CN113180824B - Shaping needle form simulation method and device for microcatheter shaping, computer equipment and storage medium - Google Patents
Shaping needle form simulation method and device for microcatheter shaping, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a shaping needle morphology simulation method, a shaping needle morphology simulation device, a shaping needle morphology simulation computer device and a shaping needle morphology simulation storage medium for micro-catheter shaping. The method comprises the following steps: acquiring image data related to cerebral vessels, constructing a tumor-bearing vessel model in a three-dimensional form according to the image data, extracting a central line of the tumor-bearing vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing vessel model according to the target central line segment; generating a microcatheter path in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point; and calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent section lines, and simulating the shape of the shaping needle based on the rotation matrix. By adopting the method, the accuracy and the simulation speed of the shape simulation of the shaping needle can be improved.
Description
Technical Field
The application relates to the technical field of conversion medicine, in particular to a shaping needle morphology simulation method, a device, computer equipment and a storage medium for microcatheter shaping.
Background
Microcatheters are a commonly used instrument in interventional procedures. In the coil interventional embolization procedure of intracranial aneurysms, the corresponding microcatheter is first selectively delivered into the aneurysm. An important link in the procedure is the successful shaping of the microcatheter. The shape of the front end of the microcatheter is well shaped, so that the in-place accuracy of the microcatheter in the interventional operation, the stability of the microcatheter in the embolization process and the control flexibility of the microcatheter can be greatly improved.
However, in the actual surgical procedure, the shaping of the microcatheter still needs to rely on the abundant knowledge and experience of doctors, and the accurate and effective auxiliary design means are not yet available in clinic.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a shaping needle morphology simulation method, apparatus, computer device, and storage medium for shaping a microcatheter.
A shaping needle morphology simulation method for microcatheter shaping, comprising:
acquiring image data related to cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
generating a microcatheter path in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
and calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent sections and lines, and simulating the shape of the shaping needle based on the rotation matrix.
Optionally, the constructing a tumor-bearing blood vessel model in a three-dimensional form according to the image data includes:
acquiring first image data in a region of interest range in the image data, wherein the first image data comprises an aneurysm part;
extracting a three-dimensional rough tumor-carrying blood vessel model from the first image data according to a target threshold value;
and constructing based on the rough tumor-bearing blood vessel model and the first image data to obtain the tumor-bearing blood vessel model.
Optionally, extracting the centerline of the tumor-bearing vessel model includes: and selecting the position of the aneurysm top as an inlet point in the tumor-bearing blood vessel model, selecting the inlet at the proximal end of the blood vessel as an outlet point, and generating the center line between the inlet point and the outlet point in a mode of a maximum inscribed sphere.
Optionally, the reconstructed tumor-bearing blood vessel model is a blood vessel model without blood vessel branches and with smooth outer walls.
Optionally, generating the microcatheter path in the reconstructed tumor-bearing vessel model includes generating a polyline path first, and then fitting according to the polyline path to generate the microcatheter path;
the far end of the broken line path extends from the starting point of the reconstructed tumor-bearing blood vessel model to the position, which is touched with the inner wall of the blood vessel, of a preset angle to be reflected until the distance between the reflecting position and the ending point is smaller than a threshold value after multiple reflections occur in the inner wall of the blood vessel.
Optionally, the calculating the rotation matrix between adjacent line segments according to the microcatheter path and the microcatheter parameters includes:
carrying out spline resampling on the microcatheter path to obtain a new three-dimensional coordinate of the interpolation point;
calculating according to the new three-dimensional coordinates of the interpolation points and the parameters of the microcatheter to obtain the rotation angle and the rotation axis between the actual adjacent line segments of the shaping needle;
and calculating according to the rotation angle and the rotation axis to obtain a rotation matrix between the actual adjacent line segments.
Optionally, simulating the shaping needle morphology based on the rotation matrix comprises:
sequentially calculating a rotation matrix between adjacent line segments on the real path of the shaping needle;
and rotating the corresponding section of the microcatheter path according to each rotation matrix to obtain the shaping needle form.
The application also provides a shaping needle form simulation device for microcatheter shaping, comprising:
the tumor-bearing blood vessel model construction module is used for acquiring image data related to cerebral blood vessels and constructing a three-dimensional tumor-bearing blood vessel model according to the image data;
the tumor-bearing blood vessel model reconstruction module is used for extracting the central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
a microcatheter path generation module for generating a microcatheter path in the tumor-bearing vessel in the reconstructed tumor-bearing vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
and the shaping needle form simulation module is used for calculating and obtaining a rotation matrix between adjacent sections and lines according to the real path and the microcatheter parameters, and simulating the shaping needle form based on the rotation matrix.
The application also provides a computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring image data related to cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
generating a microcatheter path extending in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
and calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent sections and lines, and simulating the shape of the shaping needle based on the rotation matrix.
The present application also 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 cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
generating a microcatheter path in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
and calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent sections and lines, and simulating the shape of the shaping needle based on the rotation matrix.
According to the shaping needle form simulation method, device, computer equipment and storage medium for shaping the microcatheter, the three-dimensional tumor-carrying blood vessel model is reconstructed based on the cerebral angiography image, the route of the microcatheter entering the tumor-carrying blood vessel is generated according to the tumor-carrying blood vessel model, and finally the shaping needle form is simulated by combining the parameters of the microcatheter, so that a doctor is assisted in carrying out optimal microcatheter shaping decision, and the intracranial aneurysm is treated more simply and efficiently.
Drawings
FIG. 1 is a flow chart of a modeling needle morphology simulation method in one embodiment;
FIG. 2 is a flow chart of a method for constructing a tumor-bearing vessel model in one embodiment;
FIG. 3 is a flow chart of a method of torque matrix calculation in one embodiment;
FIG. 4 is a schematic view of a three-dimensional model of a tumor-bearing blood vessel in one embodiment;
FIG. 5 is a schematic illustration of a centerline in one embodiment;
FIG. 6 is a schematic diagram of a start point and an end point on a centerline in one embodiment
FIG. 7 is a schematic diagram of a polyline path in one embodiment;
FIG. 8 is a schematic diagram of a microcatheter pathway in one embodiment;
FIG. 9 is a simulated view of the morphology of a shaping needle in one embodiment;
FIG. 10 is a simulated view of the molding needle from another angle of FIG. 9;
FIG. 11 is a block diagram of a modeling needle morphology simulation apparatus in one embodiment;
fig. 12 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In the operation of inserting a spring coil into an aneurysm in the cranium, the microcatheter is used for delivering the microcatheter to a designated position, and then the spring coil is delivered into the aneurysm through the microcatheter to start the embolization. Before the microcatheter is delivered into the blood vessel, the head of the microcatheter needs to be molded into a certain angle of bending by steam and then shaped, so that the head of the microcatheter is beneficial to entering the aneurysm cavity, the head of the microcatheter can be stably kept in the aneurysm, the head of the microcatheter is prevented from propping against the wall of the aneurysm to cause rupture, and meanwhile, the spring rings are properly distributed in the aneurysm by utilizing the molding of the head.
When shaping a microcatheter, a shaping needle is generally used, the shaping needle is firstly shaped according to experience, and then the head of the microcatheter is shaped according to the shaped shaping needle, so that the shape of the shaping needle is particularly important, a doctor can only shape the microcatheter through own experience, and experience inheritance is difficult, and abundant experience accumulation usually corresponds to a long learning process. And meanwhile, an accurate and effective auxiliary means is also lacked. And for particularly complex cases, even experienced doctors are at risk of the microcatheter being difficult to deliver in place or unstable after in place.
As shown in fig. 1, a method for simulating the shape of a microcatheter for shaping a shaping needle is provided, which solves the technical problems and comprises the following steps:
step S100, obtaining image data related to cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
step S110, extracting the central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
step S120, generating a microcatheter path in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
and step S130, calculating to obtain a rotation matrix between adjacent section lines according to the microcatheter path and the microcatheter parameters, and simulating the shape of the shaping needle based on the rotation matrix.
In step S100, the image data is angiographic image data, which may be obtained by a data-silhouette angiography (DSA) technique. After obtaining the image data, the region of interest in the image data is extracted, that is, the image region of the tumor-bearing blood vessel with the aneurysm is intercepted in the image data. And then constructing a tumor-bearing blood vessel model in a three-dimensional form according to the image data of the region of interest, as shown in fig. 4. The mode of constructing the model can comprise a plurality of modes, and a method for constructing a tumor-bearing blood vessel model according to image data is provided.
As shown in fig. 2, constructing a tumor-bearing blood vessel model in three-dimensional form from image data includes:
step S200, acquiring first image data in a region of interest range in the image data, wherein the first image data comprises an aneurysm part;
step S210, extracting a rough tumor-bearing blood vessel model in a three-dimensional form from the first image data according to a target threshold;
step S220, constructing based on the rough tumor-bearing blood vessel model and the first image data to obtain the tumor-bearing blood vessel model.
In step S210, the first image, that is, the intracranial blood vessel image with the aneurysm portion, is processed by using image processing software, so as to obtain a three-dimensional rough tumor-bearing blood vessel model. The preliminary tumor-bearing vessel model can utilize software to adjust the threshold value to a target value favorable for the construction of a subsequent model.
In step S220, a level set segmentation method is adopted to construct a more accurate tumor-bearing blood vessel model from the rough tumor-bearing blood vessel model and the first image obtained preliminarily. The method takes the existing initial contour, extends inward or outward and finds the segmentation edges.
When the method is used for constructing, the obtained rough tumor-bearing blood vessel model is used as input of a level set segmentation method, denoising and gradient calculation are carried out on the first image to obtain potential graphic edge characteristics, the characteristics are used as another input of the level set segmentation method, and finally the accurate tumor-bearing blood vessel model is obtained, so that the obtained central line data is more accurate when the central line is extracted later.
In step S110, when extracting the center line according to the model of the tumor-bearing blood vessel obtained by construction, selecting the position of the aneurysm top in the model as an entry point, selecting the proximal inlet of the blood vessel as an exit point, and generating the center line between the entry point and the exit point by adopting the mode of the maximum inscribed sphere, as shown in fig. 5.
In this embodiment, because the tumor-bearing vessel model includes the tumor-bearing artery in the selected region and some collateral vessels on the artery, these collateral vessels can cause reduced accuracy and speed of generation when the microcatheter path is later generated.
In order to generate a micro-catheter path more accurately and rapidly later, in this embodiment, a tumor-carrying blood vessel model is reconstructed according to the central line, and the reconstructed tumor-carrying blood vessel model is a blood vessel model without blood vessel branches (bypass blood vessels) and with smooth outer wall.
Specifically, a centerline segment is taken on the extracted centerline, i.e., microcatheter start and end points are selected on the centerline, as shown in fig. 6. Obtaining central line segment information, including the position and radius of the sphere center of the inscribed sphere, reconstructing a smooth vessel model with side branches removed according to the position and radius of the sphere center, so that the reconstructed tumor-bearing vessel model has the same starting point and ending point as the position of the target central line segment,
in step S120, generating a microcatheter path in the reconstructed tumor-bearing vessel model includes generating a polyline path first, and then fitting according to the polyline path to generate a microcatheter path. The distal end of the broken line path extends from the starting point of the reconstructed tumor-bearing blood vessel model at a preset angle to touch the inner wall of the blood vessel and then reflect until the distance between the reflecting position and the ending point is smaller than a threshold value after multiple reflections occur in the inner wall of the blood vessel.
When generating the microcatheter path, the path of the head, i.e., the distal end, of the microcatheter within the parent vessel is compared to the reflection path in the photonic fiber, as shown in fig. 7, with the dashed line shown as the centerline and the zigzag polyline with arrows as the polyline path. Extending from the starting point of the reconstructed tumor-bearing blood vessel model at a preset angle until the reconstructed tumor-bearing blood vessel model is contacted with the inner wall of the blood vessel, wherein the contact position is a contact point, calculating the normal vector of the blood vessel wall of the contact point, and then calculating a new extending path according to the reflection principle of light.
The head of the micro-catheter extends on the inner wall of the blood vessel until the distance between the contact point and the end point is smaller than the set threshold value according to the method, the advancing path of the head of the micro-catheter is a zigzag fold line, and then a smooth micro-catheter path is generated after fitting is carried out on each contact point according to the starting point and the end point, and the micro-catheter path is a simulated extending path when the micro-catheter is sent into the blood vessel, as shown in fig. 8.
In this embodiment, the beginning position of the head of the microcatheter is the starting point, which selects the position of the aneurysm top, and the ending point can be selected according to the specific situation, and generally according to the distance that the microcatheter can make two reflections on the inner wall of the blood vessel.
In this embodiment, the predetermined angle is generally the tangential direction of the start point, and can also be regarded as the direction extending downward from the top of the aneurysm.
In step S130, as shown in fig. 3, calculating a rotation matrix between adjacent line segments according to the microcatheter path and the microcatheter parameters includes:
step S300, spline resampling is carried out on the microcatheter path to obtain new three-dimensional coordinates of interpolation points;
step S310, calculating according to the new three-dimensional coordinates of the interpolation points and the parameters of the microcatheter to obtain the rotation angle and the rotation axis between the actual adjacent line segments of the shaping needle;
step S320, calculating according to the rotation angle and the rotation axis to obtain a rotation matrix between the actual adjacent line segments.
In step S310, the angle of turning the actual microcatheter when touching the inner wall of the inner tube can be calculated according to the three-dimensional coordinates of the new interpolation point of the microcatheter path and the coefficient of restitution of the microcatheter. The microcatheter path can be seen as a smooth curve with multiple segments connected by multiple points of contact, where each segment turns, i.e., the wall thickness of the microcatheter touching the vessel combined with the coefficient of restitution of the microcatheter itself calculates the actual angle of rotation.
The included angle between two adjacent line segments on the micro-catheter path is calculated according to the new interpolation point, and then the shaping angle, namely the rotation angle, of the actual adjacent line segments is calculated according to the coefficient of restitution of the micro-catheter. Then, a planar normal vector formed by adjacent line segments is calculated as a rotation axis. And finally, calculating a rotation matrix of each contact point according to the rotation angle and the rotation axis.
The actual path of the microcatheter in the blood vessel obtained in step S310 is actually the shape of the shaping needle that needs to be bent, so the shape of the shaping needle can be simulated according to the obtained rotation matrix.
In this embodiment, simulating the shaping needle morphology based on the rotation matrix includes: and sequentially calculating rotation matrixes among adjacent line segments on the real path of the shaping needle, and rotating the corresponding section of the microcatheter path according to the rotation matrixes to obtain the shape of the shaping needle.
After the rotation matrix between two adjacent line segments is calculated, the microcatheter path is sequentially rotated according to the rotation matrix corresponding to each segment to simulate the shape of the shaping needle, as shown in fig. 9-10.
In the shaping needle form simulation method for microcatheter shaping, the tumor-bearing blood vessel model for spring embolism is constructed according to intracranial blood vessel image data related to patients, so that the most matched shaping needle form can be simulated according to different patient tumor-bearing blood vessel shapes or conditions. And reconstructing the smooth vessel model without the bypass vessel according to the central line can improve the accuracy and the speed of the subsequent generation of the microcatheter path.
The shaping needle form simulation method in the application can automatically generate the microcatheter path and the shaping needle form through simple operation, assist doctors to make optimal microcatheter shaping decisions, greatly shorten the learning period and reduce the operation risk.
It should be understood that, although the steps in the flowcharts of fig. 1-3 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1-3 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the sub-steps or phases of other steps or other steps.
In one embodiment, as shown in fig. 11, there is provided a shaping needle morphology simulation apparatus for micro-catheter shaping, comprising: a tumor-bearing vessel model construction module 400, a tumor-bearing vessel model reconstruction module 410, a microcatheter path generation module 420, and a shaping needle morphology simulation module 430, wherein:
the tumor-bearing blood vessel model construction module 400 is used for acquiring image data related to cerebral blood vessels and constructing a three-dimensional tumor-bearing blood vessel model according to the image data;
a tumor-bearing vessel model reconstruction module 410, configured to extract a center line of the tumor-bearing vessel model, intercept a target center line segment on the center line, and reconstruct the tumor-bearing vessel model according to the target center line segment;
a microcatheter path generation module 420, configured to generate a microcatheter path extending in the tumor-bearing vessel in the reconstructed tumor-bearing vessel model, where the microcatheter path is a smooth spline curve having a plurality of points of contact with the inner wall of the vessel, and the smooth spline curve is divided into multiple segments by the points of contact;
and the shaping needle form simulation module 430 is used for calculating a rotation matrix between adjacent sections and lines according to the real path and the microcatheter parameters, and simulating the shaping needle form based on the rotation matrix.
For specific limitation of the shaping needle morphology simulation device for shaping the microcatheter, reference may be made to the limitation of the shaping needle morphology simulation method for shaping the microcatheter hereinabove, and the description thereof will not be repeated here. The above-described respective modules in the shaping needle morphology simulation apparatus for micro-catheter shaping may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 12. The computer device includes a processor, a memory, a network interface, a display screen, and an input device 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 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing a shaping needle shape simulation method for shaping the micro-catheter. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 12 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than 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 stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring image data related to cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
generating a microcatheter path in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent sections and lines, and simulating the shape of the shaping needle based on the rotation matrix
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 cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, and reconstructing the tumor-bearing blood vessel model according to the target central line segment;
generating a microcatheter path extending in the tumor-bearing blood vessel in the reconstructed tumor-bearing blood vessel model, wherein the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by each contact point;
calculating according to the microcatheter path and the microcatheter parameters to obtain a rotation matrix between adjacent sections and lines, and simulating the shape of the shaping needle based on the rotation matrix
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile 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), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (6)
1. The shaping needle morphology simulation method for micro-catheter shaping is characterized by comprising the following steps of:
acquiring image data related to cerebral vessels, and constructing a tumor-bearing vessel model in a three-dimensional form according to the image data;
extracting a center line of the tumor-bearing blood vessel model, including: selecting the position of the aneurysm top as an inlet point in the aneurysm-carrying vessel model, selecting the inlet at the proximal end of the vessel as an outlet point, and generating the center line between the inlet point and the outlet point in a mode of a maximum inscribed sphere;
intercepting a target central line segment on the central line, reconstructing a tumor-bearing blood vessel model according to the target central line segment, wherein the reconstructed tumor-bearing blood vessel model is a blood vessel model without blood vessel branches and with smooth outer wall, and specifically comprises the following steps: acquiring center line segment information, including the position and the radius of the center of the inscribed sphere, and reconstructing a smooth vessel model with side branches removed according to the position and the radius of the center of the sphere;
generating a microcatheter path in a tumor-bearing blood vessel in a reconstructed tumor-bearing blood vessel model, generating a crease line path in the reconstructed tumor-bearing blood vessel model, fitting according to the crease line path to generate the microcatheter path, wherein the distal end of the crease line path extends from a starting point of the reconstructed tumor-bearing blood vessel model to a point where the distal end contacts the inner wall of the blood vessel at a preset angle and is reflected until the distance between the reflecting position and an ending point is smaller than a threshold value after multiple reflections occur in the inner wall of the blood vessel, the microcatheter path is a smooth spline curve with multiple contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into multiple sections by the contact points;
and calculating a rotation matrix between adjacent section lines according to the microcatheter path and the microcatheter parameters, wherein the rotation matrix comprises the following components: carrying out spline resampling on the microcatheter path to obtain a new three-dimensional coordinate of an interpolation point, calculating according to the new three-dimensional coordinate of the interpolation point and microcatheter parameters to obtain a rotation angle and a rotation axis between actual adjacent line segments of the shaping needle, and calculating according to the rotation angle and the rotation axis to obtain a rotation matrix between the actual adjacent line segments;
and simulating the shape of the shaping needle based on the rotation matrix.
2. The method of claim 1, wherein constructing a three-dimensional tumor-bearing vessel model from the image data comprises:
acquiring first image data in a region of interest range in the image data, wherein the first image data comprises an aneurysm part;
extracting a three-dimensional rough tumor-carrying blood vessel model from the first image data according to a target threshold value;
and constructing based on the rough tumor-bearing blood vessel model and the first image data to obtain the tumor-bearing blood vessel model.
3. The method of modeling needle morphology simulation of claim 1, wherein simulating the modeling needle morphology based on the rotation matrix comprises:
sequentially calculating a rotation matrix between adjacent line segments on the real path of the shaping needle;
and rotating the corresponding section of the microcatheter path according to each rotation matrix to obtain the shaping needle form.
4. A shaping needle morphology simulation device for shaping a microcatheter, comprising:
the tumor-bearing blood vessel model construction module is used for acquiring image data related to cerebral blood vessels and constructing a three-dimensional tumor-bearing blood vessel model according to the image data;
the tumor-bearing blood vessel model reconstruction module is used for extracting the central line of the tumor-bearing blood vessel model, intercepting a target central line segment on the central line, reconstructing the tumor-bearing blood vessel model according to the target central line segment, wherein the reconstructed tumor-bearing blood vessel model is a blood vessel model without blood vessel branches and with a smooth outer wall;
extracting a center line of the tumor-bearing blood vessel model, including: selecting the position of the aneurysm top as an inlet point in the aneurysm-carrying vessel model, selecting the inlet at the proximal end of the vessel as an outlet point, and generating the center line between the inlet point and the outlet point in a mode of a maximum inscribed sphere;
intercepting a target central line segment on the central line, and reconstructing a tumor-bearing blood vessel model according to the target central line segment, wherein the method comprises the following steps of: acquiring center line segment information, including the position and the radius of the center of the inscribed sphere, and reconstructing a smooth vessel model with side branches removed according to the position and the radius of the center of the sphere;
the microcatheter path generation module is used for generating a microcatheter path in the tumor-carrying blood vessel in the reconstructed tumor-carrying blood vessel model, generating a crease line path in the reconstructed tumor-carrying blood vessel model, fitting according to the crease line path to generate the microcatheter path, wherein the far end of the crease line path extends from a starting point of the reconstructed tumor-carrying blood vessel model to a position which is in contact with the inner wall of the blood vessel at a preset angle and is reflected until the distance between the reflecting position and an ending point is smaller than a threshold value after the reflection occurs for a plurality of times in the inner wall of the blood vessel, the microcatheter path is a smooth spline curve with a plurality of contact points with the inner wall of the blood vessel, and the smooth spline curve is divided into a plurality of sections by the contact points;
the shaping needle morphology simulation module is used for calculating and obtaining a rotation matrix between adjacent section lines according to the real path and the microcatheter parameters, and comprises the following steps: carrying out spline resampling on the microcatheter path to obtain a new three-dimensional coordinate of an interpolation point, calculating according to the new three-dimensional coordinate of the interpolation point and microcatheter parameters to obtain a rotation angle and a rotation axis between actual adjacent line segments of the shaping needle, and calculating according to the rotation angle and the rotation axis to obtain a rotation matrix between the actual adjacent line segments; and simulating the shape of the shaping needle based on the rotation matrix.
5. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the shaping needle morphology simulation method of shaping a microcatheter according to any of claims 1-3.
6. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the shaping needle morphology simulation method of microcatheter shaping according to any of claims 1 to 3.
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| CN114366295B (en) * | 2021-12-31 | 2023-07-25 | 杭州脉流科技有限公司 | Microcatheter path generation method, shaping method of shaping needle, computer device, readable storage medium, and program product |
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Denomination of invention: Method, device, computer equipment, and storage medium for simulating the shape of shaping needles used for microchannel shaping Granted publication date: 20230620 Pledgee: Hangzhou High-tech Financing Guarantee Co.,Ltd. Pledgor: ARTERYFLOW TECHNOLOGY Co.,Ltd. Registration number: Y2024330000044 |