The present application relates to a kind of
navigation system for
renal artery denervation, navigation method,
computer equipment, belong to surgical navigation technical field, solve the problem of insufficient two-dimensional perspective information in prior art, contrast propagation depends on experience.
System includes three-dimensional
blood vessel modeling module, for the three-dimensional reconstruction of the acquired CBCT projection sequence, obtain reconstruction body data, then gradually carry out three-dimensional
blood vessel modeling, center line extraction, obtain the vascular topology skeleton, including
blood vessel center line and multiple blood vessel nodes;Contrast propagation prediction module is used to obtain contrast agent
injection point information, combined with vascular topology skeleton, carries out contrast agent propagation path prediction, generates corresponding contrast reachable area;Image mapping fusion module is used to fuse three-dimensional blood vessel surface model, contrast reachable area and the real-time perspective image obtained, generate
fusion image.The present application realizes contrast propagation prediction, three-dimensional contrast path superposition, improves navigation accuracy, reduces contrast agent use.