CN111436937A - Catheter/guide wire tracking method and device and scanning equipment - Google Patents
Catheter/guide wire tracking method and device and scanning equipment Download PDFInfo
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Abstract
The disclosure relates to the technical field of medical equipment, and particularly provides a catheter/guide wire tracking method and device and scanning equipment. A guidewire/catheter tracking method comprising: acquiring a scanning image, wherein the scanning image comprises an end point of a guide wire/catheter; determining the direction and distance of the end point relative to a reference point, wherein the reference point is a preset point on the scanning image; obtaining the moving distance of the scanning frame according to the distance; and controlling the scanning frame to move according to the moving distance and the direction. According to the guide wire/catheter tracking method, the frame does not need to be moved manually, labor cost is saved, and puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved.
Description
Technical Field
The disclosure relates to the technical field of medical equipment, in particular to a catheter/guide wire tracking method and device and scanning equipment.
Background
Minimally invasive interventional vascular surgery (MIVS) is an emerging medical technique that involves reaching a diseased site in the body through a vascular lumen with the aid of an interventional catheter and a guidewire, and then performing diagnosis and treatment. During the puncture process of the guide wire, the position and the trend of the guide wire need to be indicated through scanning images, for example, the puncture process of the guide wire is guided through X-ray images.
In the related art, an operator is usually required to be responsible for moving the radiation machine frame in a surgery room so as to display the position of the guide wire in cooperation with the guide wire puncture process of a doctor. This method is completely dependent on the personal experience of the operator, and does not provide effective information when the gantry is not moved accurately. On the other hand, the operation of personnel is required to be added independently, and therefore, a person endangered by the radiation irradiation is increased.
Disclosure of Invention
In order to solve the technical problems that in the related art, the image effectiveness is low due to manual movement of a frame, and rays harm to personnel is increased, the disclosure provides a catheter/guide wire tracking method, a device and scanning equipment.
In a first aspect, the present disclosure provides a guidewire/catheter tracking method comprising:
acquiring a scanning image, wherein the scanning image comprises an end point of a guide wire/catheter;
determining the direction and distance of the end point relative to a reference point, wherein the reference point is a preset point on the scanning image;
obtaining the moving distance of the scanning frame according to the distance;
and controlling the scanning frame to move according to the moving distance and the direction.
In some embodiments, said determining the direction and distance of said end point relative to a reference point comprises:
and establishing a plane rectangular coordinate system on the scanning image by taking the reference point as a coordinate origin, and obtaining the coordinate value of the end point relative to the reference point according to the position of the end point in the coordinate system.
In some embodiments, obtaining the moving distance of the scanning gantry according to the distance includes:
calculating a first ratio of the abscissa of the endpoint to the length of the scanned image in the direction of the abscissa, and calculating a second ratio of the ordinate of the endpoint to the length of the scanned image in the direction of the ordinate;
calculating the product of the first ratio and the length value of the field of view of the scanning frame in the direction of the transverse axis to obtain the transverse moving distance of the scanning frame; and calculating the product of the second ratio and the length value of the field of view of the scanning frame in the longitudinal axis direction to obtain the longitudinal movement distance of the scanning frame.
In some embodiments, controlling the scan gantry to move according to the movement distance and the direction comprises:
and controlling the scanning frame to move according to the transverse moving distance, the longitudinal moving distance and the direction represented by the coordinate value.
In some embodiments, said determining the direction of said endpoint relative to said reference point comprises:
and calculating the connecting line between the end point and the reference point and the included angle between the connecting line and the preset reference direction.
In some embodiments, the reference point is a center point of the scan image.
In a second aspect, the present disclosure provides a catheter/guidewire tracking device comprising:
the acquisition module is used for acquiring a scanning image, and the scanning image contains the end point of the guide wire/catheter;
a determining module, configured to determine a direction and a distance of the endpoint with respect to a reference point, where the reference point is a preset point located on the scan image;
the obtaining module is used for obtaining the moving distance of the scanning frame according to the distance;
and the control module is used for controlling the scanning frame to move according to the moving distance and the direction.
In some embodiments, the determining module, when configured to determine the direction and distance of the endpoint relative to a reference point, is specifically configured to:
and establishing a plane rectangular coordinate system on the scanning image by taking the reference point as a coordinate origin, and obtaining the coordinate value of the end point relative to the reference point according to the position of the end point in the coordinate system.
In some embodiments, the obtaining module, when configured to obtain the moving distance of the scanning gantry according to the distance, is specifically configured to:
calculating a first ratio of the abscissa of the endpoint to the length of the scanned image in the direction of the abscissa, and calculating a second ratio of the ordinate of the endpoint to the length of the scanned image in the direction of the ordinate;
calculating the product of the first ratio and the length value of the field of view of the scanning frame in the direction of the transverse axis to obtain the transverse moving distance of the scanning frame; and calculating the product of the second ratio and the length value of the field of view of the scanning frame in the longitudinal axis direction to obtain the longitudinal movement distance of the scanning frame.
In some embodiments, the determining module, when used for the direction of the endpoint relative to a reference point, is specifically configured to:
and calculating the connecting line between the end point and the reference point and the included angle between the connecting line and the preset reference direction.
In a third aspect, the present disclosure provides a scanning device comprising:
a scanning gantry;
a processor; and
a memory communicatively coupled to the processor and storing computer readable instructions that, when executed, cause the processor to perform the method according to any of the embodiments of the first aspect.
In a fourth aspect, the present disclosure provides a storage medium storing computer-readable instructions for causing a computer to perform the method according to any one of the embodiments of the first aspect.
In any embodiment of the disclosure, a catheter/guide wire tracking method is provided, which includes obtaining a catheter/guide wire end point on a scanning image, determining a direction and a distance of the end point relative to a reference point, obtaining a moving distance of a scanning frame according to the distance, and controlling the scanning frame to move according to the moving distance and the direction. Therefore, the scanning frame can automatically move according to the motion of the guide wire/catheter without manually moving the frame, so that the labor cost is saved, and the puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flow chart of a tracking method in some embodiments according to the present disclosure.
Fig. 2A is an exemplary diagram of a scanned image in some embodiments according to the present disclosure.
Fig. 2B is a schematic end view of the catheter/guidewire in the example scan image of fig. 2A.
FIG. 2C is a schematic illustration of fiducial points in the example scanned image of FIG. 2A.
Fig. 3 is a flow chart of some embodiments of methods according to the present disclosure.
FIG. 4 is a computational schematic diagram of a tracking method in some embodiments according to the present disclosure.
FIG. 5 is a computational schematic according to a method according to further embodiments of the present disclosure.
Fig. 6 is a block diagram schematic structure of a tracking device according to some embodiments of the present disclosure.
FIG. 7 is a schematic diagram of a computer system suitable for implementing the disclosed method.
Detailed Description
The technical solutions of the present disclosure will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure. In addition, technical features involved in different embodiments of the present disclosure described below may be combined with each other as long as they do not conflict with each other.
The guide wire/catheter tracking method provided by the present disclosure can be used in minimally invasive vascular interventional surgery (MIVS). In the related art, when performing a guide wire/catheter puncture, a doctor needs to be instructed to perform a tube feeding operation based on the end point position of the guide wire/catheter on a scan image of the previous exposure. After a certain time of tube delivery, the position of the guide wire/catheter end point is estimated approximately according to experience, the scanning frame is manually moved to the approximate position, the rays are radiated again, and therefore a scanning image is obtained through exposure, and the follow-up tube delivery operation is guided.
In order to ensure the consistency of the operation, an operator is usually added to the scanning machine frame to be responsible for the movement of the scanning machine frame. This requires the operator to rely entirely on personal experience, and if the gantry movement position is not synchronized with the guidewire/catheter puncture, the end point of the guidewire/catheter is not available on the obtained scan image, so that the gantry movement and the scan image exposure are invalid operations and cannot provide effective indication information for the catheter/guidewire puncture. On the other hand, manually moving the gantry increases the number of people that are harmed by the radioactive rays, considering that X-rays are somewhat harmful to the human body.
Based on the defects in the prior art, the guide wire/catheter tracking method provided by the disclosure controls the scanning frame to move in real time by tracking the tail end of the guide wire/catheter in the scanned image, and provides guidance for guide wire/catheter puncture.
For ease of understanding, some of the terms appearing below are explained herein:
a scanning frame: comprises a ray tube and a detector, and the detected object is subjected to perspective collection by radioactive rays (such as X-rays). The scanning frame related to the present disclosure can be implemented by using an existing frame, such as a CT scanning host, and thus, the description of the scanning frame is omitted.
Scanning an image: attenuation images, such as X-ray images, obtained after radiation exposure through a scanning gantry. For example, fig. 2A shows an X-ray scanned image of a heart position of a human body, where "H" denotes a side close to a head of the human body and "R" denotes a side close to a right side of the body of the human body.
Visual field: refers to the field of view (FOV) of the scan gantry and represents the visible range of radiation from the scan gantry.
Some embodiments of the disclosed method are shown in fig. 1. As shown in fig. 1, in some embodiments, the present disclosure provides a guidewire/catheter tracking method comprising:
step S101, acquiring a scanning image, wherein the scanning image comprises the end point of the guide wire/catheter.
Specifically, the scanning image may be obtained by exposing the scanning gantry to radiation, such as X-rays, for example, during vascular puncture, and obtaining a scanning image by performing fluoroscopy acquisition by radiating X-rays through the scanning gantry, wherein the scanning image includes the end point of the guide wire/catheter.
In an exemplary implementation, referring to fig. 2A and 2B, the scan image includes images of bones, tissues, etc. of a human body, and also includes an image of a guide wire/catheter, and the guide wire/catheter has an end point P on the scan image, where the end point P represents a current puncture position of the guide wire/catheter.
Step S102, determining the direction and distance of the end point relative to a reference point, wherein the reference point is a preset point positioned on the scanned image.
Specifically, the reference point is a preset point on the scan image, and the function of the reference point is to track the position of the end point of the guide wire/catheter with the point as a reference.
In some embodiments, the reference point is a center point of the scanned image, for example, as shown in fig. 2C, the scanned image is a rectangular image with 1024 × 1024 pixels, and the reference point O is the center point of the rectangular image. However, as will be appreciated by those skilled in the art, the fiducial point serves as a fiducial for tracking the end of the guidewire/catheter, and thus the fiducial point may also be any point on the scan image, as the present disclosure is not limited thereto.
After the fiducial points are determined, the end point locations of the guide wire/catheter are determined in the scan image by an image recognition algorithm. The direction and distance of the end point relative to the reference point are calculated in various ways, and two examples are given based on the embodiment of fig. 2C:
1) and establishing a plane rectangular coordinate system in the scanned image, and calculating to obtain a coordinate value of the point P relative to the point O according to the coordinate values of the point P and the point O, wherein the positive and negative of the horizontal and vertical coordinates of the coordinate values are the representation direction, and the numerical value of the horizontal and vertical coordinates is the representation distance.
2) Presetting a reference direction in the scanned image, calculating an included angle between a line segment PO obtained by connecting the point P and the point O and the reference direction, wherein the included angle represents the direction, and calculating the length of the PO to obtain the distance.
The following description will be made specifically for the above two embodiments, which are not shown here. It should be understood that the disclosed solution is not limited to the calculation method provided in the above embodiment, and any calculation method suitable for implementation may also be adopted, and the disclosure is not limited thereto.
And S103, obtaining the moving distance of the scanning frame according to the distance.
Specifically, in step S102, the distance between the guide wire/catheter end point and the reference point is obtained, and the distance represents the distance on the scan image, so the actual moving distance of the scan gantry needs to be obtained by calculation according to the distance on the scan image, that is, the pixel distance on the scan image is converted into the actual moving distance of the scan gantry. The following description will be made with respect to a specific calculation method, which is not shown here.
And step S104, controlling the scanning frame to move according to the moving distance and the moving direction.
Specifically, the displacement length of the scanning gantry can be controlled according to the obtained actual moving distance of the scanning gantry, and the displacement direction of the scanning gantry can be controlled according to the obtained direction, so that the tracking movement of the scanning gantry is realized. During the movement of the scanning frame, the reference point on the scanning image moves towards the end point of the guide wire/catheter, namely the reference point tracks the end point of the guide wire/catheter.
In the process of guide wire/catheter puncture, the guide wire/catheter can be tracked in real time by executing the steps S101-104 according to the end point position of the guide wire/catheter on the previous frame or multiple frames of scanning images, so that the end point position of the guide wire/catheter is always displayed on the scanning images, and guidance is provided for guide wire/catheter puncture.
From the foregoing, the main inventive concept of the guide wire/catheter tracking method provided by the present disclosure is as follows: the scanning frame is controlled to move by utilizing the position relation between the preset reference point and the guide wire/catheter end point on the scanning image, so that the real-time tracking of the reference point to the end point is realized, and the automatic control movement of the scanning frame is realized. According to the guide wire/catheter tracking method, the frame does not need to be moved manually, labor cost is saved, and puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved.
One embodiment of a method according to the present disclosure is shown in fig. 3 and 4, and the guidewire/catheter tracking method of the present disclosure is further described below with reference to fig. 3 and 4.
As shown in fig. 3, in the present embodiment, the guidewire/catheter tracking method of the present disclosure includes:
step S301, acquiring a scanning image, wherein the scanning image comprises the end point of the guide wire/catheter.
Specifically, refer to step S101 above, and will not be described herein again.
Step S302, a plane rectangular coordinate system is established on the scanned image by taking the reference point as the origin of coordinates, and coordinate values of the end point relative to the reference point are obtained according to the position of the end point in the coordinate system.
Specifically, in the present embodiment, the scan image is an image having a size of 1024 × 1024 pixels, and the reference point is a center point of the scan image. The central point of the image is used for tracking the end point position of the guide wire/catheter, so that the end point of the guide wire/catheter is always positioned in the middle of the image, and the indicating effect of the image is improved.
As shown in fig. 4, a planar rectangular coordinate system xOy is established on the scanned image with the central point O of the scanned image as the origin of coordinates, and the coordinate value of the endpoint P of the guide wire/catheter in the xOy coordinate system is obtained as P (x1, y1) in units of pixel points. It should be noted that, in the coordinate system, the coordinate value (x1, y1) of the P point includes not only the distance of the P point from the O point, but also the direction of the P point from the O point can be represented by the positive and negative relationship of the abscissa, and therefore, the direction and distance of the endpoint P from the reference point O can be determined by calculating the coordinate P (x1, y1) of the P point.
And step S303, calculating the horizontal and vertical movement distance of the scanning frame according to the horizontal and vertical coordinate values of the end points.
Specifically, in the present embodiment, it has been determined in step S302 that the coordinate value of the P point is P (x1, y1), and therefore it is necessary to calculate the actual lateral-longitudinal movement distance of the gantry from the coordinate value, that is, to convert the pixel distance of the lateral-longitudinal coordinate on the scanned image into the actual movement distance of the lateral-longitudinal direction of the gantry.
In the present embodiment, taking a rectangle with a field of view of 30cm x 30cm as an example, the lateral movement distance Δ x of the scanner gantry in the x-axis is calculated by the following formula,
formula (1) means that a first ratio of an endpoint P abscissa x1 to a scanned image length value 1024 pixels in the x-axis direction is calculated, and the actual moving distance of the scanner in the x-axis direction is Δ x by multiplying the first ratio by a scan frame length value 30cm in the x-axis direction. Similarly, the actual movement distance Δ y of the scanner frame in the y-axis direction is represented as:
formula (2) means that a first ratio of the ordinate P y1 of the end point to the length value 1024 pixels of the scanned image in the y-axis direction is calculated, and the actual moving distance of the scanner in the y-axis direction is Δ y by multiplying the first ratio by the length value of the field of view of the scanner in the y-axis direction by 30 cm.
It should be noted that the shape and size of the scan image and the field of view of the scan gantry in this embodiment are exemplary, and the present disclosure is not limited to this embodiment, and the shape and size of the scan image and the field of view may be any other form suitable for implementation, and is applicable to the present disclosure. In addition, in other embodiments, the coordinate system is not necessarily established with the reference point O as the origin of coordinates, and the parameters required for calculation in the present disclosure are the relative position relationship between the P point and the O point, so that the method is not dependent on the position of the coordinate system, and the implementation of the present disclosure is not affected by the establishment of the coordinate system at any position.
And step S304, controlling the scanning frame to move according to the transverse moving distance, the longitudinal moving distance and the direction represented by the coordinate value.
Specifically, in step S303, the lateral movement distance Δ x and the longitudinal movement distance Δ y of the scan gantry have been calculated, while controlling the scan gantry to move in conjunction with the direction indicated by the coordinate values.
For example, in the embodiment shown in fig. 4, the scanning frame is controlled to move towards the lower left of the human body by a distance Δ x cm in the transverse direction and Δ y cm in the longitudinal direction. The scan image after the movement of the gantry is shown to move to the lower right so that the reference point O coincides with the end point P.
It should be noted that, for the specific movement control of the scanning gantry, different movement modes can be presented by combining the movement modes of the gantry with different mechanical structures. Such as a multi-axis compound motion scanning gantry, the movement in the directions and distances described above may be accomplished through compound motion of multiple robotic arms of the gantry. In other words, the actual motion process of the scanning gantry is not necessarily represented as horizontal motion in both horizontal and vertical directions, and only needs to be finally moved to the target position. The specific movement and control of the scan gantry can be implemented by those skilled in the art in combination with the related art, and the disclosure is not limited thereto and will not be further described.
Therefore, the method provided by the embodiment does not need to manually move the rack, so that the labor cost is saved, and the puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved. The central point of the image is used as a reference point, so that the end point of the guide wire/catheter is always positioned in the middle of the image, and the position indication effect of the image is improved.
Fig. 5 shows another embodiment of the present disclosure, which is different from the embodiment of fig. 4 in that the relative position of the endpoint P and the reference point O is calculated in a different manner, and the description of the same parts is omitted.
As shown in fig. 5, in the present embodiment, calculating the direction of the end point P with respect to the reference point O includes:
calculating the connection PO between the endpoint P and the reference point O and the preset reference direction
The included angle of (a).
Specifically, in the present embodiment, the reference direction
For the preset reference direction, the end point P is connected with the reference point O to obtain a line segment PO, and the PO and the reference direction are calculated
Is theta, i.e. represents the direction of the end point P relative to the reference point O. Meanwhile, the actual moving distance l1 corresponding to the scanning gantry is calculated according to the pixel length l of the line PO, and the calculation method can refer to the formula in the above embodiment, which is not described herein again. And controlling the scanning frame to complete the movement according to the calculated angle theta and the movement distance l1 of the scanning frame.
In the present embodiment, no part of the description is given with reference to the foregoing embodiments, and those skilled in the art can implement the embodiments of the present embodiment based on the above disclosure, and therefore details are not described again.
Therefore, according to the method provided by the embodiment, the rack does not need to be moved manually, the labor cost is saved, and the puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved. The central point of the image is used as a reference point, so that the end point of the guide wire/catheter is always positioned in the middle of the image, and the position indication effect of the image is improved.
It is worth mentioning that the method of the present disclosure can track each frame of image when performing the wire/catheter tracking operation, so as to accurately track the position of the wire/catheter endpoint in real time. Meanwhile, in consideration of reducing the calculated amount, the multi-frame images can be tracked at intervals according to the actual puncture speed, so that the exposure and the calculated amount are correspondingly reduced on the premise of ensuring the image indication accuracy, and the cost is reduced.
In a second aspect, the present disclosure provides a catheter/guide wire tracking device, which can be used in minimally invasive vascular intervention (MIVS) to control the scanning frame to move in real time by tracking the end of the guide wire/catheter in the scanned image, so as to provide guidance for guide wire/catheter puncture.
Some embodiments of the disclosed device are shown in fig. 6, and as shown in fig. 6, the disclosed catheter/guidewire tracking device includes:
an acquisition module 10, configured to acquire a scan image, where the scan image includes an end point of a guide wire/catheter;
a determining module 20, configured to determine a direction and a distance of the endpoint with respect to a reference point, where the reference point is a preset point located on the scanned image;
an obtaining module 30, configured to obtain a moving distance of the scanning gantry according to the distance;
and the control module 40 is used for controlling the scanning frame to move according to the moving distance and the moving direction.
The guide wire/catheter tracking device provided by the disclosure does not need to manually move the frame, so that the labor cost is saved, and the puncture efficiency is improved. And the scanning frame always tracks the end point movement of the guide wire/catheter, so that the scanning image always accurately provides the position of the guide wire/catheter, and the effectiveness of image indication is improved.
In some embodiments, the determining module 20, when configured to determine the direction and distance of the end point relative to the reference point, is specifically configured to:
and establishing a plane rectangular coordinate system on the scanned image by taking the reference point as a coordinate origin, and obtaining the coordinate value of the end point relative to the reference point according to the position of the end point in the coordinate system.
In some embodiments, the obtaining module 30, when configured to obtain the moving distance of the scanning gantry according to the distance, is specifically configured to:
calculating a first ratio of the abscissa of the endpoint to the length of the scanned image in the direction of the abscissa, and calculating a second ratio of the ordinate of the endpoint to the length of the scanned image in the direction of the ordinate;
calculating the product of the first ratio and the length value of the field of view of the scanning frame in the direction of the transverse axis to obtain the transverse moving distance of the scanning frame; and calculating the product of the second ratio and the length value of the field of view of the scanning frame in the longitudinal axis direction to obtain the longitudinal moving distance of the scanning frame.
In some embodiments, the determining module 20, when configured to determine the direction of the endpoint relative to the reference point, is specifically configured to:
and calculating the connecting line between the end point and the reference point and the included angle between the connecting line and the preset reference direction.
In a third aspect, the present disclosure provides a scanning device comprising:
a scanning gantry;
a processor; and
a memory communicatively coupled to the processor and storing computer readable instructions that, when executed, cause the processor to perform the method of any of the above embodiments.
In a fourth aspect, the present disclosure provides a storage medium storing computer-readable instructions for causing a computer to perform the method of any one of the above embodiments.
Specifically, fig. 7 shows a schematic structural diagram of a computer system 600 suitable for implementing the method or processor of the present disclosure, and the electronic device and the storage medium provided in the third and fourth aspects are implemented by the system shown in fig. 7.
As shown in fig. 7, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
To the I/O interface 605, AN input section 606 including a keyboard, a mouse, and the like, AN output section 607 including a network interface card such as a Cathode Ray Tube (CRT), a liquid crystal display (L CD), and the like, a speaker, and the like, a storage section 608 including a hard disk, and the like, and a communication section 609 including a network interface card such as a L AN card, a modem, and the like, the communication section 609 performs communication processing via a network such as the internet, a drive 610 is also connected to the I/O interface 605 as necessary, a removable medium 611 such as a magnetic disk, AN optical disk, a magneto-optical disk, a semiconductor memory, and the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted into the storage section 608 as necessary.
In particular, the above method processes may be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product, such as a storage medium, comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the above-described methods. In such embodiments, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be understood that the above embodiments are only examples for clearly illustrating the present invention, and are not intended to limit the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the present disclosure may be made without departing from the scope of the present disclosure.
Claims (12)
1. A guidewire/catheter tracking method, comprising:
acquiring a scanning image, wherein the scanning image comprises an end point of a guide wire/catheter;
determining the direction and distance of the end point relative to a reference point, wherein the reference point is a preset point on the scanning image;
obtaining the moving distance of the scanning frame according to the distance;
and controlling the scanning frame to move according to the moving distance and the direction.
2. The method of claim 1, wherein determining the direction and distance of the endpoint relative to a reference point comprises:
and establishing a plane rectangular coordinate system on the scanning image by taking the reference point as a coordinate origin, and obtaining the coordinate value of the end point relative to the reference point according to the position of the end point in the coordinate system.
3. The method of claim 2, wherein obtaining the distance of movement of the scan gantry based on the distance comprises:
calculating a first ratio of the abscissa of the endpoint to the length of the scanned image in the direction of the abscissa, and calculating a second ratio of the ordinate of the endpoint to the length of the scanned image in the direction of the ordinate;
calculating the product of the first ratio and the length value of the field of view of the scanning frame in the direction of the transverse axis to obtain the transverse moving distance of the scanning frame; and calculating the product of the second ratio and the length value of the field of view of the scanning frame in the longitudinal axis direction to obtain the longitudinal movement distance of the scanning frame.
4. The method of claim 3, wherein controlling the scan gantry to move based on the movement distance and the direction comprises:
and controlling the scanning frame to move according to the transverse moving distance, the longitudinal moving distance and the direction represented by the coordinate value.
5. The method of claim 1, wherein said determining the direction of the endpoint relative to the reference point comprises:
and calculating the connecting line between the end point and the reference point and the included angle between the connecting line and the preset reference direction.
6. The method of claim 1,
the reference point is a central point of the scanned image.
7. A catheter/guidewire tracking device, comprising:
the acquisition module is used for acquiring a scanning image, and the scanning image contains the end point of the guide wire/catheter;
a determining module, configured to determine a direction and a distance of the endpoint with respect to a reference point, where the reference point is a preset point located on the scan image;
the obtaining module is used for obtaining the moving distance of the scanning frame according to the distance;
and the control module is used for controlling the scanning frame to move according to the moving distance and the direction.
8. The apparatus of claim 7, wherein the determining module, when configured to determine the direction and distance of the endpoint relative to a reference point, is specifically configured to:
and establishing a plane rectangular coordinate system on the scanning image by taking the reference point as a coordinate origin, and obtaining the coordinate value of the end point relative to the reference point according to the position of the end point in the coordinate system.
9. The apparatus according to claim 8, wherein the obtaining module, when configured to obtain the moving distance of the scan gantry according to the distance, is specifically configured to:
calculating a first ratio of the abscissa of the endpoint to the length of the scanned image in the direction of the abscissa, and calculating a second ratio of the ordinate of the endpoint to the length of the scanned image in the direction of the ordinate;
calculating the product of the first ratio and the length value of the field of view of the scanning frame in the direction of the transverse axis to obtain the transverse moving distance of the scanning frame; and calculating the product of the second ratio and the length value of the field of view of the scanning frame in the longitudinal axis direction to obtain the longitudinal movement distance of the scanning frame.
10. The apparatus of claim 7, wherein the determination module, when applied to the direction of the endpoint relative to the reference point, is specifically configured to:
and calculating the connecting line between the end point and the reference point and the included angle between the connecting line and the preset reference direction.
11. A scanning device, characterized by comprising:
a scanning gantry;
a processor; and
a memory communicatively coupled to the processor and storing computer readable instructions that, when read, cause the processor to perform the method of any of claims 1 to 6.
12. A storage medium having stored thereon computer-readable instructions for causing a computer to perform the method of any one of claims 1 to 6.
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