CN111743625A - Support type number matching method and device for intracranial aneurysm and support simulation display method - Google Patents
Support type number matching method and device for intracranial aneurysm and support simulation display method Download PDFInfo
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Abstract
The application relates to a stent type number matching method and device for intracranial aneurysm and a stent simulation display method. The method comprises the following steps: acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data; acquiring a target area in a three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line; processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent; and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent. By adopting the method, the matching efficiency of the stent model and the fit with the blood vessel can be improved.
Description
Technical Field
The application relates to the technical field of transformation medicine, in particular to a stent type number matching method and device for intracranial aneurysm and a stent simulation display method.
Background
Intracranial aneurysm, which is an abnormal bulge occurring on the wall of an intracranial artery, is the first cause of subarachnoid hemorrhage and threatens the life safety of about 5% of the population all over the world.
Early intracranial aneurysm treatment was primarily surgical aneurysm clipping surgery, which greatly increased the risk of surgery due to the need to open the cranium. The most important method currently targeted at intracranial aneurysms is coil embolization. The main principle is that a limited number of soft metal spring rings are released into a tumor cavity to change the blood flow in the tumor cavity, so that thrombus in the tumor cavity is gradually formed, and finally, the aneurysm is blocked. For wide-necked aneurysms, open mesh stents are often additionally implanted to prevent the coils from falling into the parent artery. However, for fusiform aneurysms and dissecting aneurysms, there is often some difficulty or risk in placing the coil. In this case, the use of a dense net support, which has become popular in recent years, is a better option. The dense mesh stent belongs to one of blood flow guiding devices, and the metal coverage rate of the dense mesh stent can reach 30-35 percent generally. The dense mesh stent is particularly effective for complicated aneurysms such as fusiform aneurysms, dissected aneurysms and the like, and can also play a role in reducing or even not releasing a spring ring for common aneurysms, so that the dense mesh stent is more and more popular among interventionalists and patients.
One of the most significant challenges for dense mesh stent therapy is the size selection of the stent. Too small a stent diameter results in poor adherence, while too large a diameter is detrimental to stent opening. If the length of the stent is too large, the blood flow of other blood vessel branches can be influenced, and if the length of the stent is too short, the risk of falling into a tumor cavity exists.
There are two main methods for determining the size and position of the implanted stent. One approach is to make direct measurements on two-dimensional or three-dimensional medical images. The method cannot accurately estimate the length, the position, the adherence, the metal coverage and other characteristics of the implanted stent, and the effectiveness of the method completely depends on the experience, the technology and the intuition of doctors. Another approach is to perform in vitro surgical simulation using 3D printing techniques, which, although highly accurate, is time consuming and not suitable for surgical planning for acute patients. In addition, there is also a virtual deployment of the simulated dense mesh stent in the vessel by finite element technique and virtual release technique. However, the finite element method still cannot meet the requirement of rapid model selection in terms of time efficiency, and the virtual release technology does not consider the shortening effect before and after the expansion of the stent, so the two methods are more used for combining computational fluid mechanics to perform operation plan analysis.
Disclosure of Invention
In view of the above, it is necessary to provide a stent type number matching method, a stent type number matching device, and a stent simulation display method for an intracranial aneurysm, which can recommend a high degree of matching for a target blood vessel.
A method of stent type number matching for an intracranial aneurysm, comprising:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
Preferably, after processing is carried out according to the blood vessel center line and the data of each center line, a virtual stent model which is expanded in the target area of the three-dimensional blood vessel model is obtained, and virtual stent parameters related to the virtual stent model are calculated;
the virtual stent parameters include: coordinates of each grid node of the virtual support, metal coverage rate, pore space density and adherence;
the virtual support model is obtained by sequentially connecting the grid node coordinates.
Preferably, the processing according to the vessel centerline and the data of each centerline to obtain the nominal diameter and the nominal length of the stent comprises:
the centerline data comprises the maximum inscribed sphere radius of each point on the vessel centerline and the vessel curvature radius;
acquiring the positions of the near end and the far end of the stent in the target area, and calculating the expansion length of the stent according to the positions of the near end and the far end;
calculating according to the maximum inscribed sphere radius of each point on each central line to obtain the nominal diameter of the stent, and obtaining the length of the wire section corresponding to the nominal diameter and the nominal braiding angle;
dispersing the center line of the blood vessel according to the maximum inscribed sphere radius of each point on each center line and the curvature radius of the blood vessel to obtain a plurality of center line segments, corresponding to the center line segments one by one to a plurality of stent wire segments of the virtual stent, and corresponding relation between the plurality of stent wire segments and the corresponding center line segments;
and calculating according to the corresponding relation, the length of the wire section and the nominal weaving angle to obtain the nominal length of the stent.
Preferably, the processing according to the vessel center line and the data of each center line to obtain the grid node coordinates includes:
the centerline data comprises: main normal vectors and sub normal vectors in the Frenet frame and main normal vectors in the parallel transmission frame;
obtaining the coordinates of one grid node after superposing the vector of the corresponding point on the central line of one grid node relative to the blood vessel and the vector of the point;
the vector is obtained by calculation according to the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel, the main normal vector and the sub normal vector in the Frenet frame, the main normal vector in the parallel transmission frame and the circumferential angle coordinate on the section of the virtual stent where the grid node is located;
and the circumferential angle coordinate is obtained by calculating through a mathematical theory according to the curvature radius of the blood vessel.
Preferably, the processing according to the vessel centerline and the data of each centerline to obtain the metal coverage and the pore density comprises:
calculating to obtain a rhombic grid area corresponding to one grid node according to the weaving angle of the grid node, and calculating to obtain the metal coverage rate and the pore density corresponding to the grid node according to the rhombic grid area;
the weaving angle is obtained by calculation according to the circumferential angle coordinate on the section of the virtual support where one grid node is located, the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel and the curvature radius of the blood vessel;
and visualizing the metal coverage rate and the pore density of each network node on the virtual support in a cloud picture form through interpolation.
Preferably, the processing according to the centerline of the blood vessel and the data of each centerline to obtain the adherence comprises:
the centerline data comprises: blood vessel cross-sectional area;
dividing the sectional area of the virtual stent corresponding to one point on the central line of the blood vessel by the sectional area of the blood vessel corresponding to the point to obtain the corresponding adherence; or
Dividing the perimeter of the section of the virtual stent corresponding to one point on the central line of the blood vessel by the perimeter of the section of the blood vessel corresponding to the point to obtain the corresponding adherence;
and calculating the perimeter of the section of the virtual stent and the perimeter of the section of the blood vessel.
The application also provides a stent simulation display method, after the matched stent is obtained according to the stent model matching method, the position change of the stent after being dragged in the blood vessel in the target area is simulated and displayed, and the method comprises the following steps:
displaying an initial distal position and an initial proximal position of the stent after deployment in the virtual stent model;
acquiring an updated remote location;
and calculating the number of centerline segments between the updated far-end position and the initial position, and correspondingly moving the initial near-end position towards the far-end moving direction by the corresponding number of centerline segments so as to obtain and display the updated near-end position.
The present application also provides a stent model matching device for an intracranial aneurysm, comprising:
the three-dimensional blood vessel model building module is used for acquiring image data related to intracranial arterial blood vessels and building a three-dimensional blood vessel model by processing the image data;
the data acquisition module is used for acquiring a target area in the three-dimensional blood vessel model and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
the nominal diameter and length obtaining module is used for obtaining the nominal diameter and the nominal length of the stent after processing according to the vessel center line and the data of each center line;
and the support model acquisition module is used for acquiring the matched support model from a preset support database according to the nominal diameter and the nominal length of the support.
The present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
The present application further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
According to the stent model number matching method, the stent model number matching device and the stent simulation display method for the intracranial aneurysm, various kinds of central line data on the central line of the blood vessel in the target area are calculated in advance, and in subsequent calculation, only corresponding data needs to be extracted for calculation, so that the speed of matching the stent model is improved. And the nominal diameter and the nominal length of the stent are calculated based on a strict mathematical theory according to various centerline data, so that the matching degree of the stent after the stent is expanded in a target blood vessel is improved.
Drawings
FIG. 1 is a schematic flow chart of a method for model matching of a stent according to an embodiment;
FIG. 2 is a schematic flow chart of a method for calculating a nominal diameter and a nominal length of a stent according to one embodiment;
FIG. 3 is a block diagram showing the construction of a holder model matching apparatus according to an embodiment;
FIG. 4 is a schematic representation of stent geometry in one embodiment;
FIG. 5 is a schematic diagram of a parallel transport frame and Frenet frame in one embodiment;
FIG. 6 is a schematic illustration of vessel centerline dispersion in one embodiment;
FIG. 7 is a schematic illustration of the calculation of the nominal length of the stent based on the deployed length of the stent in the vessel in one embodiment;
FIG. 8 is a diagram illustrating computing grid node coordinates in one embodiment;
FIG. 9 is a schematic representation of circumferential angular coordinates of a stent after deployment in one embodiment;
FIG. 10 is a graphical representation of calculated metal coverage and pore density in one embodiment;
FIG. 11 is a schematic diagram of calculation of adherence in one embodiment;
FIG. 12 is a schematic diagram illustrating steps of a method for analog display of a stent according to an embodiment;
FIG. 13 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, there is provided a stent type number matching method for an intracranial aneurysm, comprising the steps of:
102, acquiring a target area in the three-dimensional blood vessel model, and extracting blood vessel center lines in the target area and a plurality of center line data of each point on the upper blood vessel center line;
103, processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and 104, acquiring a matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
In this embodiment, the stent database used in step 104 is also pre-established between all the calculation steps. The stent database includes the nominal stent diameter, the stent wire diameter, the number of stent wires, the nominal stent braiding angle and the length of the stent wire segment corresponding to all stent models, as shown in fig. 4. The nominal diameter of the stent refers to the diameter of the stent provided by the manufacturer on the stent package, and the nominal braid angle is the corresponding braid angle when the diameter of the stent is the nominal diameter. The nominal diameter and the number of the stent filaments are provided by a stent manufacturer, the diameter and the nominal weaving angle of the stent filaments can be measured by experiments, and the length of the stent filament section can be obtained by measurement or by a mathematical formula.
It should be noted that all the stents presented in this application are braided stents.
In step 101, three-dimensional reconstruction of a blood vessel is performed by using medical image data and software having a function of reconstructing a three-dimensional model of the blood vessel to obtain a three-dimensional blood vessel model.
In step 102, the centerline of the whole blood vessel in the target region and the data on the centerline of the blood vessel are extracted from the three-dimensional blood vessel model. The target region is a region of interest manually selected on the three-dimensional blood vessel model, and generally the region is a range of fixed positions after the stent is implanted into the blood vessel.
In step 103, the centerline data specifically includes: the three-dimensional space coordinates of each point on the central line, the main normal vector and the auxiliary normal vector of each point on the central line in a freset frame, the main normal vector of each point on the central line in a parallel transmission frame, the maximum inscribed sphere radius of each point on the central line, the blood vessel sectional area of each point on the central line, the blood vessel curvature radius of each point on the central line and the curve natural coordinates of each point on the central line. All the centerline data are extracted before subsequent calculation, and can be directly referred to when the subsequent calculation is carried out, so that the efficiency is improved.
The tangential vector and the main normal vector of each point on the center line in the freset frame, and the tangential vector and the main normal vector of each point on the center line in the parallel transmission frame are shown in fig. 5. The secondary normal vector is a vector perpendicular to the tangential vector and the primary normal vector, and the direction of the secondary normal vector is determined by the right-hand rule.
In step 103, as shown in fig. 2, after processing the vessel centerline and the data of each centerline, obtaining the nominal diameter and the nominal length of the stent includes:
and 204, calculating according to the corresponding relation, the length of the wire section and the nominal weaving angle to obtain the nominal length of the stent.
In step 201, the length of the stent in the target region after deployment is manually selected and calculated by specifying the distal and proximal positions of the stent when deployed in the blood vessel. The path of the stent after deployment in the vessel generally varies with the degree of curvature of the site where the stent is implanted in the vessel.
In step 202, the nominal stent diameter is calculated based on two basic assumptions, the first of which is that the stent is circular in cross-sectional shape after deployment and at most expands to the size of the largest inscribed spherical radius of the vessel. The second assumption is that the stent wire length is constant throughout the stent deployment process.
In this embodiment, the nominal diameter of the stent may or may not be specified directly. In the case where the nominal diameter is not specified, the recommended nominal stent diameter is calculated based on the radius of the vessel. Three methods of calculating the recommended nominal stent diameter can be used:
the first is based on adherence priority strategy, calculating the maximum value of the maximum inscribed sphere radius of each point on the blood vessel central line, selecting the nominal diameter of the stent which is larger than or equal to the maximum value in the stent database, and ensuring that the section radius of each position of the stent can reach the maximum inscribed sphere radius of the blood vessel at the position after the stent is unfolded;
the second method is based on a strategy of taking metal coverage rate and adherence into consideration, the average value of the maximum inscribed sphere radius of each point on the central line of the blood vessel is calculated, the nominal diameter of the stent which is larger than or equal to the average value is selected from a stent database, adherence is guaranteed on average, and the metal coverage rate is improved.
And thirdly, calculating the maximum inscribed sphere radius of the blood vessel at the selected far-end position and the maximum inscribed sphere radius of the blood vessel at the selected near-end position based on a strategy of preferential adherence at two ends of the stent, taking the larger value of the two values, and selecting the nominal diameter of the stent which is larger than or equal to the larger value in a stent database to ensure that the far end and the near end can adhere well after the stent is unfolded.
After the nominal diameter of the stent is determined, the length of the wire section of the stent and the nominal braiding angle are also determined.
In step 103, two parts are actually included, wherein one part includes a virtual stent model which is expanded in a target region of the three-dimensional blood vessel model after being processed according to the blood vessel center line and data of each center line, and virtual stent parameters related to the virtual stent model are calculated. The other part comprises the nominal diameter and the nominal length of the stent obtained after processing according to the vessel central line and the data of each central line.
It should be noted that the vessel centerline is discretized, that is, step 203 is a part of constructing the virtual stent model, so that the virtual stent model after being expanded in the target region of the three-dimensional vessel model can be constructed after the nominal diameter of the stent is determined, and then the nominal length of the stent is calculated. Therefore, when the nominal length of the stent is calculated, the relation between the vessel centerline segment and the corresponding stent wire segment can be directly obtained for calculation.
In step 203, the core of the discretization of the vessel centerline is to establish a one-to-one correspondence between stent wire segments and centerline segments, i.e., a one-to-one correspondence between stent wire segment increments on the stent wire and the centerline natural coordinate increments.
As shown in fig. 6, the envelope of the stent after deployment is a segment of a tube of circular cross-section of finite length. The length of the corresponding center line segment, i.e. the natural coordinate increment of the center line, can be calculated by a mathematical theory by selecting a circular section tube segment (the number of the stent wire segments shown in fig. 6 is 2, or 1) surrounded by a circle of stent wire segments with a fixed number on the stent. The maximum inscribed sphere radius and curvature radius of the central line at the position are considered in the calculation process, so that the whole central line is finally divided into central line segments with different lengths, and the number of stent wire segments corresponding to each segment is the same.
In step 204, as shown in fig. 7, the deployed length of the stent in the blood vessel has been acquired by step 201, which corresponds to specifying a centerline segment between two points. And the number of centerline segments between the two points is equal to the number of stent wire segments or twice the number of stent wire segments (depending on the discrete manner of centerline of step 203). Therefore, the nominal length of the stent can be calculated according to the number of the stent wire segments, the obtained nominal weaving angle and the wire segment length.
In one embodiment, step 201 may be combined with step 204 by directly assigning the proximal and distal ends on the virtual stent model after calculating the nominal stent diameter and constructing the virtual stent model. The morphology of the stent after deployment between the distal and proximal ends, as well as all other data, can also be visualized as shown in fig. 7.
In step 104, a matched stent model is obtained in a stent database according to the nominal diameter of the stent and the nominal length of the stent obtained in the above steps. Because various central line data are considered in the process of calculating the nominal diameter and the nominal length of the stent, particularly the curvature of a blood vessel is considered, the matched stent improves the fitting degree with a target blood vessel and effectively improves the efficiency of a stent size selection stage.
After the virtual stent model which is expanded in the target area of the three-dimensional blood vessel model is constructed, virtual stent parameters related to the virtual stent model are calculated. The virtual stent parameters include: coordinates of each grid node of the virtual stent, metal coverage rate, pore density and adherence. The virtual support model is obtained by sequentially connecting the grid node coordinates.
As shown in fig. 8, calculating the coordinates of each mesh node of the virtual stent model includes: and obtaining the coordinates of the grid nodes after superposing the vector of one grid node relative to the corresponding point on the central line of the blood vessel and the vector of the point on the central line. The vector is obtained by calculation according to the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel, the main normal vector and the sub-normal vector in the Frenet frame, the main normal vector in the parallel transmission frame and the circumferential angle coordinate on the section of the virtual stent where the grid node is located. And the circumferential angle coordinate is obtained by calculating according to the curvature radius of the blood vessel through a mathematical theory. And the coordinates of other grid nodes are obtained by calculation through the method.
The curvature radius of the central line is considered in the process of calculating the coordinates of each mesh node, so that the node distribution of the virtual stent model after being expanded is non-uniform, as shown in fig. 9. This allows the virtual stent model to be more closely approximated to the expanded configuration of the stent within the vessel. And moreover, a wavelet frame and a parallel transmission frame are combined in the calculation process, so that artificial distortion introduced into each grid node obtained by calculation when the wavelet frame is only used is effectively avoided.
In one embodiment, calculating the metal coverage and the pore density comprises: and calculating to obtain the area of the rhombic grid corresponding to one grid node according to the weaving angle of the grid node, and calculating to obtain the metal coverage rate and the pore density corresponding to the grid node according to the area of the rhombic grid. The weaving angle is obtained by calculation according to the circumferential angle coordinate on the section of the virtual support where one grid node is located, the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel and the curvature radius of the blood vessel. And visualizing the metal coverage rate and the pore density of each grid node on the virtual stent in a cloud picture form through interpolation.
Specifically, the metal coverage at any mesh node on the stent surface is completely determined by the braid angle (the length of the stent wire segment is constant). As shown in fig. 10, the metal coverage at any grid node on the stent surface is equal to the area of the shaded portion divided by the area of the diamond 2.
Specifically, the pore density at any node of the stent surface is determined entirely by the braid angle at that point (the length of the stent wire segment is constant). As shown in fig. 10, the pore density at any node of the stent surface is equal to the inverse of the area of diamond 2.
In the prior art, the pore density is calculated by counting the number of pores in a certain area (generally, a stent grid of a neck part), and then dividing the number of pores by the area to obtain the pore density of the neck part. This calculation method does not give accurate results because the surface of the stent is not a plane. In this embodiment, the area occupied by a single pore is calculated, and then the reciprocal is taken as the pore density at each individual grid node, so that the pore density of the stent surface can be accurately represented in the form of a cloud map.
In one embodiment, calculating adherence comprises: dividing the sectional area of the virtual stent corresponding to one point on the central line of the blood vessel by the sectional area of the blood vessel corresponding to the point to obtain the corresponding adherence; or dividing the perimeter of the section of the virtual stent corresponding to one point on the central line of the blood vessel by the perimeter of the section of the blood vessel corresponding to the point to obtain the corresponding adherence; the perimeter of the section of the virtual stent and the perimeter of the section of the blood vessel are obtained by calculation.
As shown in fig. 11, the adherence of the stent surface can be defined by dividing the area of the circular cross section of the stent by the cross-sectional area of the blood vessel, or by dividing the circumference of the circular cross section of the stent by the circumference of the blood vessel.
In the embodiment, the real appearance of the stent expanded in the blood vessel can be virtually displayed by storing the coordinates of the grid nodes in the weaving sequence and connecting all the coordinates of the grid nodes in the weaving sequence, and a plurality of related virtual stent parameters for reference are provided.
According to the stent type number matching method for the intracranial aneurysm, the circumferential angle coordinates of the stent grid nodes are calculated by adopting the normal vector of the central line under the parallel transmission frame, so that grid distortion caused by artificial introduction due to change of a close plane of the central line when a Frenet frame is adopted can be avoided, and clinical practice of stent implantation is met. And the subsequent human-computer interaction is simplified into the problem of displaying different data subsets in real time by utilizing the strategy of calculating all data on the whole central line in advance, so that the waiting time in the interaction process is greatly reduced, and the rapid planning of a clinician in an operating room is facilitated.
When the nominal length of the stent is calculated, all data on the whole central line is calculated in advance, so that the nominal length of the stent can be calculated quickly in real time by calculating the number of segments in the specified central line segment subset and the expanded appearance of the stent between the far end and the near end and all other data can be presented.
As shown in fig. 12, there is further provided a stent simulation display method, after obtaining a matching stent according to the stent model matching method, for simulating and displaying a position change of the stent after dragging in a blood vessel in the target region, including: displaying an initial distal position and an initial proximal position of the stent after deployment in a virtual stent model; acquiring an updated remote location; and calculating the number of the centerline segments between the updated far-end position and the initial position, and correspondingly moving the initial near-end position towards the far-end moving direction by the corresponding number of the centerline segments so as to obtain and display the updated near-end position.
Since the virtual stent model is in a state after the stent is unfolded, and the unfolded length is the length of the whole central line in the region of interest, the unfolded length of the actually selected stent is shorter than that of the virtual stent model. In the operation process, the stent can be in the expanded state in the blood vessel corresponding to the section as long as the stent wire section corresponding to a certain central line section is selected as the far end or the near end on the virtual stent model.
During the dragging process of the stent, the nominal length of the stent is kept constant during the process of changing the far end, namely, the number of stent wire segments is constant, namely, the number of centerline segments is constant. Thus, the distal position is shifted by several centerline segments, as is the proximal position. Therefore, when the corresponding support is subjected to simulated dragging, the data of each movement do not need to be frequently calculated, the data on the whole central line are obtained in advance, different central line segment subsets can be extracted quickly and in real time (the number of segments in the subsets is kept unchanged), and the appearance and other all data of the support after being unfolded at different positions are displayed.
It should be understood that although the various steps in the flow charts of fig. 1-2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 3, there is provided a stent model matching device for an intracranial aneurysm, comprising: a three-dimensional vessel model construction module 301, a data acquisition module 302, a nominal diameter and length obtaining module 303, and a stent model acquisition module 304, wherein:
the three-dimensional blood vessel model building module 301 is configured to obtain image data related to an intracranial artery blood vessel, and build a three-dimensional blood vessel model by processing the image data.
A data obtaining module 302, configured to obtain a target region in the three-dimensional blood vessel model, and extract a blood vessel centerline in the target region and a plurality of centerline data of each point on the blood vessel centerline.
The nominal diameter and length obtaining module 303 is configured to obtain a nominal diameter and a nominal length of the stent after processing the data according to the vessel centerline and each of the centerline data.
And a stent model acquisition module 304, configured to acquire a matched stent model from a preset stent database according to the nominal diameter and the nominal length of the stent.
For specific definition of the stent model matching device for intracranial aneurysm, reference may be made to the above definition of the stent model matching method for intracranial aneurysm, which is not described herein again. The various modules in the above stent sizing device for intracranial aneurysms may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 13. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store the stent database data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a stent type number matching method for an intracranial aneurysm.
Those skilled in the art will appreciate that the architecture shown in fig. 13 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of stent type number matching for an intracranial aneurysm, comprising:
acquiring image data related to an intracranial arterial blood vessel, and constructing a three-dimensional blood vessel model by processing the image data;
acquiring a target area in the three-dimensional blood vessel model, and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
processing according to the vessel center line and the data of each center line to obtain the nominal diameter and the nominal length of the stent;
and acquiring the matched stent model in a preset stent database according to the nominal diameter and the nominal length of the stent.
2. The stent type number matching method according to claim 1, wherein a virtual stent model expanded in the target region of the three-dimensional blood vessel model is obtained after processing according to the blood vessel center line and data of each center line, and virtual stent parameters related to the virtual stent model are calculated;
the virtual stent parameters include: coordinates of each grid node, metal coverage rate, pore density and adherence of the virtual support;
the virtual support model is obtained by sequentially connecting the grid node coordinates.
3. The stent type matching method according to claim 2, wherein the processing according to the vessel centerline and each of the central data to obtain the nominal diameter and the nominal length of the stent comprises:
the centerline data comprises the maximum inscribed sphere radius of each point on the vessel centerline and the vessel curvature radius;
acquiring the positions of the near end and the far end of the stent in the target area, and calculating the expansion length of the stent according to the positions of the near end and the far end;
calculating according to the maximum inscribed sphere radius of each point on each central line to obtain the nominal diameter of the stent, and obtaining the length of the wire section corresponding to the nominal diameter and the nominal braiding angle;
dispersing the center line of the blood vessel according to the maximum inscribed sphere radius of each point on each center line and the curvature radius of the blood vessel to obtain a plurality of center line segments, corresponding to the center line segments one by one to a plurality of stent wire segments of the virtual stent, and corresponding relation between the plurality of stent wire segments and the corresponding center line segments;
and calculating according to the corresponding relation, the length of the wire section and the nominal weaving angle to obtain the nominal length of the stent.
4. The stent type number matching method according to claim 2, wherein the step of processing the vessel centerline and the centerline data to obtain mesh node coordinates comprises:
the centerline data comprises: main normal vectors and sub normal vectors in the Frenet frame and main normal vectors in the parallel transmission frame;
obtaining coordinates of one grid node after superposing a vector of the grid node relative to a corresponding point on a central line of the blood vessel and the vector of the point on the central line;
the vector is obtained by calculation according to the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel, the main normal vector and the sub normal vector in the Frenet frame, the main normal vector in the parallel transmission frame and the circumferential angle coordinate on the section of the virtual stent where the grid node is located;
and the circumferential angle coordinate is obtained by calculating through a mathematical theory according to the curvature radius of the blood vessel.
5. The stent type number matching method according to claim 4, wherein the step of processing the vessel centerline and the centerline data to obtain the metal coverage and the pore density comprises:
calculating to obtain a rhombic grid area corresponding to one grid node according to the weaving angle of the grid node, and calculating to obtain the metal coverage rate and the pore density corresponding to the grid node according to the rhombic grid area;
the weaving angle is obtained by calculation according to the circumferential angle coordinate on the section of the virtual support where one grid node is located, the maximum inscribed sphere radius of the corresponding point on the center line of the blood vessel and the curvature radius of the blood vessel;
and visualizing the metal coverage rate and the pore density of each grid node on the virtual support in a cloud picture form through interpolation.
6. The stent type matching method according to claim 5, wherein the processing based on vessel centerline and each of the centerline data to obtain the adherence comprises:
the centerline data comprises: blood vessel cross-sectional area;
dividing the sectional area of the virtual stent corresponding to one point on the central line of the blood vessel by the sectional area of the blood vessel corresponding to the point to obtain the corresponding adherence; or
Dividing the perimeter of the section of the virtual stent corresponding to one point on the central line of the blood vessel by the perimeter of the section of the blood vessel corresponding to the point to obtain the corresponding adherence;
and calculating the perimeter of the section of the virtual stent and the perimeter of the section of the blood vessel.
7. The stent simulation display method is characterized in that after a matched stent is obtained according to the stent type matching method of any one of claims 1 to 6, the position change of the stent after dragging in the blood vessel in the target area is simulated and displayed, and the method comprises the following steps:
displaying an initial distal position and an initial proximal position of the stent after deployment in the virtual stent model;
acquiring an updated remote location;
and calculating the number of centerline segments between the updated far-end position and the initial position, and correspondingly moving the initial near-end position towards the far-end moving direction by the corresponding number of centerline segments so as to obtain and display the updated near-end position.
8. A stent size matching device for an intracranial aneurysm, comprising:
the three-dimensional blood vessel model building module is used for acquiring image data related to intracranial arterial blood vessels and building a three-dimensional blood vessel model by processing the image data;
the data acquisition module is used for acquiring a target area in the three-dimensional blood vessel model and extracting a blood vessel central line in the target area and a plurality of central line data of each point on the blood vessel central line;
the nominal diameter and length obtaining module is used for obtaining the nominal diameter and the nominal length of the stent after processing according to the vessel center line and the data of each center line;
and the support model acquisition module is used for acquiring the matched support model from a preset support database according to the nominal diameter and the nominal length of the support.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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