CN110288693A - A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation - Google Patents

A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation Download PDF

Info

Publication number
CN110288693A
CN110288693A CN201910489593.5A CN201910489593A CN110288693A CN 110288693 A CN110288693 A CN 110288693A CN 201910489593 A CN201910489593 A CN 201910489593A CN 110288693 A CN110288693 A CN 110288693A
Authority
CN
China
Prior art keywords
point
microtubular
path
module
parameter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN201910489593.5A
Other languages
Chinese (zh)
Inventor
闵晓黎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Second Affiliated Hospital of Kunming Medical University
Original Assignee
Second Affiliated Hospital of Kunming Medical University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Second Affiliated Hospital of Kunming Medical University filed Critical Second Affiliated Hospital of Kunming Medical University
Priority to CN201910489593.5A priority Critical patent/CN110288693A/en
Publication of CN110288693A publication Critical patent/CN110288693A/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders

Landscapes

  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Pathology (AREA)
  • Databases & Information Systems (AREA)
  • Data Mining & Analysis (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Biomedical Technology (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Surgical Instruments (AREA)

Abstract

The present invention discloses a kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation, is related to microtubular shaping technology field.The microtubular Shaping System includes image/data acquisition module, intelligent processing module, digitization modeling module, input module, display module and the detachable steam heat-shaping device of 3D printing shaping die generation module, circumscribed；Aneurysm image and relevant parameter are obtained using image/data acquisition module, the reconstruction of blood vessel three-dimensional model is carried out by digitization modeling module, it calculated by intelligent processing module, divide aneurysm morphology and mark, optimal microtubular path is calculated simultaneously and passes through the detachable steam heat-shaping device moulding of circumscribed after printing microtubular path form by 3D printing module equal proportion, and then is applied to clinical treatment；The optimal microtubular path of energy auxiliary programming of the present invention and microtubular form, improve intervention stability and success rate, while reducing the radiation exposure time, are suitble to promote and apply.

Description

A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation
Technical field
The present invention relates to microtubular shaping technology field, it is specifically related to that a kind of intracranial aneurysm intervention operation intelligence is micro- to be led Pipe Shaping System.
Background technique
Intracranial aneurysm is gradually expanded under the effect of the factors such as haemodynamics load by local vascular change in wall or damage , cause a kind of cranial vascular disease of cerebrovascular part tumor sample protrusion, disease incidence 3.6%-6.0%, rupture rate 1.0%- 2.0%, overall mortality rate is 45.0% or so, is the primary cause of disease [1] for causing subarachnoid hemorrhage (SAH).Currently, clinical Mostly use two methods of operation of opening cranium and intravascular Interventional Treatment to treat intracranial aneurysm, but the former due to operation wound it is big, hand Art related complication is more, using limited,；The latter then uses minimally invasive method, and treatment is safer and effective, and when operation Machine is hardly influenced by angiospastic, and the patient poor to aged, weak, clinical condition is even more to have certain advantage.Including The perspective Randomized controlled clinical study of multinomial multicenter, international including ISAT confirms that the intravascular intervention of intracranial aneurysm is controlled Treating no longer is out that cranium presss from both sides the candidate means closed, and becomes preferred treatment method.
But intravascular intervention operation in art microtubular precisely require in place it is high,.The ideal microtubular of moulding is not only It can smoothly easily get into aneurysm cavity, and when clogging aneurysm, microtubular can obtaining side wall against parent artery Necessary tension is obtained to keep the stability of microtubular head end；However, in art operator experience difference, individual patient blood vessel Anatomic differences of development etc. can lead to final steps microtubular in Embolization of the intracranial aneurysm, and difficult or microtubular is unstable in place, Cause embolic processes difficult, postoperative complication obviously increases, and is based on this, and how more accurately to make microtubular in place is to determine artery Tumor Embolization is successfully crucial.
Summary of the invention
In view of the above-mentioned problems existing in the prior art, performing the operation the present invention provides a kind of intervention of intracranial aneurysm, intelligence is micro- to be led Pipe Shaping System, the optimal microtubular path of energy auxiliary programming and microtubular head end form, keep microtubular moulding simpler and smart Standard improves interventional therapy stability and success rate, while reducing the radiation exposure time in art, is suitble to promote and apply.
To realize above-mentioned technical purpose and the technique effect, the present invention is achieved through the following technical solutions:
A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation, including at image/data acquisition module, intelligence It is detachable to manage module, digitization modeling module, input module, display module and 3D printing shaping die generation module, circumscribed Steam heat-shaping device；
Described image/data acquisition module utilizes DSA DSA for Whole Brain acquisition image and parameter information It is input to digitization modeling module, equal proportion establishes the corresponding three-dimensional blood vessel model of lesions position in target blood, three-dimensional mould Layout pitch uniform tag line in space in type is divided into 1mm between adjacent tag line；
The intelligent processing module intelligence computation aneurysm morphology, height, width, body neck ratio (aspect ratio, AR), Angle, parent artery diameter, the parent artery of size ratio (size ratio, SR), the aneurysm knurl longitudinal axis and parent artery are curved The parameters such as song trend, and it is intelligentized by it by different colours mark in three-dimensional blood vessel model, while intelligentized calculating Microtubular path is generated, determines microtubular moulding angle and length；
The 3D printing shaping die generation module calculates the best microtubular path model derived out according to artificial intelligence, Equal proportion prints the microtubular shaping die of best moulding angle and length.
The detachable steam heat-shaping device of circumscribed is according to 3D printing microtubular shaping die, by microtubular head end It is placed in mold, after powering on vapor heated at constant temperature 30 seconds, taking-up, which is put into cold water, to be cooled down rapidly, completes microtubular head end Moulding.
Described image/data acquisition module obtains figure using Digital Subtraction angiocardiography, CT angiography or MRI Picture and parameter information are input to digitization modeling module equal proportion and establish three-dimensional blood vessel model, in threedimensional model, between spatial distribution 1mm is divided between uniform tag line, adjacent tag line；
The intelligent processing module intelligence computation aneurysm morphology and parameter, and it is intelligentized by its pass through different colours mark Know in three-dimensional blood vessel model, while intelligentized calculate generates microtubular path；
For the 3D printing module according to microtubular path model, equal proportion prints microtubular path form.
Further, the main body of the detachable steam heat-shaping device of the circumscribed is the box with several conducting stomatas Body, tray interior are cavity interlayer, open cavity interlayer by separating or opening and closing up and down.
Further, the intelligent processing module intelligence computation aneurysm morphology and parameter, specially in the three-dimensional model, Divide hemangioma by evenly spaced tag line, and then calculates the volume and related ginseng of actual artery tumor by shared volume Number, while hemangioma is identified after hemangioma model and three-dimensional blood vessel model are split；
The aneurysmal form and parameter measure three-dimensional blood vessel model by intelligent processing module, calculate It arrives；
Specific calculation is as follows:
In 3 d data field, it is assumed that of a sort substance has same or similar scalar value, different types of object Matter has different scalar values, and therefore, in the boundary of two kinds of variety classes substances, scalar value can occur significantly to change, this The severe degree of one variation can be identified with gradient, and the calculation formula of gradient is as follows:
WhereinIndicate vector modulus, gradient value is bigger, illustrates that the decomposition of two kinds of substances is more obvious；
Contour surface is often the interface with two kinds of substances of different densities, the ladder of point along a tangential direction on contour surface Spending component is 0, so that the direction of gradient vector just represents the normal direction of the point, it may be assumed that
The normal vector g on volume elements vertex can be indicated by gradient value are as follows:
Wherein, (a, b, c) is the size of cube, and the normal direction magnitude of tri patch apex can then pass through volume elements vertex Normal vector linear difference obtain；
When the scanning obtains image parameter, two layers adjacent of faultage image is scanned first, constructs this two layers of slice Between cube volume elements, then classify to the vertex of each cube, the index for changing cube constructed by vertex state Subscript；Further according to index subscript from the distribution pattern for finding contour surface in cube in state table, with the method meter of linear interpolation Calculate the vertex position and gradient value of tri patch；Triangular facet is finally connected to each other to body surface to be calculated with lighting simulation Intensity of illumination on contour surface.
Further, the Intelligent Calculation generate microtubular path the following steps are included:
Step 1, according to the three-dimensional blood vessel model of generation, the parameter of each blood vessel in hemangioma periphery is calculated, is microtubular Path provides basic data；
Step 2, according to the related request of interventional therapy and principle, intelligence, which filters out, is suitable for microtubular path, head end Positioned at tumor chamber center；
Step 3, by the microtubular path filtered out in three-dimensional blood vessel model with different color identifiers；
Step 4, the microtubular path for modifying mark is modified the micro- of mark and is led according to blood vessel and the relevant parameter of microtubular Canal path；
Specific calculation method is as follows:
The threedimensional model calculation method on blood vessel and hemangioma periphery is referring to above-mentioned calculation method；
The screening technique in microtubular intervention path are as follows:
The vessel information for connecting or communicating with hemangioma is obtained in the three-dimensional model, is marked respectively by different colours Know, identifies relevant parameter in identification procedure；
Shortest path is searched, vascular pattern lumen skeleton data point set Q in the image space obtained based on generalized potential method, Expression-form is as follows:
Q={ Qk|Qk=(xk, yk, zk)T, Qk∈Q}
In order to be transformed into the data point set of image space with reference to basis coordinates space, need by coordinate transform, such as following formula It is shown:
In formula:Indicate the data point with reference to basis coordinates space medium vessels model skeleton；
QKIt indicates to think vascular pattern skeleton data point in image space；
Ts 0It indicates by electromagnetic sensor space to the transformation matrix of coordinates for referring to basis coordinates space；
Indicate the registration matrix by image space to electromagnetic sensor space；
The practical vascular pattern guidance path point set obtained through above formula is a series of discrete point in space, no sequence, Consecutive points connect the center line that can get entire vascular pattern lumen with straight line, and guidance path generates according to the following steps:
According to the actual conditions of operation, the position of starting point and target point is manually selected, i.e., is observed according to operator By virtue of experience disjunctive programming behind hemangioma region；
According to acquired starting point and aiming spot, generated in the way of Shortest Path Searching for planning navigation The point set in path；
Method for searching shortest route are as follows: first using starting point as source point, establish source distance field, as source point on centerline Assignment, assignment mode are carried out with the distance between the point on middle line are as follows: the distance value of starting point is assigned to 1, search later and starting Point is assigned to 1 apart from nearest point and by its distance value, the point of the assignment not repeated assignment of values in search process, and record them it Between order, then the point arrived using new search repeats the above process as starting point, it is known that detects target point and to target point assignment 1, assignment terminates；Then it concentrates in the point that above-mentioned distance value is 1, using target point as starting point, repeats from starting point to target point Search process, it is known that when detecting starting point, terminate search, arrival is only used for production between starting point to target point and leads The point set of bit path is alternative；
The point set for generating guidance path is obtained based on above-mentioned search, by the given interpolated fitting ingredient of data point The cubic polynomial of section, then obtains the cubic spline curve by each data point；
By the subsection cubic spline at the control point that sets up an office, and specified interpolation point is needed during interpolation calculation The slope value of tangent line, an interpolation point can be calculated by the coordinate of two neighbor interpolation points；
For arbitrary n+1 data point, it is shown below with reference to the expression-form in basis coordinates space:
The table of the vector function Q (u) of the curved path obtained using these data points in spline curve interpolation fitting formula It is as follows up to formula:
Q (u)=x (u) i+y (u) j+z (u) k
Q (u) indicates the spline curve vector function obtained by interpolation fitting in formula, wherein x (u), y (u) and z (u) points Not Wei Q (u) in the component function of 3 reference axis in basis coordinates space, their expression formula is as follows:
In formula, there are 4 undetermined parameter vectors
H=(hx, hy, hz)T, h=(bx, by, bz)T, h=(cx, cy, cz)TWith d=(dx, dy, dz)T, for each component Function has 4 special parameters, their forms having the same, therefore can only study any of them one-component function；
In Interpolation Process, one section of spline curve is generated between every two consecutive points, therefore, has n item bent n+1 data point Line segment, and shared 4n multinomial coefficient it needs to be determined that；There are four total for the data point between two endpoints of given point set Boundary condition: the respectively first derivative of the position of one section of spline curve, two endpoints and two endpoint locations, it is multinomial by 4n 4n-4 equation of formula coefficient composition is for internal control point, and each point is both the terminal of leading portion and the starting point of linkage section, tiltedly Rate also has same property；Provide the condition of interpolation starting point and ending point, it is also necessary to two boundary conditions, it could be uniquely true Determine 4n undetermined parameter:
Increase by two " implicit " data points, be located at the both ends of sequence of data points, is i.e. increase data pointWith All data points all become internal point, and are provided with 4n required boundary condition；
Control point Q-1And Qn+1Acquisition pattern it is as follows:
How 4n undetermined parameter required for its curve vector function is obtained for arbitrary n+1 control point, is passed through Spline curve constructs conduit smooth paths curve；
Four consecutive numbers strong points are used for any one section of spline curveWithIt determines；
If vector function Q (u) is any two data pointWithBetween functional expression multinomial three times, then fromIt arrivesBetween for establish spline curve section four control points boundary condition such as following formula:
T is tensor parameter in formula, takes t=0 herein；
Using the vector function of the available any one section of spline curve of above formula, it is shown below:
Mc identity matrix in formula, u indicate the parameter of curve vector function:
In formula
Cubic polynomial about parameter u is as follows:
Q (u)=hu3+b·u2+ cu+d, 0≤u≤1
The curved path of available optimal blood vessel is fitted based on Shortest Path Searching and spline curve interpolation.
Further, described image/data acquisition module further includes image processing module.
Beneficial effects of the present invention: the intelligent microtubular Shaping System of aneurysm intervention operation of the invention utilizes image/number Aneurysm image and relevant parameter are obtained according to module is obtained, the reconstruction of blood vessel three-dimensional model is carried out by digitization modeling module, Calculated by intelligent processing module, segmentation and marks aneurysm morphology, while calculating optimal microtubular path and by 3D printing mould Block equal proportion prints and carries out moulding to microtubular according to microtubular path form after the form of microtubular path, and then is applied to face Bed treatment；The optimal microtubular path of energy auxiliary programming of the present invention and microtubular form, improve intervention stability and success rate, simultaneously The radiation exposure time is reduced, is suitble to promote and apply.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.
Fig. 1 is the structural block diagram of the intelligent microtubular Shaping System of the intervention operation of aneurysm described in the embodiment of the present invention；
The structural schematic diagram of the detachable steam heat-shaping device of circumscribed described in the embodiment of the present invention of the position Fig. 2；
Each label in attached drawing are as follows: 1- box body, 2- venthole, 3- cavity interlayer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1
A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation, including at image/data acquisition module, intelligence It is detachable to manage module, digitization modeling module, input module, display module and 3D printing shaping die generation module, circumscribed Steam heat-shaping device；
Described image/data acquisition module utilizes DSA DSA for Whole Brain acquisition image and parameter information It is input to digitization modeling module, equal proportion establishes the corresponding three-dimensional blood vessel model of lesions position in target blood, three-dimensional mould Layout pitch uniform tag line in space in type is divided into 1mm between adjacent tag line；
The intelligent processing module intelligence computation aneurysm morphology, height, width, body neck ratio (aspect ratio, AR), Angle, parent artery diameter, the parent artery of size ratio (size ratio, SR), the aneurysm knurl longitudinal axis and parent artery are curved The parameters such as song trend, and it is intelligentized by it by different colours mark in three-dimensional blood vessel model, while intelligentized calculating Microtubular path is generated, determines microtubular moulding angle and length；
The 3D printing shaping die generation module calculates the best microtubular path model derived out according to artificial intelligence, Equal proportion prints the microtubular shaping die of best moulding angle and length.
The detachable steam heat-shaping device of circumscribed is according to 3D printing microtubular shaping die, by microtubular head end It is placed in mold, after powering on vapor heated at constant temperature 30 seconds, taking-up, which is put into cold water, to be cooled down rapidly, completes microtubular head end Moulding.
Described image/data acquisition module obtains figure using Digital Subtraction angiocardiography, CT angiography or MRI Picture and parameter information are input to digitization modeling module equal proportion and establish three-dimensional blood vessel model, in threedimensional model, between spatial distribution 1mm is divided between uniform tag line, adjacent tag line；
The intelligent processing module intelligence computation aneurysm morphology and parameter, and it is intelligentized by its pass through different colours mark Know in three-dimensional blood vessel model, while intelligentized calculate generates microtubular path；
For the 3D printing module according to microtubular path model, equal proportion prints microtubular path form.
Further, the main body of the detachable steam heat-shaping device of the circumscribed is the box with several conducting stomatas Body, tray interior are cavity interlayer, cavity interlayer are opened by separating or opening and closing up and down, according to 3D printing microtubular moulding mould Tool opens box body, and the cavity interlayer that microtubular head end is placed in mold is taken after powering on vapor heated at constant temperature 30 seconds It is put into cold water and cools down rapidly out, complete the moulding of microtubular head end.
Further, the intelligent processing module intelligence computation aneurysm morphology and parameter, specially in the three-dimensional model, Divide hemangioma by evenly spaced tag line, and then calculates the volume and related ginseng of actual artery tumor by shared volume Number, while hemangioma is identified after hemangioma model and three-dimensional blood vessel model are split；
The aneurysmal form and parameter measure three-dimensional blood vessel model by intelligent processing module, calculate It arrives；
Specific calculation is as follows:
In 3 d data field, it is assumed that of a sort substance has same or similar scalar value, different types of object Matter has different scalar values, and therefore, in the boundary of two kinds of variety classes substances, scalar value can occur significantly to change, this The severe degree of one variation can be identified with gradient, and the calculation formula of gradient is as follows:
WhereinIndicate vector modulus, gradient value is bigger, illustrates that the decomposition of two kinds of substances is more obvious；
Contour surface is often the interface with two kinds of substances of different densities, the ladder of point along a tangential direction on contour surface Spending component is 0, so that the direction of gradient vector just represents the normal direction of the point, it may be assumed that
The normal vector g on volume elements vertex can be indicated by gradient value are as follows:
Wherein, (a, b, c) is the size of cube, and the normal direction magnitude of tri patch apex can then pass through volume elements vertex Normal vector linear difference obtain；
When the scanning obtains image parameter, two layers adjacent of faultage image is scanned first, constructs this two layers of slice Between cube volume elements, then classify to the vertex of each cube, the index for changing cube constructed by vertex state Subscript；Further according to index subscript from the distribution pattern for finding contour surface in cube in state table, with the method meter of linear interpolation Calculate the vertex position and gradient value of tri patch；Triangular facet is finally connected to each other to body surface to be calculated with lighting simulation Intensity of illumination on contour surface.
Further, the Intelligent Calculation generate microtubular path the following steps are included:
Step 1, according to the three-dimensional blood vessel model of generation, the parameter of each blood vessel in hemangioma periphery is calculated, is microtubular Path provides basic data；
Step 2, according to the related request of interventional therapy and principle, intelligence, which filters out, is suitable for microtubular path, head end Positioned at tumor chamber center；
Step 3, by the microtubular path filtered out in three-dimensional blood vessel model with different color identifiers；
Step 4, the microtubular path for modifying mark is modified the micro- of mark and is led according to blood vessel and the relevant parameter of microtubular Canal path；
Specific calculation method is as follows:
The threedimensional model calculation method on blood vessel and hemangioma periphery is referring to above-mentioned calculation method；
The screening technique in microtubular intervention path are as follows:
The vessel information for connecting or communicating with hemangioma is obtained in the three-dimensional model, is marked respectively by different colours Know, identifies relevant parameter in identification procedure；
Shortest path is searched, vascular pattern lumen skeleton data point set Q in the image space obtained based on generalized potential method, Expression-form is as follows:
Q={ Qk|Qk=(xk, yk, zk)T, Qk∈Q}
In order to be transformed into the data point set of image space with reference to basis coordinates space, need by coordinate transform, such as following formula It is shown:
In formula:Indicate the data point with reference to basis coordinates space medium vessels model skeleton；
QKIt indicates to think vascular pattern skeleton data point in image space；
Ts 0It indicates by electromagnetic sensor space to the transformation matrix of coordinates for referring to basis coordinates space；
Indicate the registration matrix by image space to electromagnetic sensor space；
The practical vascular pattern guidance path point set obtained through above formula is a series of discrete point in space, no sequence, Consecutive points connect the center line that can get entire vascular pattern lumen with straight line, and guidance path generates according to the following steps:
According to the actual conditions of operation, the position of starting point and target point is manually selected, i.e., is observed according to operator By virtue of experience disjunctive programming behind hemangioma region；
According to acquired starting point and aiming spot, generated in the way of Shortest Path Searching for planning navigation The point set in path；
Method for searching shortest route are as follows: first using starting point as source point, establish source distance field, as source point on centerline Assignment, assignment mode are carried out with the distance between the point on middle line are as follows: the distance value of starting point is assigned to 1, search later and starting Point is assigned to 1 apart from nearest point and by its distance value, the point of the assignment not repeated assignment of values in search process, and record them it Between order, then the point arrived using new search repeats the above process as starting point, it is known that detects target point and to target point assignment 1, assignment terminates；Then it concentrates in the point that above-mentioned distance value is 1, using target point as starting point, repeats from starting point to target point Search process, it is known that when detecting starting point, terminate search, arrival is only used for production between starting point to target point and leads The point set of bit path is alternative；
The point set for generating guidance path is obtained based on above-mentioned search, by the given interpolated fitting ingredient of data point The cubic polynomial of section, then obtains the cubic spline curve by each data point；
By the subsection cubic spline at the control point that sets up an office, and specified interpolation point is needed during interpolation calculation The slope value of tangent line, an interpolation point can be calculated by the coordinate of two neighbor interpolation points；
For arbitrary n+1 data point, it is shown below with reference to the expression-form in basis coordinates space:
The table of the vector function Q (u) of the curved path obtained using these data points in spline curve interpolation fitting formula It is as follows up to formula:
Q (u)=x (u) i+y (u) j+z (u) k
Q (u) indicates the spline curve vector function obtained by interpolation fitting in formula, wherein x (u), y (u) and z (u) points Not Wei Q (u) in the component function of 3 reference axis in basis coordinates space, their expression formula is as follows:
In formula, there are 4 undetermined parameter vectors
H=(hx, hy, hz)T, h=(bx, by, bz)T, h=(cx, cy, cz)TWith d=(dx, dy, dz)T, for each component Function has 4 special parameters, their forms having the same, therefore can only study any of them one-component function；
In Interpolation Process, one section of spline curve is generated between every two consecutive points, therefore, has n item bent n+1 data point Line segment, and shared 4n multinomial coefficient it needs to be determined that；There are four total for the data point between two endpoints of given point set Boundary condition: the respectively first derivative of the position of one section of spline curve, two endpoints and two endpoint locations, it is multinomial by 4n 4n-4 equation of formula coefficient composition is for internal control point, and each point is both the terminal of leading portion and the starting point of linkage section, tiltedly Rate also has same property；Provide the condition of interpolation starting point and ending point, it is also necessary to two boundary conditions, it could be uniquely true Determine 4n undetermined parameter:
Increase by two " implicit " data points, be located at the both ends of sequence of data points, is i.e. increase data pointWith All data points all become internal point, and are provided with 4n required boundary condition；
Control point Q-1And Qn+1Acquisition pattern it is as follows:
How 4n undetermined parameter required for its curve vector function is obtained for arbitrary n+1 control point, is passed through Spline curve constructs conduit smooth paths curve；
Four consecutive numbers strong points are used for any one section of spline curveWithIt determines；
If vector function Q (u) is any two data pointWithBetween functional expression multinomial three times, then fromIt arrivesBetween for establish spline curve section four control points boundary condition such as following formula:
T is tensor parameter in formula, takes t=0 herein；
Using the vector function of the available any one section of spline curve of above formula, it is shown below:
Mc identity matrix in formula, u indicate the parameter of curve vector function:
In formula
Cubic polynomial about parameter u is as follows:
Q (u)=hu3+b·u2+ cu+d, 0≤u≤1
The curved path of available optimal blood vessel is fitted based on Shortest Path Searching and spline curve interpolation.
Further, described image/data acquisition module further includes image processing module.
The intelligent microtubular Shaping System of aneurysm intervention operation of the invention, is obtained dynamic using image/data acquisition module Arteries and veins tumor image and relevant parameter carry out the reconstruction of blood vessel three-dimensional model by digitization modeling module, by intelligent processing module meter It calculates, divide aneurysm morphology and mark, while calculating optimal microtubular path and being printed by 3D printing module equal proportion micro- Moulding is carried out to microtubular according to microtubular path form after catheter path form, and then is applied to clinical treatment；Energy of the present invention The optimal microtubular path of auxiliary programming and microtubular form improve intervention stability and success rate, while when reducing radiation exposure Between, it is suitble to promote and apply.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example. Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification, It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only It is limited by claims and its full scope and equivalent.

Claims (5)

  1. The intelligent microtubular Shaping System 1. a kind of intracranial aneurysm intervention is performed the operation, it is characterised in that: including image/data acquisition mould It is block, intelligent processing module, digitization modeling module, input module, display module and 3D printing shaping die generation module, outer Connect the detachable steam heat-shaping device of formula；
    Described image/data acquisition module is inputted using DSA DSA for Whole Brain acquisition image and parameter information To digitization modeling module, equal proportion establishes the corresponding three-dimensional blood vessel model of lesions position in target blood, in threedimensional model The evenly spaced tag line of spatial distribution is divided into 1mm between adjacent tag line；
    The intelligent processing module intelligence computation aneurysm morphology, height, width, body neck ratio (aspectratio, AR), size Than (sizeratio, SR), the angle of the aneurysm knurl longitudinal axis and parent artery, parent artery diameter, parent artery curved course Etc. parameters, and it is intelligentized it is identified by different colours in three-dimensional blood vessel model, while it is intelligentized calculate generate it is micro- Catheter path determines microtubular moulding angle and length；
    The 3D printing shaping die generation module calculates the best microtubular path model derived out according to artificial intelligence, waits ratios Example prints the microtubular shaping die of best moulding angle and length；
    Microtubular head end is placed in by the detachable steam heat-shaping device of circumscribed according to 3D printing microtubular shaping die In mold, after powering on vapor heated at constant temperature 30 seconds, taking-up, which is put into cold water, to be cooled down rapidly, completes the modeling of microtubular head end Shape；
    Described image/data acquisition module using Digital Subtraction angiocardiography, CT angiography or MRI obtain image and Parameter information is input to digitization modeling module equal proportion and establishes three-dimensional blood vessel model, and in threedimensional model, spatial distribution interval is equal Even tag line is divided into 1mm between adjacent tag line；
    The intelligent processing module intelligence computation aneurysm morphology and parameter, and it is intelligentized by its by different colours mark exist Three-dimensional blood vessel model, while intelligentized calculate generates microtubular path；
    For the 3D printing module according to microtubular path model, equal proportion prints microtubular path form.
  2. The intelligent microtubular Shaping System 2. a kind of intracranial aneurysm intervention as described in claim 1 is performed the operation, it is characterised in that: institute The main body for stating the detachable steam heat-shaping device of circumscribed is the box body with several conducting stomatas, and tray interior is cavity folder Layer opens cavity interlayer by separating or opening and closing up and down.
  3. The intelligent microtubular Shaping System 3. a kind of intracranial aneurysm intervention as described in claim 1 is performed the operation, it is characterised in that: institute Intelligent processing module intelligence computation aneurysm morphology and parameter are stated, specially in the three-dimensional model, passes through evenly spaced mark Line divides hemangioma, and then calculates by shared volume the volume and relevant parameter of actual artery tumor, while by hemangioma mould Type and three-dimensional blood vessel model identify hemangioma after being split；
    The aneurysmal form and parameter measure three-dimensional blood vessel model by intelligent processing module, are calculated；
    Specific calculation is as follows:
    In 3 d data field, it is assumed that of a sort substance has same or similar scalar value, different types of substance tool There is different scalar values, therefore, in the boundary of two kinds of variety classes substances, scalar value can occur significantly to change, this change The severe degree of change can be identified with gradient, and the calculation formula of gradient is as follows:
    Wherein | | ▽ f | | indicate vector modulus, gradient value is bigger, illustrates that the decomposition of two kinds of substances is more obvious；
    Contour surface is often the interface with two kinds of substances of different densities, the gradient minute of point along a tangential direction on contour surface Amount is 0, so that the direction of gradient vector just represents the normal direction of the point, it may be assumed that
    G (x, y, z)=▽ f (x, y, z)
    The normal vector g on volume elements vertex can be indicated by gradient value are as follows:
    Wherein, (a, b, c) is the size of cube, and the normal direction magnitude of tri patch apex can then pass through the method on volume elements vertex SYSTEM OF LINEAR VECTOR difference obtains；
    When the scanning obtains image parameter, two layers adjacent of faultage image is scanned first, is constructed between this two layers slice Then cube volume elements classifies to the vertex of each cube, the index subscript for changing cube is constructed by vertex state； Further according to index subscript from the distribution pattern for finding contour surface in cube in state table, three are calculated with the method for linear interpolation The vertex position and gradient value of edged surface piece；Triangular facet is finally connected to each other to body surface and calculates contour surface with lighting simulation On intensity of illumination.
  4. The intelligent microtubular Shaping System 4. a kind of intracranial aneurysm intervention as described in claim 1 is performed the operation, it is characterised in that: institute State Intelligent Calculation generate microtubular path the following steps are included:
    Step 1, according to the three-dimensional blood vessel model of generation, the parameter of each blood vessel in hemangioma periphery is calculated, is microtubular path Basic data is provided；
    Step 2, according to the related request of interventional therapy and principle, intelligence, which filters out, is suitable for microtubular path, and head end is located at Tumor chamber center；
    Step 3, by the microtubular path filtered out in three-dimensional blood vessel model with different color identifiers；
    Step 4, the microtubular road of mark is modified according to blood vessel and the relevant parameter of microtubular in the microtubular path for modifying mark Diameter；
    Specific calculation method is as follows:
    The threedimensional model calculation method on blood vessel and hemangioma periphery is referring to above-mentioned calculation method；
    The screening technique in microtubular intervention path are as follows:
    The vessel information for connecting or communicating with hemangioma is obtained in the three-dimensional model, is identified respectively by different colours, is marked Relevant parameter is identified during knowing；
    Search shortest path, vascular pattern lumen skeleton data point set Q in the image space obtained based on generalized potential method, expression Form is as follows:
    Q={ Qk|Qk=(xk, yk, zk)T, Qk∈Q}
    In order to be transformed into the data point set of image space with reference to basis coordinates space, need to be shown below by coordinate transform:
    In formula:Indicate the data point with reference to basis coordinates space medium vessels model skeleton；
    QKIt indicates to think vascular pattern skeleton data point in image space；
    It indicates by electromagnetic sensor space to the transformation matrix of coordinates for referring to basis coordinates space；
    Indicate the registration matrix by image space to electromagnetic sensor space；
    The practical vascular pattern guidance path point set obtained through above formula is a series of discrete point in space, without sequence, adjacent Point connects the center line that can get entire vascular pattern lumen with straight line, and guidance path generates according to the following steps:
    According to the actual conditions of operation, the position of starting point and target point is manually selected, i.e., blood vessel is observed according to operator By virtue of experience disjunctive programming behind tumor region；
    According to acquired starting point and aiming spot, generate in the way of Shortest Path Searching for planning guidance path Point set；
    Method for searching shortest route are as follows: first using starting point as source point, establish source distance field on centerline, as source point is in The distance between point on line carry out assignment, assignment mode are as follows: the distance value of starting point is assigned to 1, later search and starting point away from From nearest point and its distance value is assigned to 1, the point of the assignment not repeated assignment of values in search process, and record between them Order, then the point arrived using new search are repeated the above process as starting point, it is known that detect target point and to target point assignment 1, tax Value terminates；Then it is concentrated in the point that above-mentioned distance value is 1, using target point as starting point, repeats the search from starting point to target point Process, it is known that when detecting starting point, terminate search, arrival is only used for production navigation road between starting point to target point The point set of diameter is alternative；
    The point set for generating guidance path has been obtained based on above-mentioned search, has been fitted to segmentation for given data point is interpolated Cubic polynomial then obtains the cubic spline curve by each data point；
    By the subsection cubic spline at the control point that sets up an office, and cutting for specified interpolation point is needed during interpolation calculation The slope value of line, an interpolation point can be calculated by the coordinate of two neighbor interpolation points；
    For arbitrary n+1 data point, it is shown below with reference to the expression-form in basis coordinates space:
    The expression formula of the vector function Q (u) of the curved path obtained using these data points in spline curve interpolation fitting formula It is as follows:
    Q (u)=x (u) i+y (u) j+z (u) k
    Q (u) indicates the spline curve vector function obtained by interpolation fitting in formula, and wherein x (u), y (u) and z (u) are respectively Q (u) in the component function of 3 reference axis in basis coordinates space, their expression formula is as follows:
    In formula, there are 4 undetermined parameter vectors
    H=(hx, hy, hz)T, h=(bx, by, bz)T, h=(cx, cy, cz)TWith d=(dx, dy, dz)T, all for each component function There are 4 special parameters, their forms having the same, therefore can only study any of them one-component function；
    Therefore generating one section of spline curve in Interpolation Process, between every two consecutive points has n curve for n+1 data point Section, and shared 4n multinomial coefficient it needs to be determined that；There are four sides altogether for the data point between two endpoints for giving point set Boundary's condition: being respectively the position and the first derivative of two endpoint locations of one section of spline curve, two endpoints, by 4n multinomial For 4n-4 equation of coefficient composition for internal control point, each point is both the terminal of leading portion and the starting point of linkage section, slope Also there is same property；Provide the condition of interpolation starting point and ending point, it is also necessary to which two boundary conditions can just uniquely determine 4n undetermined parameter:
    Increase by two " implicit " data points, be located at the both ends of sequence of data points, is i.e. increase data pointWithAll numbers Strong point all becomes internal point, and is provided with 4n required boundary condition；
    Control point Q-1And Qn+1Acquisition pattern it is as follows:
    How 4n undetermined parameter required for its curve vector function is obtained for arbitrary n+1 control point, passes through batten Curve constructs conduit smooth paths curve；
    Four consecutive numbers strong points are used for any one section of spline curveWithIt determines；
    If vector function Q (u) is any two data pointWithBetween functional expression multinomial three times, then fromIt arrivesIt Between for establish spline curve section four control points boundary condition such as following formula:
    T is tensor parameter in formula, takes t=0 herein；
    Using the vector function of the available any one section of spline curve of above formula, it is shown below:
    Mc identity matrix in formula, u indicate the parameter of curve vector function:
    In formula
    Cubic polynomial about parameter u is as follows:
    Q (u)=hu3+b·u2+ cu+d, 0≤u≤1
    The curved path of available optimal blood vessel is fitted based on Shortest Path Searching and spline curve interpolation.
  5. The intelligent microtubular Shaping System 5. a kind of intracranial aneurysm intervention as described in claim 1 is performed the operation, it is characterised in that: institute Stating image/data acquisition module further includes image processing module.
CN201910489593.5A 2019-06-06 2019-06-06 A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation Withdrawn CN110288693A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910489593.5A CN110288693A (en) 2019-06-06 2019-06-06 A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910489593.5A CN110288693A (en) 2019-06-06 2019-06-06 A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation

Publications (1)

Publication Number Publication Date
CN110288693A true CN110288693A (en) 2019-09-27

Family

ID=68003447

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910489593.5A Withdrawn CN110288693A (en) 2019-06-06 2019-06-06 A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation

Country Status (1)

Country Link
CN (1) CN110288693A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113180824A (en) * 2021-03-29 2021-07-30 杭州脉流科技有限公司 Method, apparatus, computer device and storage medium for modeling needle morphology for microcatheter shaping
CN114489312A (en) * 2020-10-27 2022-05-13 厦门大学 Flexible sensor based on human motion significance and layout method and application thereof
CN116524003A (en) * 2023-06-26 2023-08-01 杭州脉流科技有限公司 Method and device for obtaining morphological parameters of bifurcation aneurysm

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070276340A1 (en) * 2006-05-15 2007-11-29 David Poston Active delivery and flow redirection: novel devices and method of delivery of materials to patients
JP2017012481A (en) * 2015-07-01 2017-01-19 公立大学法人奈良県立医科大学 Implantable catheter port and production method of implantable catheter port
CN107392872A (en) * 2017-07-27 2017-11-24 强联智创（北京）科技有限公司 The generation method and generation system of a kind of microtubular shaping device
CN107468334A (en) * 2017-08-01 2017-12-15 强联智创（北京）科技有限公司 A kind of moulding aided design system of three-dimensional microtubular and design method
CN108407266A (en) * 2018-03-16 2018-08-17 黎悦 Microtubular shaping device
CN108478918A (en) * 2018-06-01 2018-09-04 成都真实维度科技有限公司 A kind of aneurysm intervention operation moulding auxiliary brace of microtubular and preparation method thereof
CN108648548A (en) * 2018-04-19 2018-10-12 浙江工业大学 A kind of neuro-surgery virtual operation training system
CN109035353A (en) * 2018-06-27 2018-12-18 河南科技大学 Cuved planar reformation method is straightened in a kind of blood vessel based on CT image multiplanar reconstruction
US20190030368A1 (en) * 2017-07-29 2019-01-31 John D. LIPANI Treatment of unruptured saccular intracranial aneurysms using stereotactic radiosurgery
CN109472823A (en) * 2018-10-26 2019-03-15 强联智创（北京）科技有限公司 A kind of measurement method and system of the Morphologic Parameters of intracranial aneurysm image
CN208877672U (en) * 2018-04-28 2019-05-21 金华市中心医院 Microtubular moulding fumigator

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070276340A1 (en) * 2006-05-15 2007-11-29 David Poston Active delivery and flow redirection: novel devices and method of delivery of materials to patients
JP2017012481A (en) * 2015-07-01 2017-01-19 公立大学法人奈良県立医科大学 Implantable catheter port and production method of implantable catheter port
CN107392872A (en) * 2017-07-27 2017-11-24 强联智创（北京）科技有限公司 The generation method and generation system of a kind of microtubular shaping device
US20190030368A1 (en) * 2017-07-29 2019-01-31 John D. LIPANI Treatment of unruptured saccular intracranial aneurysms using stereotactic radiosurgery
CN107468334A (en) * 2017-08-01 2017-12-15 强联智创（北京）科技有限公司 A kind of moulding aided design system of three-dimensional microtubular and design method
CN108407266A (en) * 2018-03-16 2018-08-17 黎悦 Microtubular shaping device
CN108648548A (en) * 2018-04-19 2018-10-12 浙江工业大学 A kind of neuro-surgery virtual operation training system
CN208877672U (en) * 2018-04-28 2019-05-21 金华市中心医院 Microtubular moulding fumigator
CN108478918A (en) * 2018-06-01 2018-09-04 成都真实维度科技有限公司 A kind of aneurysm intervention operation moulding auxiliary brace of microtubular and preparation method thereof
CN109035353A (en) * 2018-06-27 2018-12-18 河南科技大学 Cuved planar reformation method is straightened in a kind of blood vessel based on CT image multiplanar reconstruction
CN109472823A (en) * 2018-10-26 2019-03-15 强联智创（北京）科技有限公司 A kind of measurement method and system of the Morphologic Parameters of intracranial aneurysm image

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
M RUSS.ET AL: ""Treatment planning for image-guided neuro-vascular interventions using patient-specific 3D printed phantoms"", 《PROC. SPIE 9417, MEDICAL IMAGING 2015: BIOMEDICAL APPLICATIONS IN MOLECULAR, STRUCTURAL, AND FUNCTIONAL IMAGING》 *
TOMOTAKA OHSHIMA.ET AL: ""A Novel Technique of Microcatheter Shaping with Cerebral Aneurysmal Coil Embolization: In Vivo Printing Method"", 《JOURNAL OF NEUROENDOVASCULAR THERAPY》 *
刘子燕等: ""3D打印技术在颅内动脉瘤介入栓塞术中的应用"", 《中外医学研究》 *
孙骏等: ""血管内介入治疗颅内破裂微小动脉瘤的疗效分析"", 《临床神经外科杂志》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114489312A (en) * 2020-10-27 2022-05-13 厦门大学 Flexible sensor based on human motion significance and layout method and application thereof
CN114489312B (en) * 2020-10-27 2024-04-02 厦门大学 Flexible sensor based on human motion significance and layout method and application thereof
CN113180824A (en) * 2021-03-29 2021-07-30 杭州脉流科技有限公司 Method, apparatus, computer device and storage medium for modeling needle morphology for microcatheter shaping
CN113180824B (en) * 2021-03-29 2023-06-20 杭州脉流科技有限公司 Shaping needle form simulation method and device for microcatheter shaping, computer equipment and storage medium
CN116524003A (en) * 2023-06-26 2023-08-01 杭州脉流科技有限公司 Method and device for obtaining morphological parameters of bifurcation aneurysm
CN116524003B (en) * 2023-06-26 2023-09-12 杭州脉流科技有限公司 Method and device for obtaining morphological parameters of bifurcation aneurysm

Similar Documents

Publication Publication Date Title
CN110288693A (en) A kind of intelligent microtubular Shaping System of intracranial aneurysm intervention operation
US11324566B2 (en) Instrument guidance system for sinus surgery
NL2001257C (en) SYSTEM AND METHOD FOR DRAWING AND LABELING VASCULAR IMAGES.
Reinertsen et al. Validation of vessel-based registration for correction of brain shift
EP2157905B1 (en) A method for tracking 3d anatomical and pathological changes in tubular-shaped anatomical structures
US8218844B2 (en) Method for generating analytical tool for analyzing abnormalities in human organs
CN101601585B (en) Hepatic segment volume measuring method based on CT reinforcing scan technique
CN107292312B (en) Tumor CT image processing method
US20170270663A1 (en) Automatic recognition of anatomical landmarks
CN108305255A (en) The generation method and generating means of operation on liver cut surface
ES2355794T3 (en) PROCEDURE AND DEVICE OF TREATMENT OF IMAGES, IN PARTICULAR FOR THE TREATMENT OF MEDICAL IMAGES.
CN107049485A (en) The preparation method and tissue model of a kind of tissue model with cavity structure
CN107818564B (en) Liver 3D medical image segmentation method
CN108765483A (en) The method and system of sagittal plane in being determined in a kind of CT images from brain
US9072494B2 (en) Generation of visual command data
CN115171852A (en) Method for recommending spring ring embolism high-risk aneurysm based on deep learning
US10779889B2 (en) Planning support during an interventional procedure
Droske et al. An adaptive level set method for interactive segmentation of intracranial tumors
Hernandez et al. Three-dimensional segmentation of brain aneurysms in CTA using non-parametric region-based information and implicit deformable models: Method and evaluation
García et al. A deep learning model for brain vessel segmentation in 3DRA with arteriovenous malformations
Donnez et al. Realistic synthesis of brain tumor resection ultrasound images with a generative adversarial network
CN108064148A (en) The embryo transfer guided for image in vitro fertilization
Lei et al. 3D MR angiographic visualization and artery-vein separation
US11430125B2 (en) Automatic demarcation of anatomical structures
Weiler et al. AVM-Explorer: Multi-Volume Visualization of Vascular Structures for Planning of Cerebral AVM Surgery.

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20190927

WW01 Invention patent application withdrawn after publication