade and displaying the collision deformations on the preset interventional path.

[0039] In a second aspect, the present application provides a storage medium, the storage medium including a stored program, and when the program is executed, a processor executes the method described above.

[0040] In a third aspect, the present application provides a terminal device, including: a processor; and a memory, the memory being connected with the processor, and the processor executing a program in the memory to realize the method described above. Advantages

[0041] The intervention path planning method, the storage medium and the terminal device provided in the application, by controlling the simulation intervention instrument model to move in the three-dimensional blood vessel model according to the preset intervention path, when the simulation intervention instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulation intervention instrument model is detected in real time; the collision force is obtained based on the collision deformation, the preset intervention path is corrected based on the collision force, and the corrected path is formed; when the simulation intervention instrument model moves to the lesion according to the corrected path, the target intervention path is generated based on the motion trail of the simulation intervention instrument model, the collision of the simulation intervention instrument model and the three-dimensional blood vessel model is simulated, the preset intervention path is modified by using the collision force corresponding to the collision deformation, the modified intervention path is ensured to be real and feasible, and the accuracy of the target intervention path obtained by modifying the preset intervention path is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Furthermore, the same reference numerals in different drawings are intended to represent the same components.

[0043] Fig. 1 shows a flowchart of a first embodiment of the intervention path planning method of the application;

[0044] Fig. 2 shows a flowchart of a second embodiment of the intervention path planning method of the application;

[0045] Fig. 3 shows a flowchart of a third embodiment of the intervention path planning method of the application;

[0046] Fig. 4 shows a flowchart of a fourth embodiment of the intervention path planning method of the application;

[0047] Fig. 5 shows a flowchart of a fifth embodiment of the intervention path planning method of the application;

[0048] Fig. 6 shows a flowchart of a sixth embodiment of the intervention path planning method of the application;

[0049] Fig. 7 shows a flowchart of a seventh embodiment of the intervention path planning method of the application;

[0050] Fig. 8 shows a flowchart of an eighth embodiment of the intervention path planning method of the application;

[0051] Fig. 9 shows a structural schematic diagram of a terminal device provided in an embodiment of the application. Best Mode for Carrying Out the Invention

[0052] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it is understood that the present application can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.

[0053] It should be noted that, unless otherwise specified, technical terms or scientific terms used in the present application should be understood as their common meanings to those skilled in the art to which the present application pertains.

[0054] Please refer to FIG. 1, which is a flowchart of a first embodiment of the intervention path planning method of the present application.

[0055] The present application provides an intervention path planning method, comprising the following steps:

[0056] S10: obtaining a simulation intervention instrument model, a three-dimensional blood vessel model of a specific object, and a preset intervention path, wherein the preset intervention path comprises a lesion.

[0057] The specific object is a patient. The simulation intervention instrument model comprises a simulation catheter model and a simulation guide wire model. Specifically, the three-dimensional blood vessel model is a digital three-dimensional blood vessel reconstructed by CTA data of the specific object, and a physical model with elastic force is generated by using a plug-in of a physical simulation platform to physically model the digital three-dimensional blood vessel, i.e., the three-dimensional blood vessel model of the present embodiment is generated. Similarly, the length, diameter, and material parameters of the catheter are input into the physical simulation platform, and a physical model with elastic force is automatically generated by using the plug-in of the physical simulation platform, i.e., the simulation catheter model. The length, diameter, and material parameters of the guide wire are input into the physical simulation platform, and a physical model with elastic force is automatically generated by using the plug-in of the physical simulation platform, i.e., the simulation guide wire model. Exemplarily, the physical simulation platform is a Sofa platform.

[0058] The preset intervention path is a shortest path from a blood vessel entrance to the lesion obtained by processing a DSA contrast image of the specific object.

[0059] In the present embodiment, the intervention surgery type is obtained by case data of the specific object, and the real catheter and the real guide wire required for the surgery are determined by the intervention surgery type and the preset intervention path. The simulation catheter model and the simulation guide wire model are obtained by simulating the length, diameter, and manufacturing material of the real catheter and the real guide wire, so as to ensure that the simulation intervention instrument model generated is adapted to the surgery of the specific object and improve the accuracy of path planning.

[0060] S20: controlling the simulation intervention instrument model to move in the three-dimensional blood vessel model according to the preset intervention path.

[0061] In one embodiment, please refer to Fig. 2, which is a flowchart of a second embodiment of the intervention path planning method of the present application. The simulation intervention instrument model includes a simulation catheter model and a simulation guide wire model. In step S20, the control of the simulation intervention instrument model moving in the three-dimensional blood vessel model according to the preset intervention path includes:

[0062] S21: generating an operation instruction, the operation instruction carrying an operation identifier.

[0063] In this embodiment, the operation instruction is an instruction generated by the operator operating the master operator. For example, the operation instruction can be at least one instruction indicating the simulation intervention instrument model advancing, retreating, or rotating.

[0064] It can be understood that the operator moves the simulation intervention instrument model by operating the master operator, which realizes the simulation operation of the real intervention robot surgery and is beneficial to improving the operation skill and experience of the operator.

[0065] In other embodiments, the operation instruction can also be an instruction automatically generated by the robot based on the preset intervention path, which is not limited herein.

[0066] S22: controlling at least one of the simulation catheter model and the simulation guide wire model to move in the three-dimensional blood vessel model based on the operation identifier.

[0067] Specifically, the simulation intervention instrument model includes the simulation catheter model and the simulation guide wire model, the operation instruction carries the operation identifier, the operation identifier is at least one of a catheter identifier and a guide wire identifier, when the operation identifier represents the catheter identifier, the simulation catheter model is controlled to move in the three-dimensional blood vessel model, when the operation identifier represents the guide wire identifier, the simulation guide wire model is controlled to move in the three-dimensional blood vessel model, and when the operation identifier represents the catheter identifier and the guide wire identifier, the simulation catheter model and the simulation guide wire model are controlled to move in the three-dimensional blood vessel model. Thus, the movement of a single instrument model can be controlled, and the movement of multiple instrument models can also be cooperatively controlled, which meets the real surgery requirements.

[0068] In steps S21-S22, the simulation catheter model and the simulation guide wire model are individually or cooperatively simulated through the operation identifier of the operation instruction, so as to realize the individual control and cooperative control of the instruments simulating the real surgery, improve the reality of the simulation surgery operation, integrate the real surgery operation into the path planning, and ensure that the modified target intervention path has reality and feasibility.

[0069] S30: during the movement, when the simulation intervention instrument model collides with the three-dimensional blood vessel model, the collision deformation of the simulation intervention instrument model is detected in real time.

[0070] It can be understood that the real blood vessels are three-dimensional and the distribution is very complex. The preoperative intervention path obtained by using image data is prone to errors and has low reference value for doctors. In the embodiment, the operator operates the simulation intervention instrument model in the three-dimensional blood vessel model through the master operator to detect the collision deformation of the simulation intervention instrument model, thereby providing technical support for the correction of the preset intervention path, ensuring that the generated target intervention path is more in line with the real operation situation, and improving the accuracy of the intervention path.

[0071] Please refer to FIG. 3, which is a flowchart of the third embodiment of the intervention path planning method of the present application. In step S30, the collision deformation of the simulation intervention instrument model is detected in real time, including:

[0072] S31: Obtain the collision characteristic region of the simulation intervention instrument model, and determine the collision characteristic region as the top-level bounding volume.

[0073] The collision characteristic region is the region where the simulation intervention instrument model collides with the three-dimensional blood vessel model.

[0074] Since the simulation intervention instrument is elongated, if the entire simulation intervention instrument is subjected to collision detection, the detection time is long and the detection effect cannot meet the requirements of rapid and accurate operation.

[0075] In the embodiment, the local collision characteristic region is screened from the simulation intervention instrument model, and only the local collision characteristic region needs to be detected in the collision detection, thereby reducing the detection workload and effectively improving the detection efficiency and detection accuracy.

[0076] Please refer to FIG. 4, which is a flowchart of the fourth embodiment of the intervention path planning method of the present application. In step S31, the collision characteristic region of the simulation intervention instrument is obtained, including:

[0077] S311: Query the database to obtain and count the real collision region and the collision times of the real catheter and the real guide wire, and obtain the statistical result.

[0078] The real collision region is the collision region of the real catheter and the real guide wire with the real blood vessel in the real operation. It should be noted that the real collision region is a local region of the real catheter and the real guide wire. In the operation process, the real catheter and the real guide wire need to be controlled and assisted alternately. The collision regions of the real catheter and the real guide wire are different in these two processes. In order to ensure the accuracy of the real collision region, the real collision region of the embodiment includes the collision region when the real guide wire moves, the collision region when the real catheter moves, and the collision region when the real guide wire and the real catheter move cooperatively.

[0079] The collision times are the times of collisions between the real guide wire and the real catheter with the real blood vessel during the surgery.

[0080] S312: Determine the real collision region with the collision times greater than the preset number of times in the statistical result as the collision characteristic region of the simulation interventional instrument.

[0081] The preset number of times is a preset number of times, which is not limited herein. The preset number of times is to exclude the collision between the real catheter and the guide wire and the real blood vessel due to accidents, so as to improve the accuracy of the collision characteristic region.

[0082] It can be understood that the collision characteristic region is associated with the real collision region, that is, the collision characteristic region includes the mapping of the collision region when the real guide wire moves in the simulation guide wire model, the mapping of the collision region when the real catheter moves in the simulation catheter model, and the mapping of the collision region when the real guide wire and the real catheter move cooperatively in the simulation guide wire model and the simulation catheter model. Therefore, it can be ensured that the collision characteristic region of the simulation catheter model and the simulation guide wire model has the collision characteristics of the real interventional instrument controlled and cooperated alone, and the correct collision characteristic region division helps to improve the accuracy of the target interventional path, ensure the feasibility of the target interventional path, and meet the real surgery situation.

[0083] In steps S311-S312, the real collision region and the collision times of the real catheter and the real guide wire in the real surgery are screened to obtain the instrument characteristic region of the simulation interventional instrument model, which helps to improve the accuracy of the target interventional path.

[0084] S32: Divide the collision characteristic region to form a plurality of sub-layer bounding volumes.

[0085] S33: Recursively traverse the top-layer bounding volume and the plurality of sub-layer bounding volumes to determine the simulation collision region.

[0086] In this embodiment, the top-layer bounding volume is traversed first. If the top-layer bounding volume has a collision, the plurality of sub-layer bounding volumes are traversed to detect the simulation collision region from the plurality of sub-layer bounding volumes. If the top-layer bounding volume does not have a collision, it means that the simulation interventional instrument model does not collide with the three-dimensional blood vessel model, and the simulation interventional instrument model is controlled to move in the three-dimensional blood vessel model according to the preset interventional path.

[0087] S34: Calculate the simulation collision region to obtain the collision deformation corresponding to the simulation collision region.

[0088] In the collision deformation detection of the elongated simulation interventional instrument model in steps S31-S34, the collision characteristic region of the simulation interventional instrument is screened out first, so that the detection workload can be reduced and the processing speed of determining the collision deformation can be improved. By dividing the collision characteristic region into the top layer bounding volume and the sub-layer bounding volume, the motion condition without collision can be quickly excluded, and the motion response speed of the simulation interventional instrument model can be ensured.

[0089] S40: obtaining a collision force based on the collision deformation, and correcting the preset interventional path based on the collision force to form a corrected path.

[0090] The collision force is the force borne by the simulation interventional instrument model and the three-dimensional blood vessel model when colliding.

[0091] Please refer to FIG. 5, which is a flowchart of the fifth embodiment of the interventional path planning method of the present application. In step S40, that is, obtaining the collision force based on the collision deformation, includes

[0092] S41: calculating the collision deformation by using a force algorithm to obtain the normal force of the collision deformation.

[0093] In this embodiment, the force algorithm is the penalty function method (Penalty Method) or the Lagrange Multipliers Method.

[0094] The penalty function method (Penalty Method), also known as the multiplier method, is to convert the constrained optimization problem into a solution to the unconstrained optimization problem. F(x, M) is called the penalty function, and M is a large positive number, which plays a punishing role and is called the penalty factor.

[0095] The Lagrange Multipliers Method is a mathematical method for solving constrained optimization problems. By introducing the Lagrange multiplier, the optimization problem with constraints is converted into an unconstrained problem.

[0096] S42: calculating the collision deformation by using a friction model to obtain the friction force of the collision deformation.

[0097] In this embodiment, the Coulomb Friction Model is used to calculate the friction force of the collision deformation.

[0098] S43: calculating the collision force by using a numerical solver to calculate the normal force and the friction force.

[0099] In this embodiment, the numerical solver (Euler Implicit Solver) is used to construct a function, and the normal force and friction force are calculated to obtain the collision force.

[0100] In steps S41-S43, the collision deformation is calculated to obtain the collision force, which provides technical support for subsequent path correction.

[0101] Please refer to FIG. 6, which is a flowchart of the sixth embodiment of the interventional path planning method of the present application. In step S40, the preset interventional path is corrected based on the collision force, which includes:

[0102] S44: Obtain the collision vessel branch, which is the vessel branch that the simulation interventional instrument model collides with the three-dimensional vessel model.

[0103] In this embodiment, the coordinate position of the simulation interventional instrument model in the three-dimensional vessel model is monitored in real time. When a collision occurs, the current coordinate position of the simulation interventional instrument model is used to query the database to obtain the vessel branch of the three-dimensional vessel model where the current coordinate position of the simulation interventional instrument model is located, so as to determine the vessel branch as the collision vessel branch of the simulation interventional instrument model and the three-dimensional vessel model.

[0104] S45: Query the database to obtain the historical operation and historical collision force corresponding to the collision vessel branch.

[0105] The historical operation is the operation of the operator on the real catheter and real guide wire during the operation. Example one, the historical operation corresponding to operator D: in vessel branch A, rotate the real guide wire, move the real guide wire backward, so that the real guide wire enters vessel branch B, move the real catheter into vessel branch B, the real guide wire and vessel branch A generate y millinewtons of historical collision force; example two, the historical operation corresponding to operator E: in vessel branch C, move the real catheter and real guide wire at equal or unequal speeds, the real guide wire and real catheter generate x millinewtons of historical collision force with vessel branch C.

[0106] The historical collision force is the force that the real catheter and real guide wire receive when colliding with the real vessel during the operation of the operator.

[0107] Specifically, the database stores the operation data of other operators performing real interventional operations, and the collision vessel branch and the operation data of the database are matched through a character matching algorithm to quickly obtain the historical operation and historical collision force of the collision vessel branch. The character matching algorithm includes but is not limited to KMP algorithm (string matching algorithm), brute force matching algorithm (Brute Force), Rabin-Karp algorithm, etc.

[0108] S46: obtaining correction parameters by screening the historical operations based on the historical collision forces, the correction parameters including a corrected blood vessel branch and a corrected interventional instrument motion parameter.

[0109] The corrected blood vessel branch is used for correcting a blood vessel branch entered by the simulated interventional instrument model. The corrected interventional instrument motion parameter is used for correcting a parameter of motion of the simulated interventional instrument model. In example one, the simulated interventional instrument model collides in a blood vessel branch A of the three-dimensional blood vessel model, the corrected blood vessel branch is a blood vessel branch B, and the corrected interventional instrument motion parameter is that the simulated interventional instrument model retreats by x millimeters, rotates by y degrees, and enters the blood vessel branch B along the blood vessel branch A. In example two, the simulated interventional instrument model collides in a blood vessel branch A of the three-dimensional blood vessel model, the corrected blood vessel branch is the blood vessel branch A, and the corrected interventional instrument motion parameter is that the simulated interventional instrument model rotates by y degrees, retreats by x millimeters, and advances by z millimeters along the blood vessel branch A.

[0110] Please refer to FIG. 7, which is a flowchart of a seventh embodiment of the interventional path planning method. In step S46, that is, obtaining correction parameters by screening the historical operations based on the historical collision forces, includes:

[0111] S461: traversing the historical collision forces, and taking a historical operation corresponding to a historical collision force with a minimum force value as a recommended operation.

[0112] In the same blood vessel branch, the historical operation corresponding to the historical collision force with the minimum force value has the best treatment effect on a specific object. In this embodiment, all the historical collision forces in the blood vessel branch are traversed, and the historical collision force with the minimum force value is quickly searched to modify the interventional path based on the corresponding historical operation.

[0113] S462: obtaining a recommended blood vessel branch and a recommended interventional instrument motion parameter in the recommended operation.

[0114] S463: determining the recommended blood vessel branch as a corrected blood vessel branch, and determining the recommended interventional instrument motion parameter as a corrected interventional instrument motion parameter.

[0115] In steps S461-S463, the corrected blood vessel branch and the corrected interventional instrument motion parameter are obtained through the historical operation corresponding to the historical collision force with the minimum force value, so that the modified interventional path has a higher feasibility and assists real operation.

[0116] S47: dynamically modifying the preset interventional path based on at least one parameter in the corrected blood vessel branch and the corrected interventional instrument motion parameter.

[0117] Steps S44-S47, all the historical operations and historical collision forces on the collision blood vessel branch in the real operation are screened out to generate a corrected blood vessel branch and a corrected interventional instrument motion parameter as the basis for path modification, so as to ensure that the modified interventional path is realizable and the accuracy of the obtained target interventional path is ensured.

[0118] :50: When the simulation interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulation interventional instrument model.

[0119] In steps S10-S50, the simulation interventional instrument model is controlled to move in the three-dimensional blood vessel model according to the preset interventional path, and the collision deformation of the simulation interventional instrument model is detected in real time when the simulation interventional instrument model collides with the three-dimensional blood vessel model; a collision force is obtained based on the collision deformation, the preset interventional path is corrected based on the collision force to form a corrected path; when the simulation interventional instrument model moves to the lesion according to the corrected path, a target interventional path is generated based on the motion trajectory of the simulation interventional instrument model, the collision of the simulation interventional instrument model and the three-dimensional blood vessel model is simulated by simulation, the preset interventional path is modified by using the collision force corresponding to the collision deformation, so as to ensure that the modified interventional path is realizable and the accuracy of the obtained target interventional path is high.

[0120] Please refer to FIG. 8, which is a flowchart of the eighth embodiment of the interventional path planning method of the present application. After S50, that is, after the target interventional path is generated based on the motion trajectory of the simulation interventional instrument model, the method further comprises:

[0121] S60: All the collision deformations are classified to generate a collision level.

[0122] The collision level is used to indicate the level of the collision deformation, which can be quantitatively represented. For example, the collision level can be divided into a first-level collision, a second-level collision and a third-level collision, and the higher the level is, the more serious the collision deformation is.

[0123] S70: The collision deformations of the same collision level are marked with the same label and displayed on the preset interventional path.

[0124] In this embodiment, the label is used to remind the user, and the label includes but is not limited to a color label, an image label and a numerical label. For example, a slight deformation is displayed with a yellow label, a light deformation is displayed with an orange label, and a serious deformation is displayed with a red label.

[0125] Steps S60-S70, by classifying all collision deformations of the motion of the simulation interventional instrument model in the three-dimensional blood vessel model, using the same label to identify the collision deformations of the same collision level, and displaying on the preset interventional path, the operator can clearly understand all the collision deformations and the deformation degree at the time of collision on the path, and provide data reference for real surgery.

[0126] The embodiment provides a computer readable storage medium, and the computer readable storage medium stores computer readable instructions. The computer readable instructions are executed by a processor to implement the interventional path planning method in the first embodiment. To avoid repetition, details are not described herein.

[0127] FIG. 9 is a schematic diagram of a terminal device in the embodiment. As shown in FIG. 9, the terminal device includes a processor, a memory, and computer readable instructions stored in the memory and executable on the processor. The processor executes the computer readable instructions to implement each step of the interventional path planning method in the first embodiment, such as steps S10-S50 shown in FIG. 1.

[0128] For example, the computer readable instructions can be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to complete the present application.

[0129] The terminal device can be a desktop computer, a notebook computer, a palm computer, a cloud server, and the like. The terminal device can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that FIG. 9 is only an example of the terminal device, and does not limit the terminal device, and can include more or fewer components than the diagram, or combine certain components, or different components, for example, the terminal device can also include an input / output device, a network access device, a bus, and the like.

[0130] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0131] The memory can be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory can also be an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, and the like. Further, the memory can include both the internal storage unit and the external storage device of the terminal device. The memory is used to store computer readable instructions and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions.

[0133] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0134] The integrated module / unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by computer readable instructions instructing related hardware, and the computer readable instructions can be stored in a computer readable storage medium. When the computer readable instructions are executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. The computer readable instructions include operation instructions, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer test code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0135] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An interventional path planning method, characterized by, The method comprises the following steps: acquiring a simulation interventional instrument model, a three-dimensional blood vessel model of a specific object, and a preset interventional path, wherein the preset interventional path comprises a lesion; controlling the simulation interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path; during the movement, detecting a collision deformation of the simulation interventional instrument model in real time when the simulation interventional instrument model collides with the three-dimensional blood vessel model; acquiring a collision force based on the collision deformation, correcting the preset interventional path based on the collision force to form a corrected path; when the simulation interventional instrument model moves to the lesion according to the corrected path, generating a target interventional path based on a movement track of the simulation interventional instrument model.

2. The method of interventional pathway planning of claim 1, wherein, The method of detecting the collision deformation of the simulation interventional instrument model in real time comprises the following steps: acquiring a collision characteristic region of the simulation interventional instrument model, and determining the collision characteristic region as a top-level bounding volume; dividing the collision characteristic region to form a plurality of sub-level bounding volumes; recursively traversing the top-level bounding volume and the plurality of sub-level bounding volumes to determine a simulation collision region; calculating the simulation collision region to obtain a collision deformation corresponding to the simulation collision region.

3. The method of interventional pathway planning of claim 2, wherein, The simulation interventional instrument model comprises a simulation catheter model and a simulation guide wire model inserted into the simulation catheter model; The method of controlling the simulation interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path comprises the following steps: generating an operation instruction, wherein the operation instruction carries an operation identifier; controlling at least one of the simulation catheter model and the simulation guide wire model to move in the three-dimensional blood vessel model based on the operation identifier.

4. The method of interventional pathway planning of claim 3, wherein, The method of acquiring the collision characteristic region of the simulation interventional instrument comprises the following steps: querying a database to acquire and count real collision regions and collision times of real catheters and real guide wires, and acquiring a statistical result; determining a real collision region with a collision time greater than a preset number of times in the statistical result as the collision characteristic region of the simulation interventional instrument.

5. The method of interventional pathway planning of claim 2, wherein, The method of acquiring the collision characteristic region of the simulation interventional instrument comprises the following steps: querying a database to acquire and count real collision regions and collision times of real catheters and real guide wires, and acquiring a statistical result; determining a real collision region with a collision time greater than a preset number of times in the statistical result as the collision characteristic region of the simulation interventional instrument.

6. The method of interventional pathway planning of claim 1, wherein, The method of acquiring the collision force based on the collision deformation comprises the following steps: calculating the collision deformation by using a force algorithm to obtain a normal force of the collision deformation; calculating the collision deformation by using a friction model to obtain a friction force of the collision deformation; calculating the normal force and the friction force by using a numerical solver to obtain the collision force.

7. The method of interventional path planning of claim 1, wherein, The method of correcting the preset interventional path based on the collision force comprises the following steps: acquiring a collision blood vessel branch, wherein the collision blood vessel branch is a blood vessel branch in which the simulation interventional instrument model collides with the three-dimensional blood vessel model; querying a database to acquire a historical operation and a historical collision force corresponding to the collision blood vessel branch; screening the historical operation based on the historical collision force to obtain a correction parameter, wherein the correction parameter comprises a corrected blood vessel branch and a corrected interventional instrument movement parameter; The preset intervention path is dynamically corrected based on at least one of the corrected blood vessel branch and the corrected intervention instrument motion parameter.

8. The method of interventional pathway planning of claim 7, wherein, The correction parameter is obtained by screening the historical operation based on the historical collision force, and the method comprises the following steps: traversing the historical collision force, and taking the historical operation corresponding to the historical collision force with the minimum force value as a recommended operation; using a field matching algorithm to obtain a recommended blood vessel branch and a recommended intervention instrument motion parameter in the recommended operation; determining the recommended blood vessel branch as a corrected blood vessel branch, and determining the recommended intervention instrument motion parameter as a corrected intervention instrument motion parameter.

9. The method of interventional pathway planning of claim 1, wherein, After the target intervention path is generated based on the motion trajectory of the simulation intervention instrument model, the method further comprises: grading all the collision deformations to generate collision grades; the same label is used to mark the collision deformations of the same collision grade and display them on the preset intervention path.

10. A storage medium, the storage medium comprising a stored program, characterized in that The intervention path planning method is executed by the processor during program running, and the method comprises the following steps: obtaining a simulation intervention instrument model, a three-dimensional blood vessel model of a specific object and a preset intervention path, wherein the preset intervention path comprises a lesion; controlling the simulation intervention instrument model to move in the three-dimensional blood vessel model according to the preset intervention path; during the movement, detecting the collision deformation of the simulation intervention instrument model in real time when the simulation intervention instrument model collides with the three-dimensional blood vessel model; obtaining a collision force based on the collision deformation, and correcting the preset intervention path based on the collision force to form a corrected path; when the simulation intervention instrument model moves to the lesion according to the corrected path, generating a target intervention path based on the motion trajectory of the simulation intervention instrument model.

11. The storage medium of claim 10, wherein, The real-time detection of the collision deformation of the simulation intervention instrument model comprises the following steps: obtaining a collision feature region of the simulation intervention instrument model, and determining the collision feature region as a top-level bounding volume; dividing the collision feature region to form a plurality of sub-level bounding volumes; recursively traversing the top-level bounding volume and the plurality of sub-level bounding volumes to determine a simulation collision region; calculating the simulation collision region to obtain the collision deformation corresponding to the simulation collision region.

12. The storage medium of claim 11, wherein, The simulation intervention instrument model comprises a simulation catheter model and a simulation guide wire model inserted into the simulation catheter model; the control of the simulation intervention instrument model to move in the three-dimensional blood vessel model according to the preset intervention path comprises the following steps: generating an operation instruction, wherein the operation instruction carries an operation identifier; controlling at least one of the simulation catheter model and the simulation guide wire model to move in the three-dimensional blood vessel model based on the operation identifier.

13. The storage medium of claim 12, wherein, The obtaining of the collision feature region of the simulation intervention instrument comprises the following steps: querying a database to obtain and count real collision regions and collision times of a real catheter and a real guide wire, and obtaining a statistical result; determining a real collision region with a collision time greater than a preset number of times in the statistical result as the collision feature region of the simulation intervention instrument.

14. The storage medium of claim 11, wherein, The obtaining of the collision feature region of the simulation intervention instrument comprises the following steps: querying a database to obtain and count real collision regions and collision times of a real catheter and a real guide wire, and obtaining a statistical result; Determine the real collision region with the number of collisions greater than the preset number of collisions in the statistical result as the collision characteristic region of the simulation interventional instrument.

15. The storage medium of claim 10, wherein, The collision force is obtained based on the collision deformation, and the preset interventional path is corrected based on the collision force to form a corrected path. The collision deformation is calculated by using a force algorithm to obtain a normal force of the collision deformation. The collision deformation is calculated by using a friction model to obtain a friction force of the collision deformation. The normal force and the friction force are calculated by using a numerical solver to obtain the collision force.

16. A terminal device comprising: A processor; and a memory connected with the processor, wherein the processor executes a program in the memory to realize an interventional path planning method, comprising: obtaining a simulation interventional instrument model, a three-dimensional blood vessel model of a specific object, and a preset interventional path, wherein the preset interventional path includes a lesion; controlling the simulation interventional instrument model to move in the three-dimensional blood vessel model according to the preset interventional path; during the movement, when the simulation interventional instrument model collides with the three-dimensional blood vessel model, detecting the collision deformation of the simulation interventional instrument model in real time; obtaining a collision force based on the collision deformation, and correcting the preset interventional path based on the collision force to form a corrected path; when the simulation interventional instrument model moves to the lesion according to the corrected path, generating a target interventional path based on the movement track of the simulation interventional instrument model.

17. The terminal device of claim 16, wherein, The collision deformation of the simulation interventional instrument model is detected in real time, comprising: obtaining a collision characteristic region of the simulation interventional instrument model, and determining the collision characteristic region as a top-level bounding volume; dividing the collision characteristic region to form a plurality of sub-level bounding volumes; recursively traversing the top-level bounding volume and the plurality of sub-level bounding volumes to determine a simulation collision region; calculating the simulation collision region to obtain the collision deformation corresponding to the simulation collision region.

18. The terminal device of claim 17, wherein, The simulation interventional instrument model includes a simulation catheter model and a simulation guide wire model inserted into the simulation catheter model; The simulation interventional instrument model is controlled to move in the three-dimensional blood vessel model according to the preset interventional path, comprising: generating an operation instruction, wherein the operation instruction carries an operation identifier; controlling at least one of the simulation catheter model and the simulation guide wire model to move in the three-dimensional blood vessel model based on the operation identifier.

19. The terminal device of claim 17, wherein, The collision characteristic region of the simulation interventional instrument is obtained, comprising: querying a database to obtain and count real collision regions and collision numbers of a real catheter and a real guide wire, and obtaining a statistical result; determining the real collision region with the number of collisions greater than the preset number of collisions in the statistical result as the collision characteristic region of the simulation interventional instrument.

20. The terminal device of claim 18, wherein, The collision characteristic region of the simulation interventional instrument is obtained, comprising: querying a database to obtain and count real collision regions and collision numbers of a real catheter and a real guide wire, and obtaining a statistical result; determining the real collision region with the number of collisions greater than the preset number of collisions in the statistical result as the collision characteristic region of the simulation interventional instrument.

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