CN116172697B - Method, device and equipment for estimating length of stent implanted in blood vessel after dragging - Google Patents

Method, device and equipment for estimating length of stent implanted in blood vessel after dragging Download PDF

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CN116172697B
CN116172697B CN202310483819.7A CN202310483819A CN116172697B CN 116172697 B CN116172697 B CN 116172697B CN 202310483819 A CN202310483819 A CN 202310483819A CN 116172697 B CN116172697 B CN 116172697B
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向建平
单晔杰
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Arteryflow Technology Co ltd
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Abstract

The invention relates to a method, a device and equipment for estimating the length of a stent implanted into a blood vessel after dragging, which are characterized in that a stent model and stent parameters thereof which need to be subjected to length estimation are obtained by extracting a blood vessel center line and center point data from a three-dimensional blood vessel model which is constructed and related to an intracranial aneurysm blood vessel, the aneurysm vertex of the aneurysm is determined, the tumor neck center point is further determined on the blood vessel center line, the section radius of each stent is calculated according to the corresponding center point data, the stent parameters and the radius model, a first radius model is adopted when the current center point is not the tumor neck center point, a second radius model is adopted when the current center point is the tumor neck center point, and thus the calculated stent stretching length is the length after the stent section near the aneurysm is in a dragging state and the full free expansion is restrained. The method can accurately predict the dilating length of the implanted stent after the implantation of the specified stent into the blood vessel and the dragging of the specified stent.

Description

Method, device and equipment for estimating length of stent implanted in blood vessel after dragging
Technical Field
The present application relates to the field of transformed medical technology, and in particular, to a method, an apparatus, and a device for estimating a length of a stent implanted in a blood vessel after being pulled.
Background
Intracranial aneurysms refer to abnormal bulging of the wall of the intracranial artery, and the current interventional treatment mode for small and medium-sized aneurysms, especially ruptured aneurysms, mainly utilizes a metal spring ring to plug the aneurysm cavity, thereby slowing down the impact of blood flow on the wall of the aneurysm, inducing thrombosis in the aneurysm cavity and finally achieving the effect of sealing the aneurysm cavity. For large aneurysms or spindle aneurysms of wide carotid aneurysms, the dense mesh braided stent can achieve better treatment effect.
Often, a doctor will choose a stent of sufficient length to implant, but in some situations, for example, where the longest model of the stent still cannot meet the implant requirements, to ensure a sufficient anchoring length, the doctor will pull the stent to a certain extent, inhibiting its full free expansion.
Because the dense net stent has obvious shortness, the length of the dense net stent after being implanted into a blood vessel is difficult to accurately predict, and the prediction difficulty is further increased by the traction operation in the operation. Predicting the natural release of the stent alone is not sufficient to meet the clinical practical demands.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, and a device for estimating the length of a stent implanted in a blood vessel, which can accurately estimate the length of the stent implanted in the blood vessel after the stent is pulled.
A method of post-pullout length estimation of a stent implanted in a vessel, the method comprising:
acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
And when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
In one embodiment, the obtaining a corresponding tumor neck centerline segment on the blood vessel centerline according to the tumor vertex includes:
finding the nearest point closest to the tumor vertex on the blood vessel central line by adopting a nearest neighbor algorithm;
sequentially connecting the central points from the nearest point to the two sides of the distal end and the proximal end to the tumor vertex on the blood vessel central line until connecting lines which are intersected with the blood vessel wall for the first time appear on the two sides;
and taking the central points corresponding to the intersecting connecting lines as a first central point and a second central point respectively, wherein a central line segment between the first central point and the second central point is the tumor neck central line segment.
In one embodiment, before obtaining the corresponding tumor neck centerline segment on the vessel centerline according to the tumor vertex, correcting the obtained position of the tumor vertex to obtain the accurate tumor vertex includes:
Generating a tumor vertex region by using the obtained tumor vertex, calculating the shortest distance from all points in the tumor vertex region to the blood vessel center line, and selecting the point corresponding to the longest shortest distance as a candidate tumor vertex;
generating a tumor vertex region by using the candidate tumor vertices, calculating the shortest distance from all points in the tumor vertex region to the blood vessel central line until the longest shortest distance is unchanged, enabling the corresponding candidate tumor vertex to be an accurate tumor vertex, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the accurate tumor vertex.
In one embodiment, the first radius model is expressed as:
Figure SMS_1
；
in the above-mentioned description of the invention,
Figure SMS_3
representing the current center point, +.>
Figure SMS_5
Representing the center point +.>
Figure SMS_7
Corresponding three-dimensional vessel radius->
Figure SMS_4
Representing the center point +.>
Figure SMS_6
Corresponding stent section radius, < >>
Figure SMS_8
Representing the upper limit of the expanded diameter of the implanted stent in the naturally released state, wherein said +.>
Figure SMS_9
Derived from said centre point data, said +.>
Figure SMS_2
Derived from the stent parameters.
In one embodiment, the second radius model is expressed as:
Figure SMS_10
；
in the above-mentioned description of the invention,
Figure SMS_13
represents the central point of the neck of the tumor, < > >
Figure SMS_16
Is->
Figure SMS_19
And->
Figure SMS_12
The length of the center line between the two,
Figure SMS_15
is->
Figure SMS_18
And->
Figure SMS_20
Center line length between, wherein->
Figure SMS_11
Representing the current center point, +.>
Figure SMS_14
Representing said first centre point, +.>
Figure SMS_17
Representing the second center point.
In one embodiment, the stent foreshortening model is expressed as:
Figure SMS_21
；
in the above formula, the
Figure SMS_22
For the number of stent filaments, said +.>
Figure SMS_23
Is the side length of the bracket diamond lattice, which is +.>
Figure SMS_24
For the diameter of the stent, said +.>
Figure SMS_25
The diameter of the stent wires is obtained by the number of the stent wires and the diameter of the stent wires through stent parameters, the diameter of the stent is obtained by calculation according to the section radius of the stent section obtained by solving the first radius model and the second radius model, and the side length of the diamond-shaped lattice of the stent is obtained by calculation according to the stent parameters.
In one embodiment, the extracting the target area in the three-dimensional blood vessel model is a partial three-dimensional blood vessel model including an aneurysm and a parent artery.
A post-pullback length estimation apparatus for a stent implanted in a blood vessel, the apparatus comprising:
the blood vessel central line extraction module is used for acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
The bracket parameter acquisition module is used for acquiring the bracket model of the implanted blood vessel and extracting related bracket parameters from a bracket database according to the model;
the tumor neck central point acquisition module is used for acquiring the tumor vertex of the aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
the stent segment stretching length obtaining first module is used for obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent segment section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent segment section radius to obtain the stent stretching length corresponding to the current central point;
the second module is used for determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
And the length estimation module is used for taking the sum of the stent stretching lengths obtained by the corresponding to the center points to be processed as the length estimation of the stent after being pulled in the blood vessel when the total length of the stent section nominal length obtained by accumulating the corresponding center points to be processed is consistent with the nominal length in the stent parameters.
A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
Determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
Obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
According to the method, the device and the equipment for estimating the length of the stent implanted into the blood vessel after dragging, the blood vessel center line is extracted from the constructed three-dimensional blood vessel model related to the intracranial aneurysm blood vessel, the stent model needing to be subjected to length estimation and the corresponding stent parameters are obtained through the center point data corresponding to the center points on the center line, the tumor top of the aneurysm are determined, the tumor neck center point is further determined on the blood vessel center line, and then the section radius of each stent is calculated according to the corresponding center point data, the stent parameters and the radius model, wherein when the current center point is not the tumor neck center point, the first radius model is adopted, and when the current center point is the tumor neck center point, the second radius model is adopted, so that the calculated stent stretching length is in a dragging state, and the length after full free expansion of the stent is restrained. And obtaining the length estimation of the stent after stretching in the blood vessel based on the stent shortening model according to the radius corresponding to the section of each stent section, wherein the method can accurately predict the dilating length of the appointed stent after being implanted into the blood vessel and dragging the appointed stent. Meanwhile, the method can be used for estimating the length of each stent which is unfolded after the blood vessel, and then selecting the most matched stent model.
Drawings
FIG. 1 is a flow chart of a method for estimating the length of a stent implanted in a blood vessel after being pulled in one embodiment;
FIG. 2 is a schematic drawing of an extraction of a tumor neck centerline segment in one embodiment;
FIG. 3 is a schematic illustration of the geometry of a braided stent in one embodiment;
FIG. 4 is a block diagram of a device for estimating the length of a stent implanted in a blood vessel after being pulled in one embodiment;
fig. 5 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 this application, aiming at the problem that the dense net stent has obvious shortness, the length of the dense net stent after being implanted into a blood vessel is difficult to be accurate, and in the actual operation process, the required pulling operation further increases the prediction difficulty, as shown in fig. 1, the method for estimating the length of the stent after being implanted into the blood vessel is provided, which specifically comprises the following steps:
step S100, a three-dimensional blood vessel model related to intracranial aneurysm blood vessels is obtained, and a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line are extracted;
Step S110, obtaining the stent model implanted into the blood vessel, and extracting relevant stent parameters from a stent database according to the model;
step S120, obtaining the tumor vertex of the aneurysm, and obtaining a corresponding tumor neck central line segment on a blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
step S130, obtaining the distal end position of an implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the section radius of the stent section corresponding to the current central point, and calculating based on a stent shortening model according to the section radius of the stent section to obtain the stent stretching length corresponding to the current central point;
step S140, determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and step S150, when the total length of the nominal length of the stent segment corresponding to each center point to be processed is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
In the present embodiment, the stent database used in step S110 is also previously established before all the calculation steps are performed. The bracket database comprises the nominal diameter of the bracket, the diameter of the bracket wire, the number of the bracket wires and the length of the bracket wire sections corresponding to all the bracket types. Where the nominal diameter of the stent refers to the diameter of the stent that the manufacturer provides on the stent package. The nominal diameter and the number of stent wires are provided by the stent manufacturer, and the length of the stent wire segments can be obtained by measurement or by a mathematical formula.
It should be noted that the stents appearing in this application are all dense mesh woven stents.
In step S100, a three-dimensional vessel model is constructed from medical image data including, but not limited to, three-dimensional image sequences of DSA (digital subtraction angiography), CTA (CT angiography) and MRA (magnetic resonance angiography). When the three-dimensional blood vessel model is constructed, software with the function of reconstructing the three-dimensional blood vessel model can be adopted to reconstruct the three-dimensional blood vessel to obtain the three-dimensional blood vessel model. Or segmenting the image sequence by using a threshold method, a level set method or an artificial intelligent segmentation model (such as 3D UNet), and then reconstructing the surface of the image sequence by using a marching cube algorithm to obtain the three-dimensional blood vessel model.
Further, the three-dimensional vascular model is subjected to region-of-interest extraction, namely target region extraction, and the three-dimensional vascular model of the aneurysm and the aneurysm-carrying arterial portion is reserved. Can be obtained by using software with the region of interest extraction function. The general target area is a fixed location range after stent implantation into a vessel.
In the present embodiment, when extracting a vessel centerline of a target region in a three-dimensional vessel model, voronoi diagrams from a proximal opening to each distal opening of a vessel are calculated. From each voronoi diagram, a sequence of centerline point coordinates from the proximal opening to the end of each distal opening and a corresponding sequence of line radii (from the maximum inscribed sphere radius) are obtained.
Next, center point data is calculated from the sequence of point coordinates of the center line, including: tangent unit vector, principal normal vector and auxiliary normal vector at each point of the center line, and simultaneously calculate radius of curvature, vessel cross-sectional area and vessel cross-sectional perimeter at each point of the center line. All the center point data are extracted before the subsequent calculation is carried out, and can be directly quoted when the subsequent calculation is carried out, so that the efficiency is improved.
In step S110, after the designated implantation stent model is acquired, a nominal stent length, a stent wire length, and a wire length corresponding to the stent model are acquired in a stent database.
In step S120, a corresponding portion of the center point on the vessel center line near the aneurysm is extracted, because the portion of the corresponding stent needs to be pulled to inhibit the stent from expanding at the portion to cause entrapment in the aneurysm. After acquiring the designated aneurysm vertex T, finding the nearest point C nearest to the aneurysm vertex on the vessel centerline by using the nearest neighbor algorithm according to the designated aneurysm vertex T T Then on the blood vessel central line, will be at the nearest point C T Starting to sequentially connect the central points at the two sides of the distal end and the proximal end to the tumor vertex until the connecting lines intersecting the blood vessel wall for the first time appear at the two sides, and taking the central points corresponding to the intersecting connecting lines as a first central point C1 and a second central point C2 respectively as shown in fig. 2, wherein a central line segment between the first central point C1 and the second central point C2 is a tumor neck central line segment.
Further, since the tumor vertex T is manually selected, the obtained tumor vertex position is not necessarily accurate and has randomness, and in order to eliminate randomness of manually selecting the tumor vertex, the tumor vertex position may be further corrected to obtain a more accurate tumor vertex position, including: generating a tumor vertex region by the obtained tumor vertices, calculating the shortest distance from all points in the tumor vertex region to the blood vessel center line, selecting the point corresponding to the longest shortest distance as a candidate tumor vertex, generating a tumor vertex region by the candidate tumor vertices, calculating the shortest distance from all points in the tumor vertex region to the blood vessel center line again until the longest shortest distance is unchanged, obtaining the corresponding tumor neck center line segment on the blood vessel center line according to the accurate tumor vertex.
Specifically, C is obtained for the first time T Later, find the distance C in the neighborhood of T T Furthest point T new The neighborhood of T is a set of points with a certain range of the distance T from the surface of the aneurysm, and the nearest neighbor algorithm is utilized to search the distance T on the central line new Furthest point C Tnew Repeating the above steps until T new No change in position of (2) occurs, then T is obtained new Is the accurate tumor vertex.
In other embodiments, two points may also be manually selected on the centerline directly by an interactive manner as the starting point and the ending point of the centerline of the neck of the tumor, namely, the first center point C1 and the second center point C2.
Next, in step S130, after determining the distal start position of the stent after implantation into the blood vessel, the expanded length of each small segment of the stent in the corresponding blood vessel is sequentially calculated. It should be noted that when the braided stent is virtually deployed in a three-dimensional blood vessel model, it can be regarded as a plurality of coaxial short cylinders obtained by dispersing the braided stent in the axial direction (actually, that is, the blood vessel center line), and the outer peripheral surface of each short cylinder is formed by a group of diamond-shaped lattices distributed circumferentially, that is, the deployment length of each small section of the stent is the axial diagonal length of the diamond-shaped lattice.
Specifically, according to the obtained center point P on the center line, the obtained center point data comprises the three-dimensional coordinates of the point, the radius along the line and other parameters along the line, and the upper limit of the expansion diameter of the stent in the natural release state (without additional intraoperative densification operation) is as follows
Figure SMS_26
The short cylinder radius corresponding to the distal point is thus obtained here using a first radius model, expressed as:
Figure SMS_27
（1）
in the case of the formula (1),
Figure SMS_29
representing the current center point, +.>
Figure SMS_31
Represents the center point +.>
Figure SMS_33
Corresponding three-dimensional vessel radius->
Figure SMS_30
Represents the center point +.>
Figure SMS_32
Corresponding stent section cross-sectional radius, i.e. short cylinder radius, < ->
Figure SMS_34
Represents the upper limit of the deployment diameter of the implanted stent in the natural release state, wherein +.>
Figure SMS_35
Derived from centre point data->
Figure SMS_28
Derived from stent parameters.
Then the axial length of the short cylinder, namely the unfolding length, is calculated according to the obtained radius of the short cylinder by utilizing a shortening model
Figure SMS_36
. And searching for a new point proximal to the center line based on the length +.>
Figure SMS_37
，/>
Figure SMS_38
The line distance to P is equal to>
Figure SMS_39
. Then get +.>
Figure SMS_40
Three-dimensional coordinates of position, along-line radius and other along-line parameters, and will +.>
Figure SMS_41
Setting as P, repeating the above steps.
When the steps are repeated, when the obtained new point P_new is the central point of the neck of the tumor, a second radius model is adopted for calculation, the radius of the short cylinder after being pulled is obtained, and a shortening model is adopted for calculating the unfolding length of the short cylinder, wherein the second radius model is expressed as:
Figure SMS_42
（2）
In the formula (2) of the present invention,
Figure SMS_45
representing the center point of the neck of the tumor>
Figure SMS_47
Is->
Figure SMS_49
And->
Figure SMS_43
The length of the center line between the two,
Figure SMS_48
is->
Figure SMS_50
And->
Figure SMS_51
Center line length between, wherein->
Figure SMS_44
Representing the current center point, +.>
Figure SMS_46
Representing the first
A center point of the lens is located at the center,
Figure SMS_52
representing a second center point.
And continuing to repeat the steps until the sum of the nominal lengths of the accumulated short cylinders is consistent with the nominal length of the stent, and adding the unfolding lengths of all the sections of cylinders to obtain the precise estimated length of the designated stent after being pulled in the aneurysm blood vessel.
Next, a further explanation of the foreshortening model is provided, and the foreshortening behavior of the stent (i.e., the variation of the stent length depending on the stent diameter) is evident for a braided stent. The shortened model of the stent is used for describing the corresponding relation between the length and the diameter of the stent. Since the diameter distribution of the blood vessel is generally non-uniform, the stent is axially discretized into a limited number of short cylinders, the length of which is equal to the horizontal diagonal of the diamond of braided filaments
Figure SMS_53
As shown in fig. 3. The shortened stent model can be obtained by theoretical methods or experimental methods.
Specifically, in the theoretical method, firstly, the section of the stent is assumed to be circular all the time after the stent is released in a blood vessel, and secondly, the diamond side length formed by crossing stent wires is assumed to be kept unchanged all the time (namely, the lap joint position of the stent wires can only rotate relatively and cannot slide relatively). Based on these two basic assumptions, a one-to-one correspondence between stent diameter and diamond diagonal can be obtained:
Figure SMS_54
（3）
In the formula (3) of the present invention,
Figure SMS_55
for the number of stent filaments>
Figure SMS_56
Is diamond-shaped with side length->
Figure SMS_57
For the diameter of the stent>
Figure SMS_58
Is the diameter of the stent wire, as shown in fig. 1.
Whereas in equation (3), the only unknown parameter is the side length of the diamond. The value can be obtained by adopting a mode of taking an average value through multiple measurements, and can also be obtained through size calculation under the nominal state of the bracket. The method comprises the following steps: after the nominal length of the stent is obtained, the stent in the nominal state can be obtained by counting the diamonds arranged in the axial direction of the stent
Figure SMS_59
Whereby according to the nominal stent diameter +.>
Figure SMS_60
Stent silk->
Figure SMS_61
Stent wire count->
Figure SMS_62
And calculating the side length of the diamond, thereby establishing a shortening model of the bracket. The shortening model also considers the diameter of the stent in the unstressed state as the upper limit of the natural expansion diameter of the stent +.>
Figure SMS_63
And the upper limit of the expansion diameter of the stent in the stressed state +.>
Figure SMS_64
。
Specifically, in the experimental method, the length of the stent under different diameters is measured through experiments and curve fitting is performed to obtain a shortened model of the stent.
It should be noted that in the formula (3), it is described thatIs a functional relationship between parameters of the stent itself, and the stent diameter in the formula (3) is obtained by solving the stretching length of each section of the stent implanted in the blood vessel, namely the axial length of the short cylinder
Figure SMS_65
And calculating the section radius of the bracket section obtained by solving the first radius model and the second radius model.
In this embodiment, the stent model may be selected according to the method presented herein, so as to obtain a stent model suitable for an aneurysm vessel in the current situation, further reduce the operation difficulty of a doctor, alleviate the pressure, and improve the operation effect.
According to the method for estimating the length of the stent implanted into the blood vessel after dragging, the blood vessel center line is extracted from the constructed three-dimensional blood vessel model related to the intracranial aneurysm blood vessel, the stent model needing to be subjected to length estimation and the corresponding stent parameters are obtained through the center point data corresponding to each center point on the center line, the tumor vertex of the aneurysm is determined, the tumor neck center point is further determined on the blood vessel center line, and then the section radius of each stent is calculated according to the corresponding center point data, the stent parameters and the radius model, wherein when the current center point is not the tumor neck center point, the first radius model is adopted, and when the current center point is the tumor neck center point, the second radius model is adopted, so that the calculated stent stretching length is the stent section which is in the vicinity of the aneurysm is in a dragging state, and the length after full free expansion is restrained. And obtaining the length estimation of the stent after stretching in the blood vessel based on the stent shortening model according to the radius corresponding to the section of each stent section, wherein the method can accurately predict the dilating length of the appointed stent after being implanted into the blood vessel and dragging the appointed stent. By adopting the method, the dragging range of the bracket can be automatically identified, the length of the dense mesh woven bracket after being dragged is calculated in real time, and the repeatability of the dragging result is high. The method can reduce the operation difficulty of doctors, lighten the pressure and improve the operation effect, and can be used for estimating the expansion length of various stents after the blood vessel and selecting the most matched stent model.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence 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 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 4, there is provided a post-pulling length estimating apparatus for a stent implanted in a blood vessel, comprising: the vessel centerline extraction module 200, the stent parameter acquisition module 210, the tumor neck center point acquisition module 220, the stent segment deployment length acquisition first module 230, the stent segment deployment length acquisition second module 240, and the stent pull-after-length estimation module 250 in the vessel, wherein:
The blood vessel central line extraction module 200 is used for acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
a stent parameter obtaining module 210, configured to obtain a stent model of an implanted blood vessel, and extract relevant stent parameters from a stent database according to the model;
a tumor neck central point obtaining module 220, configured to obtain a tumor vertex of an aneurysm, obtain a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, and then obtain all central points on the tumor neck central line segment as tumor neck central points;
a first module 230 for obtaining a stent section expansion length, configured to obtain a distal end position of the implanted stent in the three-dimensional blood vessel model, calculate a stent section radius corresponding to a current center point by using a first radius model according to center point data and stent parameters corresponding to the distal end position on the blood vessel center line, and calculate a stent expansion length corresponding to the current center point based on a stent shortening model according to the stent section radius;
The second module 240 for obtaining the stent segment expansion length determines the next center point to be processed according to the stent expansion length, calculates according to the center point to obtain the corresponding stent expansion length, and calculates by using a second radius model to obtain the corresponding stent segment section radius when the determined center point to be processed is the tumor neck center point, thereby obtaining the stent expansion length;
and the post-dragging length estimation module 250 is configured to, when the total length of the nominal length of the stent segment corresponding to each of the center points to be processed obtained by accumulation is consistent with the nominal length in the stent parameter, use the sum of the stent stretching lengths corresponding to each of the center points to be processed as the post-dragging length estimation of the stent in the blood vessel.
For specific limitations on the post-pullout length estimation device for a stent implanted in a blood vessel, reference is made to the above limitation on the post-pullout length estimation method for a stent implanted in a blood vessel, and no further description is given here. The above-described modules in the apparatus for estimating the length of a stent implanted in a blood vessel after being pulled may be implemented in whole or in part by software, hardware, and a combination 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 server, the internal structure of which may be as shown in fig. 5. 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 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing 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 method of post-pullout length estimation of a stent implanted in a vessel.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 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 a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
Determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
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 a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
Obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
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 (9)

1. A method for estimating the length of a stent implanted in a blood vessel after being pulled, the method comprising:
acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, and extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
obtaining the model of a stent implanted into a blood vessel, and extracting relevant stent parameters from a stent database according to the model;
Obtaining the tumor vertex of an aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to the central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent section radius to obtain the stent stretching length corresponding to the current central point;
determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
and when the total length of the nominal length of the stent segment corresponding to each center point to be processed obtained through accumulation is consistent with the nominal length in the stent parameters, taking the sum of the stent stretching lengths corresponding to each center point to be processed as the length estimation of the stent after dragging in the blood vessel.
2. The method of claim 1, wherein obtaining a corresponding tumor neck centerline segment on the vessel centerline from the tumor apex comprises:
finding the nearest point closest to the tumor vertex on the blood vessel central line by adopting a nearest neighbor algorithm;
sequentially connecting the central points from the nearest point to the two sides of the distal end and the proximal end to the tumor vertex on the blood vessel central line until connecting lines which are intersected with the blood vessel wall for the first time appear on the two sides;
and taking the central points corresponding to the intersecting connecting lines as a first central point and a second central point respectively, wherein a central line segment between the first central point and the second central point is the tumor neck central line segment.
3. The method of claim 2, further comprising correcting the location of the obtained tumor apex to obtain an accurate tumor apex before obtaining a corresponding tumor neck centerline segment on the vessel centerline from the tumor apex, comprising:
generating a tumor vertex region by using the obtained tumor vertex, calculating the shortest distance from all points in the tumor vertex region to the blood vessel center line, and selecting the point corresponding to the longest shortest distance as a candidate tumor vertex;
Generating a tumor vertex region by using the candidate tumor vertices, calculating the shortest distance from all points in the tumor vertex region to the blood vessel central line until the longest shortest distance is unchanged, enabling the corresponding candidate tumor vertex to be an accurate tumor vertex, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the accurate tumor vertex.
4. A method of post-haulage length estimation for a stent according to claim 3, wherein the first radius model is expressed as:
Figure QLYQS_1
；
in the above-mentioned description of the invention,
Figure QLYQS_3
representing the current center point, +.>
Figure QLYQS_5
Representing the center point +.>
Figure QLYQS_7
Corresponding three-dimensional vessel radius->
Figure QLYQS_4
Representing the center point +.>
Figure QLYQS_6
Corresponding stent section radius, < >>
Figure QLYQS_8
Representing the upper limit of the expanded diameter of the implanted stent in the naturally released state, wherein said +.>
Figure QLYQS_9
Derived from said centre point data, said +.>
Figure QLYQS_2
Derived from the stent parameters.
5. The method of post-haulage length estimation of a stent of claim 4, wherein the second radius model is expressed as:
Figure QLYQS_10
；
in the above-mentioned description of the invention,
Figure QLYQS_12
represents the central point of the neck of the tumor, < >>
Figure QLYQS_14
Is->
Figure QLYQS_17
And->
Figure QLYQS_13
Center line length between>
Figure QLYQS_16
Is that
Figure QLYQS_19
And->
Figure QLYQS_20
Center line length between, wherein- >
Figure QLYQS_11
Representing the current center point, +.>
Figure QLYQS_15
Representing said first centre point, +.>
Figure QLYQS_18
Representing the second center point.
6. The method of post-haulage length estimation of a stent of claim 5, wherein the stent foreshortening model is expressed as:
Figure QLYQS_21
；
in the above-mentioned description of the invention,
Figure QLYQS_22
for the number of stent filaments>
Figure QLYQS_23
Is the side length of the diamond lattice of the bracket +.>
Figure QLYQS_24
For the diameter of the stent>
Figure QLYQS_25
The diameter of the stent wires is obtained by the number of the stent wires and the diameter of the stent according to the stent parameters, the diameter of the stent is obtained by calculating the section radius of the stent obtained by solving the first radius model and the second radius model, and the side length of the diamond-shaped lattice of the stent is obtained by calculating according to the stent parameters.
7. The method of claim 1-6, wherein the extracting the target region from the three-dimensional vascular model is a partial three-dimensional vascular model including an aneurysm and a parent artery.
8. A device for estimating the post-pullout length of a stent implanted in a blood vessel, the device comprising:
the blood vessel central line extraction module is used for acquiring a three-dimensional blood vessel model related to an intracranial aneurysm blood vessel, extracting a blood vessel central line of a target area in the three-dimensional blood vessel model and central point data corresponding to each central point on the blood vessel central line;
The bracket parameter acquisition module is used for acquiring the bracket model of the implanted blood vessel and extracting related bracket parameters from a bracket database according to the model;
the tumor neck central point acquisition module is used for acquiring the tumor vertex of the aneurysm, and obtaining a corresponding tumor neck central line segment on the blood vessel central line according to the tumor vertex, wherein all central points on the tumor neck central line segment are tumor neck central points;
the stent segment stretching length obtaining first module is used for obtaining the distal end position of the implanted stent in the three-dimensional blood vessel model, calculating by adopting a first radius model according to central point data and stent parameters corresponding to the distal end position on the blood vessel central line to obtain the stent segment section radius corresponding to the current central point, and calculating based on a stent shortening model according to the stent segment section radius to obtain the stent stretching length corresponding to the current central point;
the second module is used for determining the next center point to be processed according to the stent stretching length, calculating according to the center point to obtain the corresponding stent stretching length, and calculating by adopting a second radius model to obtain the corresponding stent section radius when the determined center point to be processed is the tumor neck center point, so as to obtain the stent stretching length;
And the length estimation module is used for taking the sum of the stent stretching lengths obtained by the corresponding to the center points to be processed as the length estimation of the stent after being pulled in the blood vessel when the total length of the stent section nominal length obtained by accumulating the corresponding center points to be processed is consistent with the nominal length in the stent parameters.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
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