CN111863263B

CN111863263B - Simulation method, simulation device and simulation equipment

Info

Publication number: CN111863263B
Application number: CN202010732424.2A
Authority: CN
Inventors: 姚洋洋; 宋凌; 杨光明; 秦岚; 卢旺盛
Original assignee: Union Strong Beijing Technology Co ltd
Current assignee: Union Strong Beijing Technology Co ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2024-03-29
Anticipated expiration: 2040-07-27
Also published as: CN111863263A

Abstract

The embodiment of the specification discloses a simulation method, a simulation device and simulation equipment, and belongs to the technical fields of medical images and computers. The method comprises the following steps: based on the craniocerebral image data to be processed, performing three-dimensional reconstruction to obtain a reconstructed blood vessel image; dividing the aneurysm based on the reconstructed blood vessel image to obtain aneurysm parameters and aneurysm-carrying artery parameters; optimizing the data of the central line of the aneurysm-carrying artery to obtain optimized data of the central line of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line; based on the aneurysm parameters, the aneurysm-carrying arterial parameters and the optimized aneurysm-carrying arterial central line data, obtaining a stent model of a stent to be intervened and a release position of the stent to be intervened; and simulating the stent to be intervened to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire.

Description

Simulation method, simulation device and simulation equipment

Technical Field

The present disclosure relates to the field of medical imaging and computer technologies, and in particular, to a simulation method, apparatus, and device.

Background

Intracranial aneurysms, also known as cerebral hemangiomas, are the first cause of subarachnoid hemorrhage due to abnormal distension occurring in the wall of the intracranial artery, and in cerebrovascular accidents, they are secondary to cerebral thrombosis and hypertensive cerebral hemorrhage, and are the third. Intracranial aneurysms are classified as non-ruptured aneurysms and ruptured aneurysms, wherein most of the intracranial aneurysms are non-ruptured aneurysms, however, once ruptured, spontaneous subarachnoid hemorrhage can be induced, and the rupture aneurysms become, and the fatal disability rate exceeds 50%, which seriously threatens the life of patients.

Blood flow direction device (FD) is widely used as an epoch-making product of intracranial aneurysm treatment for intracranial aneurysms in large, medium and small size ranges. Currently, blood flow guiding devices, i.e., dense mesh stents, include PED (Pipeline embolization device, pipeline embolic device), SFD (Silk flow diverting stent), FRED, surbas, turnbridge, etc., representative of which is PED, a cobalt chrome nickel alloy stent system, which is a new type of endovascular embolic assistance device that has been marketed in recent years. The selection and release position of the blood flow guiding device stent are important for the treatment effect of intracranial aneurysms.

At present, in clinic, a bracket with a corresponding model is usually selected based on image data, but the method can not predict the effect of the implanted bracket and seriously influence the treatment effect of intracranial aneurysm.

Therefore, a new simulation method is needed, which can predict the implantation effect of the stent, so as to more accurately select the stent and improve the treatment effect of the intracranial aneurysm.

Disclosure of Invention

The embodiment of the specification provides a simulation method, a simulation device and simulation equipment, which are used for solving the following technical problems: in the prior art, the implantation effect of the stent cannot be predicted, the shape selection accuracy of the stent is low, and the treatment effect of the intracranial aneurysm is affected.

In order to solve the above technical problems, the embodiments of the present specification are implemented as follows:

the simulation method provided by the embodiment of the specification comprises the following steps:

based on the craniocerebral image data to be processed, performing three-dimensional reconstruction to obtain a reconstructed blood vessel image;

dividing an aneurysm based on the reconstructed blood vessel image, and acquiring an aneurysm parameter and a carrying aneurysm parameter, wherein the carrying aneurysm parameter comprises carrying aneurysm artery central line data;

optimizing the data of the central line of the aneurysm-carrying artery to obtain optimized data of the central line of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line;

Based on the aneurysm parameters, the aneurysm-carrying arterial parameters and the optimized aneurysm-carrying arterial central line data, obtaining a stent model of a stent to be intervened and a release position of the stent to be intervened;

and simulating the stent to be intervened to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire.

Further, the optimizing the data of the central line of the parent artery to obtain the optimized data of the central line of the parent artery specifically includes:

screening abnormal points in the tumor-bearing artery central line data to obtain first central line data, wherein the first central line data is abnormal central line data;

performing interpolation processing on the first central line data, and correcting the first central line data to obtain second central line data;

homogenizing the second central line data to obtain third central line data;

diluting the third central line data to obtain fourth central line data;

and smoothing the fourth central line data to be used as optimized parent artery central line data.

Further, the obtaining the stent model of the stent to be intervened and the release position of the stent to be intervened based on the aneurysm parameter, the aneurysm-carrying arterial parameter and the optimized aneurysm-carrying arterial center line data specifically includes:

acquiring a release position, a distal release point and a proximal release point of the stent to be intervened based on a tumor neck central point and a tumor neck diameter in the aneurysm parameters;

based on the larger diameter value of the proximal release point and the distal release point, the diameter value D of the stent to be intervened is used as a reference value for calculating the diameter of the stent to be intervened _neck Taking the blood vessel length between the distal release points as a reference value L for calculating the length of the stent to be intervened _neck ；

Based on D _neck Obtaining the diameter D of the first alternative number of the stent to be intervened _FD ；

According to D _FD Calculating the first alternative numberTo be inserted into the stent at L _neck Length after release L _TmpFD Taking the length closest to L after release _neck As the final length L _FD ；

According to said D _FD L and L _FD And determining the stent model of the stent to be intervened.

Further, the display of the woven mesh refers to that each point in the optimized data of the central line of the aneurysm-carrying artery is taken as a source point, the tangential direction of the normal vector is taken as an initial direction, the intersection points with the simulated surface of the stent are calculated according to the angle extension of the interval (180/the number of the woven wires of the stent), and then all the intersection points are spirally woven together.

Further, the adherent display means that the distance between the point of the stent simulation surface and the blood vessel wall is calculated as dis, and the pseudo color display is displayed according to the rgb color mode and the formula r=255×dis×2; g=dis >1.00.0:255 (1.0-dis) 0.5; b=0; r >255255:r; g=g >255255 g, and adhesion display was performed.

Further, the length display means that the distance L between the current point and the next point on the central line of the aneurysm-carrying artery is calculated from the proximal release point;

taking the sum of the radii of the current point and the next point as a diameter D, and calculating the length of the actual release of the blood flow guiding device as L by taking the current L and the D as parameters _delta ；

Accumulation calculation L _delta And L, when L _delta When the length of the FD is equal to the length of the FD, the accumulated L is the length of the FD after the actual release, and the length display is performed.

Further, the stent simulation surface is obtained by modeling according to a velocity vector, a time Δt and a growth distance position based on the aneurysm parameters and the carrying aneurysm parameters, wherein the velocity is reduced to 0 when a preset constraint condition is satisfied.

Further, the preset constraint condition includes one or more of expansion detection, growth detection, stretching detection, collision detection and plane detection.

The embodiment of the specification also provides an analog device, which comprises:

the three-dimensional reconstruction module is used for carrying out three-dimensional reconstruction based on craniocerebral image data to be processed, and acquiring a reconstructed blood vessel image;

an aneurysm segmentation module for segmenting an aneurysm based on the reconstructed blood vessel image to obtain aneurysm parameters and aneurysm-carrying arterial parameters, wherein the aneurysm-carrying arterial parameters comprise aneurysm-carrying arterial central line data;

the central line optimization module is used for optimizing the central line data of the aneurysm-carrying artery to obtain optimized central line data of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line;

the simulation module is used for acquiring the stent model of the stent to be intervened and the release position of the stent to be intervened based on the aneurysm parameters, the aneurysm-carrying arterial parameters and the optimized aneurysm-carrying arterial central line data;

and the display module is used for simulating the stent to be intervened to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire.

homogenizing the second central line data to obtain third central line data;

diluting the third central line data to obtain fourth central line data;

According to D _FD Calculating the L of the to-be-intervened stent of the first alternative model _neck Length after release L _TmpFD Taking the length closest to L after release _neck As the final length L _FD ；

The embodiment of the specification also provides an electronic device, including:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

In the embodiment of the specification, based on craniocerebral image data to be processed, three-dimensional reconstruction is carried out, and a reconstructed blood vessel image is obtained; dividing an aneurysm based on the reconstructed blood vessel image, and acquiring an aneurysm parameter and a carrying aneurysm parameter, wherein the carrying aneurysm parameter comprises carrying aneurysm artery central line data; optimizing the data of the central line of the aneurysm-carrying artery to obtain optimized data of the central line of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line; based on the aneurysm parameters, the aneurysm-carrying arterial parameters and the optimized aneurysm-carrying arterial central line data, obtaining a stent model of a stent to be intervened and a release position of the stent to be intervened; the to-be-intervened stent is simulated to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire, so that the implantation effect of the stent can be predicted, the stent can be more accurately selected, the treatment effect of the intracranial aneurysm is improved, and a reference is provided for clinical application.

Drawings

In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a simulation method according to an embodiment of the present disclosure;

FIG. 2 is a schematic flow chart of a method for homogenizing the centerline of an aneurysm-carrying artery according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a proximal release point and a distal release point according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram of a braiding process of a braided mesh according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of an analog device according to an embodiment of the present disclosure.

Detailed Description

In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

The blood flow guiding device is used for treating intracranial aneurysms, and the principle is as follows: in the fully open state, the stent mesh is small enough to alter blood flow, which creates turbulence on the inner surface of the stent rather than into the aneurysm, thereby causing thrombosis in the aneurysm. Due to the presence of the mesh openings, the patency of its branch vessels can be preserved in this vessel segment. The current commonly used stent is a dense-mesh stent, which is a cobalt-chromium-nickel alloy stent system and is a novel intravascular embolism auxiliary device marketed in recent years. The embolic mechanism of the dense mesh stent includes: blood flow guiding effect and promoting endothelialization and repair. Among other things, the blood flow direction of the dense mesh stent is such that the dense mesh stent can interfere with blood flow from the parent artery into the aneurysm, causing blood stasis in the aneurysm, leading to thrombus formation within the aneurysm, and further contributing to its total occlusion. The promotion of endothelialization repair of the dense-mesh stent is that the dense-mesh stent forms a scaffold which can supply blood for endothelial cell climbing growth. After the implant is covered by vascular endothelial cells, the aneurysm can be completely isolated from the parent artery, and the rupture risk and recanalization risk of the aneurysm are reduced to the greatest extent. After endothelialization of the implant surface, a permanent biological seal will form at the neck of the diseased parent artery.

It follows that the selection of the appropriate stent model is critical to the use of the blood flow direction device for the treatment of intracranial aneurysms, depending on the parameters of the intracranial aneurysms.

Fig. 1 is a schematic diagram of a simulation method according to an embodiment of the present disclosure, where the simulation method includes:

step S101: based on the craniocerebral image data to be processed, three-dimensional reconstruction is carried out, and a reconstructed blood vessel image is obtained.

In the embodiment of the present disclosure, the craniocerebral image data to be processed is any one of CTA (CT angiography ), MRA (magnetic resonance angiography, magnetic resonance angiography), DSA (Digital subtraction angiography ); the cranium brain image data to be processed can be two-dimensional image data or three-dimensional image data; the craniocerebral image data to be processed needs to be converted into DICOM format so as to be convenient for subsequent processing.

In the embodiment of the present disclosure, three-dimensional reconstruction is performed based on craniocerebral image data to be processed, and a reconstructed blood vessel image is obtained by extracting blood vessel data from the image data to be processed by a threshold segmentation method and performing surface reconstruction on the extracted blood vessel data. The particular method of acquiring the reconstructed vessel image is not limiting of the application.

Step S103: and segmenting the aneurysm based on the reconstructed blood vessel image, and acquiring an aneurysm parameter and a carrying aneurysm parameter, wherein the carrying aneurysm parameter comprises carrying aneurysm artery central line data.

In embodiments of the present disclosure, the aneurysm parameters include: aneurysm neck center point and neck length;

the aneurysm-carrying arterial parameters include: a parent artery centerline, a radius of a point on the parent artery centerline, a proximal point of the parent artery, and a distal point of the parent artery.

In the embodiment of the present disclosure, the obtaining of the aneurysm parameter and the parent artery parameter is to extract the blood vessel data from the image data to be processed by a threshold segmentation method, and reconstruct the surface of the extracted blood vessel data, further segment the aneurysm, and obtain the aneurysm parameter and the parent artery parameter. The particular method of obtaining the parameters of the aneurysm and parent artery is not limiting of the present application.

Step S105: and optimizing the data of the central line of the aneurysm-carrying artery to obtain optimized data of the central line of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line.

It should be noted that, the central line of the parent artery is a homogenized central line, and the homogenized central line can be used as a scale for selecting the release point later, and the release point later is located on the corresponding scale on the homogenized central line.

To further understand the homogenization of the parent artery centerline, fig. 2 is a schematic flow chart of the homogenization of the parent artery centerline according to the embodiment of the present disclosure. The homogenization of the central line of the parent artery mainly comprises the following steps:

step S201: and screening abnormal points in the data of the central line of the aneurysm-carrying artery to obtain first central line data, wherein the first central line data is abnormal central line data.

In the embodiment of the present disclosure, the method adopted for screening the first centerline data is: and screening abnormal central line data from the central line data of the aneurysm-carrying artery based on the variance as first central line data. In a specific implementation process, screening first central line data from the acquired central line data of the parent artery specifically includes: traversing each point on the data of the central line of the aneurysm-carrying artery, taking the advancing direction of the current point as a normal vector, calculating a tangent plane with a blood vessel, taking the point of the central line as a circle center, taking the point reaching the tangent plane as a radius, calculating the variance of the radius, and considering the current point as an abnormal point when the variance is larger than a preset value. In a specific implementation process, the preset value may be 0.5. It should be noted that the advancing direction is a direction along the direction of the parent artery, i.e. along the direction from the proximal release point to the distal release point.

Step S203: and carrying out interpolation processing on the first central line data, and correcting the first central line data to obtain second central line data.

In this embodiment of the present disclosure, the obtaining of the second centerline data specifically includes: and carrying out interpolation processing on normal points before and after the abnormal point in the first central line data along the advancing direction, thereby correcting the first central line data and obtaining second central line data. In the implementation process, the positions of the abnormal points and the radii corresponding to the abnormal points in the first central line data need to be corrected. The radius corresponding to the abnormal point is obtained by interpolation according to the radius or the diameter of the normal point before and after the abnormal point, and the correction of the position of the abnormal point is obtained by interpolation according to the position of the normal point before and after the abnormal point.

Step S205: and homogenizing the second central line data to obtain third central line data.

The second center line data obtained by the correction processing in the foregoing step further requires a homogenization processing. Specifically, the third centerline data is obtained by homogenizing between every two points on the second centerline in a fixed-value step size. In a specific implementation, the step size of the fixed value is preferably 0.01.

Step S207: and diluting the third central line data to obtain fourth central line data.

In order to facilitate the subsequent stent surface simulation in the subsequent processing, the centerline data of the parent artery can be used as a scale, and the third centerline data acquired in step S205 needs to be further diluted. In the specific implementation process, the third central line data is diluted by taking N as a unit, and fourth central line data is obtained. In one embodiment of the present description, N is preferably 5. It should be noted that N is 5 merely an example of the present specification, and does not constitute a specific limitation of the present application.

Step S209: and smoothing the fourth central line data to be used as optimized parent artery central line data.

In the embodiment of the present disclosure, the smoothing process may use a Sinc smoothing function, or may use other smoothing methods, and the specific manner of smoothing process is not limited to this application.

By adopting the method for homogenizing the central line of the parent artery provided by the embodiment of the specification, abnormal points on the central line of the parent artery can be eliminated, and the central line data subjected to homogenization and dilution can be used as a data graduated scale for subsequent researches.

The data of the central line of the aneurysm-carrying artery optimized by the embodiment of the specification is further used for correcting the radius/diameter of the aneurysm-carrying artery.

Step S211: and acquiring the slope of the radius change based on the optimized parent artery centerline data and the parent artery centerline data, and carrying out radius correction on the parent artery to acquire the corrected radius.

In the present embodiment, the slope of the radius change= (radius of the current point-radius of the previous point)/radius of the previous point.

In the embodiment of the present specification, the corrected radius is obtained based on the cycle judgment. Specifically, the cycle is ended when the slope of the radius change is >0.1, and the corrected radius= (radius of the current point+radius of the previous point)/2.

In one embodiment of the present disclosure, the radius of each point on the centerline is defined as the diameter of each point on the centerline by the selected point P and its corresponding maximum radius P1, and by a vertical line perpendicular to the P1P vector.

Step S107: and acquiring the stent model of the stent to be intervened and the release position of the stent to be intervened based on the aneurysm parameters, the aneurysm-carrying arterial parameters and the optimized aneurysm-carrying arterial central line data.

In this embodiment of the present disclosure, obtaining a stent model of a stent to be interposed and a release position of the stent to be interposed specifically includes:

based on the larger diameter value of the proximal release point and the distal release point, the diameter value D of the stent to be intervened is used as a reference value for calculating the diameter of the stent to be intervened _neck Taking the saidThe vessel length between the distal release points is used as a reference value L for calculating the length of the stent to be intervened _neck ；

In order to further understand the acquisition of the release position, the distal release point and the proximal release point of the stent to be intervened, fig. 3 is a schematic diagram of the proximal release point and the distal release point provided in the embodiment of the present disclosure, one end far from the heart is taken as a distal end, and the other end near to the heart is taken as a proximal end, where the end point of the center line of the segment of the parent artery is taken as the distal end. Starting from the obtained center point of the tumor neck, taking the radius of the tumor neck as the distance to obtain the tumor neck point. Further, a release point of the stent to be intervened is selected from the tumor neck point. In a specific implementation, the release point of the stent to be intervened is 5-12mm, preferably 8mm, of the tumor neck point. Wherein, the release point far from the far end is a far end release point, and the release point near to the near end is a near end release point.

By adopting the method provided by the embodiment of the specification, the obtained release position of the stent to be intervened is 5-12mm, preferably 8mm, of the tumor neck point.

It should be noted that the stent to be interposed is all stents usable for the blood flow guiding device. The model of the bracket to be intervened can be selected manually or automatically from a consumable database. In a specific embodiment, the consumable database contains relevant data of the main bracket, and can be updated according to the specific model of the bracket on the market. The specific composition of the consumable database is not limiting of the present application.

In the embodiment of the specification, the first alternative type of the stent to be intervened is obtainedDiameter D of number _FD The method specifically comprises the following steps:

selecting a stent diameter from a consumable database at (D _neck A stent within a range of 0.25 cm is used as an alternative stent;

selecting from the candidate stents | (candidate stent diameter-D _neck )| _min The diameter of the corresponding model is taken as the diameter DFD of the first alternative model of the stent to be inserted, wherein (alternative stent diameter-D _neck )| _min Representation (alternative stent diameter-D _neck ) Minimum of absolute values.

Step S109: and simulating the stent to be intervened to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire.

In the embodiment of the present specification, the displaying of the woven mesh refers to that each point in the optimized data of the central line of the parent artery is taken as a source point, the tangential direction of the normal vector is taken as an initial direction, the intersection points with the simulated surface of the stent are calculated according to the angle extension of the interval (180/the number of the woven wires of the stent), and then all the intersection points are spirally woven together.

For further understanding of the method for displaying the mesh grid, fig. 4 is a schematic diagram of the knitting process of the mesh grid according to the embodiment of the present disclosure. The following will describe in detail a drawing process of a specific woven mesh.

Taking the point on the central line of the parent artery as a source point, calculating the intersection point of each point on the central line of the parent artery and the blood vessel wall, as shown in fig. 4a, the A, B points and the like, wherein the points are the intersection points of the central line of the parent artery and the blood vessel wall.

The points of the cross-section shown in fig. 4a on the centerline of the parent artery are expanded to form a rectangular matrix of points, as shown in fig. 4 b.

Further, the matrix shown in fig. 4b is connected with matrix points in a clockwise direction, the point of the nth column of each M rows is connected with the point of n+1 of the m+1 rows, and so on, to obtain a graph shown in fig. 4 c;

further, the graph shown in fig. 4c is connected with matrix points in the anticlockwise direction, the nth column point of each M rows is connected with the nth-1 column point of each M-1 rows, and the like, and finally a woven mesh is formed, as shown in fig. 4 d.

It should be specifically noted that, in order to satisfy the braiding simulation of the stent to be inserted of different blood flow guiding devices, the embodiment of the present disclosure further provides a braiding simulation method, so as to implement the difference of mesh size and coverage rate of the braiding simulation of the stent to be inserted according to the diameters of the wires of different stents to be inserted. In the specific implementation process, the diameter of the metal wire of the stent to be intervened is set according to the model of the stent to be intervened, and the woven meshes with different mesh sizes and coverage rates are woven according to the diameter of the metal wire of the stent to be intervened.

Continuing the previous example, obtaining a matrix shown in fig. 4b, and realizing the braiding of the braided net with different mesh sizes and coverage rates according to the preset wire diameters of the stent to be inserted. As shown in fig. 4e, the knitting effect of the knitted net is another mesh size and coverage. By comparing fig. 4d with fig. 4e, it can be seen that the weaving effect of the two kinds of woven meshes is different, and the mesh size and coverage rate of the two kinds of woven meshes are obviously different. The smaller the mesh of fig. 4d, i.e. the denser the mesh, the greater the metal coverage.

In the present embodiment, the smaller the mesh, or denser the mesh, the greater the metal coverage. The metal coverage rate is used for simulating the real effect of the stent to be intervened after implantation, provides objective basis for the selection of the stent to be intervened, can also provide reference basis for subsequent clinic, such as knowing the size of blood sinus and the like, and has important clinical reference significance.

In the embodiment of the present specification, the adherent display means that the distance between the point of the stent simulation surface and the vessel wall is calculated as dis, and the pseudo color display is shown according to the rgb color mode and the formula r=255×dis×2; g=dis >1.00.0:255 (1.0-dis) 0.5; b=0; r >255255:r; g=g >255255 g, and adhesion display was performed.

In addition, when the calculation of the adherence display is performed, a three-eye operator is used, and the condition b is calculated and then judged for the conditional expression bx:y. If the value of b is true, calculating the value of x, wherein the operation result is the value of x; otherwise, calculating the value of y, wherein the operation result is the value of y. One conditional expression never calculates both x and y. The conditional operators are right-bound, that is, are calculated in groups from right to left. For example, ab: cd: e will be performed as ab (cd: e).

< expression 1>? < expression 2> < expression 3>; "? The meaning of the "operator" is: first solving for the value of expression 1, if true, executing expression 2, and returning the result of expression 2; if the value of expression 1 is false, expression 3 is executed and the result of expression 3 is returned.

Can be understood as conditions? Results 1 are within results 2? The number is a format requirement. It can also be understood whether the condition is satisfied, the condition is satisfied as result 1, otherwise it is result 2.

In the embodiment of the present specification, the length display refers to calculation from a proximal release point, and calculates a distance L between a current point and a next point on the central line of the parent artery;

In the present embodiment, the expansion coefficient is the ratio of the section diameter of the simulated surface corresponding to the optimized parent artery centerline data to the diameter of the blood flow guiding device. The expansion coefficient is used for reflecting the real effect of the stent to be intervened after implantation, and provides objective basis for the selection of the stent to be intervened.

In the embodiments of the present disclosure, the angle change curve shows the change in the corresponding parent artery vessel through the angle change at each point on the optimized parent artery centerline data. The angle change curve is used for reflecting the real effect of the stent to be intervened after implantation, and provides objective basis for the selection of the stent to be intervened.

In the embodiment of the present specification, the angle change curve can be obtained by the following method: and (3) solving the angle of each point through an inverse cosine function, obtaining the angle change of the current point by (180-angle)/180, performing linear smoothing on all angle change curves, and performing quadratic function fitting smoothing to obtain a final curve. In the present embodiment, the angle change curve may be represented as a histogram.

In the embodiment of the present disclosure, the diameter change curve is used to show the change of the diameter corresponding to each point on the centerline of the optimized parent artery after implantation of the stent to be inserted. The diameter change curve is used for reflecting the real effect of the stent to be intervened after implantation, and provides objective basis for the selection of the stent to be intervened.

In the embodiment of the present specification, the diameter change curve may be obtained by median filtering through the diameter of all points corresponding to the optimized parent artery centerline data, and the diameter change curve may be represented by a histogram.

In the present description embodiment, the wire diameter may be set by parameters to the diameter of the mesh wire.

Verification experiments show that the simulation method provided by the embodiment of the specification can display the length of the stent to be intervened more accurately, the accuracy rate is more than 95%, the simulation can be performed more accurately, and the requirements of clinical application are met.

In this embodiment of the present disclosure, the stent simulation surface is obtained by modeling according to a velocity vector, a time Δt, and a growth distance position based on the aneurysm parameters and the parent artery parameters, where position+=vector Δt, and when a preset constraint condition is satisfied, the velocity is reduced to 0.

In this embodiment of the present disclosure, the modeling according to the velocity, the time Δt, and the growth distance position based on the aneurysm parameter and the parent artery parameter, to obtain a stent simulation surface of the stent to be inserted, specifically includes:

obtaining parameters of the stent to be intervened;

and taking a point on the central line of the aneurysm-carrying artery as a source point, taking the tangential direction of a normal vector as an initial direction, and extending according to the angle of an interval (180/the number of the stent braided wires), so as to simulate the surface of the stent to be intervened, wherein the number of the stent braided wires is determined based on the parameters of the stent to be intervened. In one embodiment of the present description, the number of stent braiding wires is 48.

In the embodiment of the present specification, the tangential direction of the normal vector is determined in a tangential direction of the normal vector taken in the distal direction with the proximal end as a starting point.

In the embodiment of the present disclosure, the stent simulation surface of the stent to be inserted is obtained by taking a proximal release point of the parent artery as a release start point, releasing the stent along the proximal release point to a distal release point, and simulating release effects of different points.

In the embodiment of the present specification, the preset constraint condition includes one or more of expansion detection, growth detection, stretch detection, collision detection, and plane detection.

In this embodiment of the present disclosure, the expansion detection means that when the growth distance of the stent to be intervened is greater than the maximum expansion coefficient of the diameter of the stent to be intervened, the speed is reduced to 0, where the maximum expansion coefficient is determined by the performance and the material of the stent to be intervened. In one embodiment of the present description, the maximum expansion coefficient is preferably 1.1.

In this embodiment of the present disclosure, the growth detection refers to selecting, from a proximal release point on a centerline of the parent artery as a release start point, a point where any one of the scales is located as a current point along an initial direction with a homogenized point on the centerline of the parent artery as a scale, and a group of N points before and after the current point on the centerline of the parent artery, where the speed is reduced to 0 when a total growth distance of the current point is greater than a first preset multiple of an average distance, where the value of N is determined by the homogenization of the centerline of the parent artery, and the average distance is an average distance of the group of N points before and after the current point.

If the scale value between the current point and the proximal release point is less than N, taking the specific scale where the current point on the central line of the parent artery is located as a group;

And if the scale value between the current point and the proximal release point is not less than N, taking N points before and after the current point on the central line of the aneurysm-carrying artery as a group.

Continuing the previous example, in the process of homogenizing the central line of the carrying aneurysm, diluting with 5 as a unit, in the process of detecting the growth, N is 5, wherein the growth detection means that from the proximal release point on the central line of the carrying aneurysm as a release starting point, along the initial direction, the point of homogenization on the central line of the carrying aneurysm is taken as a scale, the point where any scale is located is selected as the current point, a group of 5 points before and after the current point on the central line of the carrying aneurysm is taken as a group, and when the total growth distance of the current point is greater than the first preset multiple of the average distance, the speed is reduced to 0. In the embodiment of the present specification, the first preset multiple is preferably 1.1.

If the scale value between the current point and the proximal release point is <5, for example, 3, taking the front and back 3 points of the current point on the central line of the parent artery as a group;

and if the scale value between the current point and the proximal release point is more than or equal to 5, taking the front and back 5 points of the current point on the central line of the aneurysm-carrying artery as a group.

In this embodiment of the present disclosure, the stretch detection means that when the total distance of increase of the current point is greater than a second preset multiple of the average distance of the current direction, where the current direction is the direction in which the initial direction is located, and the average distance of the current direction is the distance of the group in which the current point is located along the current direction. In the embodiment of the present specification, the second preset multiple is preferably 1.1.

In this embodiment of the present disclosure, the collision detection means that when the point in the two directions of the current point touches the wall of the blood vessel, the speed is reduced to 0, where the two directions are the direction in which the initial direction is located and the opposite direction to the initial direction, respectively.

In this embodiment of the present disclosure, the plane detection refers to calculating a distance between the current point and a plane where a previous point and a next point are located, and when the current point reaches, along the initial direction, the plane where the previous point is located and reaches the outside of the plane where the next point is located, the speed is reduced to 0, the previous point refers to a point located in front of the current point along the initial direction, and the next point refers to a point located behind the current point along the initial direction.

In the embodiment of the present specification, the judgment of reaching the inside or the outside of the plane is performed by calculating the distance from the point to the plane through a plane equation.

The simulation method provided by the embodiment of the specification can predict the implantation effect of the stent, so that the stent can be more accurately selected, the treatment effect of the intracranial aneurysm is improved, and a reference is provided for clinical application.

The foregoing describes a simulation method in detail, and accordingly, the present disclosure also provides a simulation apparatus, as shown in fig. 5. Fig. 5 is a schematic diagram of an analog device according to an embodiment of the present disclosure, where the analog device includes:

the three-dimensional reconstruction module 501 performs three-dimensional reconstruction based on craniocerebral image data to be processed to obtain a reconstructed blood vessel image;

an aneurysm segmentation module 503, configured to segment an aneurysm based on the reconstructed blood vessel image, and obtain an aneurysm parameter and a parent artery parameter, where the parent artery parameter includes parent artery centerline data;

the central line optimization module 505 is used for optimizing the central line data of the parent artery to obtain optimized central line data of the parent artery, wherein the optimized central line of the parent artery is a uniform central line;

The simulation module 507 obtains a stent model of a stent to be intervened and a release position of the stent to be intervened based on the aneurysm parameter, the aneurysm-carrying arterial parameter and the optimized aneurysm-carrying arterial central line data;

the display module 509 is configured to simulate the stent to be inserted, so as to obtain at least one simulation effect of a mesh grid display, an adherence display, a length display, a metal coverage rate, an expansion coefficient, an angle change curve, a diameter change curve, and a wire diameter.

homogenizing the second central line data to obtain third central line data;

diluting the third central line data to obtain fourth central line data;

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, electronic devices, non-volatile computer storage medium embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to the description of the method embodiments.

The apparatus, the electronic device, the nonvolatile computer storage medium and the method provided in the embodiments of the present disclosure correspond to each other, and therefore, the apparatus, the electronic device, the nonvolatile computer storage medium also have similar beneficial technical effects as those of the corresponding method, and since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, the electronic device, the nonvolatile computer storage medium are not described here again.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing one or more embodiments of the present description.

It will be appreciated by those skilled in the art that the present description may be provided as a method, system, or computer program product. Accordingly, the present specification embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description embodiments may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing is merely exemplary embodiments of the present disclosure and is not intended to limit the present disclosure. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A simulation method, the method comprising:

optimizing the data of the central line of the aneurysm-carrying artery to obtain optimized data of the central line of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line; the uniform center line represents the center line data obtained by carrying out abnormal point screening, interpolation treatment, homogenization treatment, dilution and smoothing treatment on the center line data;

simulating the stent to be intervened to obtain at least one simulation effect of a woven mesh display, an adherence display, a length display, a metal coverage rate, an expansion coefficient, an angle change curve, a diameter change curve and a metal wire diameter; wherein the length is displayed as calculated from a proximal release point, calculating a distance L between a current point and a next point on the parent artery centerline; the near-end release point is a release point at one end, which is close to the heart, in the end point of the central line of the aneurysm-carrying arterial segment; the current point is a point which takes a near-end release point on the central line of the parent artery as a release starting point, takes a point on the central line of the parent artery as a scale along the initial direction, and selects a point where any scale is positioned as the current point; the next point is a point adjacent to the current point and corresponding to the scale; taking the sum of the radii of the current point and the next point as a diameter D, and calculating the length of the actual release of the blood flow guiding device as L by taking the current L and the D as parameters _delta The method comprises the steps of carrying out a first treatment on the surface of the Accumulation calculation L _delta And L, when L _delta When the length of the blood flow guiding device is equal to that of the blood flow guiding device, the accumulated L is the length of the blood flow guiding device after being actually released, and the length is displayed.

2. The method of claim 1, wherein optimizing the parent artery centerline data to obtain optimized parent artery centerline data specifically comprises:

homogenizing the second central line data to obtain third central line data;

diluting the third central line data to obtain fourth central line data;

3. The method of claim 1, wherein the obtaining the stent model of the stent to be intervened and the release position of the stent to be intervened based on the aneurysm parameters, the parent artery parameters, and the optimized parent artery centerline data specifically comprises:

Acquiring a release position, a distal release point and a proximal release point of the stent to be intervened based on a tumor neck central point and a tumor neck diameter in the aneurysm parameters; the distal release point of the stent to be intervened is a release point at one end far away from the heart in the end point of the central line of the aneurysm-carrying arterial segment; the proximal release point of the stent to be intervened is a release point at one end, which is close to the heart, in the end point of the central line of the aneurysm-carrying arterial segment;

based on the larger diameter value of the proximal release point and the distal release point, the diameter value D of the stent to be intervened is used as a reference value for calculating the diameter of the stent to be intervened _neck Taking the blood vessel length between the proximal release point and the distal release point as a reference value L for calculating the length of the stent to be intervened _neck ；

4. The method of claim 1, wherein the mesh display means that each point in the optimized parent artery centerline data is taken as a source point and an initial direction is taken along a tangential direction of a normal vector, intersection points with a stent simulation surface are calculated according to angle extension of 180/number of stent braided wires, and all intersection points are spirally braided together; each point in the central line data of the parent artery comprises N points before and after the current point on the central line of the parent artery, wherein the point with the homogenization point on the central line of the parent artery is taken as a scale, and the point where any scale is located is selected as the current point.

5. The method of claim 4, wherein the adherent display is a calculation of a distance dis between a point of the stent simulated surface and a vessel wall, and wherein the pseudo-color display is displayed adherent in an rgb color mode.

6. The method of claim 4, wherein the stent modeling surface is modeled according to velocity vector, time Δt, and growth distance position based on the aneurysm parameters and the parent artery parameters to obtain the stent modeling surface of the stent to be interposed; wherein the speed drops to 0 when a preset constraint is satisfied.

7. The method of claim 6, wherein the predetermined constraints include one or more of inflation detection, growth detection, stretch detection, collision detection, and plane detection.

8. An analog device, the device comprising:

The central line optimization module is used for optimizing the central line data of the aneurysm-carrying artery to obtain optimized central line data of the aneurysm-carrying artery, wherein the optimized central line of the aneurysm-carrying artery is a uniform central line; the uniform center line represents the center line data obtained by carrying out abnormal point screening, interpolation treatment, homogenization treatment, dilution and smoothing treatment on the center line data;

the display module is used for simulating the stent to be intervened to obtain at least one simulation effect of the display of the woven mesh, the display of the adherence, the display of the length, the metal coverage rate, the expansion coefficient, the angle change curve, the diameter change curve and the diameter of the metal wire; wherein the length is displayed as calculated from a proximal release point, calculating a distance L between a current point and a next point on the parent artery centerline; the near-end release point is a release point at one end, which is close to the heart, in the end point of the central line of the aneurysm-carrying arterial segment; the current point is a point which takes a near-end release point on the central line of the parent artery as a release starting point, takes a point on the central line of the parent artery as a scale along the initial direction, and selects a point where any scale is positioned as the current point; the next point is a point adjacent to the current point and corresponding to the scale; taking the current point and the next The radius of a point is added as the diameter D, and the length of the actual release of the blood flow guiding device is calculated as L by taking the current L and D as parameters _delta The method comprises the steps of carrying out a first treatment on the surface of the Accumulation calculation L _delta And L, when L _delta When the length of the blood flow guiding device is equal to that of the blood flow guiding device, the accumulated L is the length of the blood flow guiding device after being actually released, and the length is displayed.

9. The apparatus of claim 8, wherein the optimizing the parent artery centerline data to obtain optimized parent artery centerline data comprises:

homogenizing the second central line data to obtain third central line data;

diluting the third central line data to obtain fourth central line data;

10. The apparatus of claim 8, wherein the obtaining the stent model of the stent to be intervened and the release position of the stent to be intervened based on the aneurysm parameters, the parent artery parameters, and the optimized parent artery centerline data specifically comprises:

According to D _FD Calculating the L of the to-be-intervened stent of the first alternative model _neck Length after release L _RmpFD Taking the length closest to L after release _neck As the final length L _FD ；

11. The apparatus of claim 8, wherein the mesh display means that each point in the optimized parent artery centerline data is used as a source point to be an initial direction along a tangential direction of a normal vector, intersection points with a stent simulation surface are calculated according to angle extension of 180/number of stent braiding lines, and all intersection points are spirally braided together; each point in the central line data of the parent artery comprises N points before and after the current point on the central line of the parent artery, wherein the point with the homogenization point on the central line of the parent artery is taken as a scale, and the point where any scale is located is selected as the current point.

12. The apparatus of claim 11, wherein the adherent display is a calculation of a distance dis between a point of the stent simulated surface and a vessel wall, and wherein the pseudo-color display is displayed adherent in an rgb color mode.

13. The apparatus of claim 11, wherein the stent modeling surface is modeled according to velocity vector, time Δt, and growth distance position based on the aneurysm parameters and the parent artery parameters to obtain a stent modeling surface of the stent to be interposed; wherein the speed drops to 0 when a preset constraint is satisfied.

14. The apparatus of claim 13, wherein the predetermined constraints include one or more of inflation detection, growth detection, stretch detection, collision detection, and plane detection.

15. An electronic device, comprising:

at least one processor; the method comprises the steps of,

a memory communicatively coupled to the at least one processor; wherein,

simulating the stent to be intervened to obtain at least one simulation effect of a woven mesh display, an adherence display, a length display, a metal coverage rate, an expansion coefficient, an angle change curve, a diameter change curve and a metal wire diameter; wherein the length is displayed as calculated from a proximal release point, calculating a distance L between a current point and a next point on the parent artery centerline; the proximal release point is a tumor-bearing arterial segmentA release point at an end proximal to the heart; the current point is a point which takes a near-end release point on the central line of the parent artery as a release starting point, takes a point on the central line of the parent artery as a scale along the initial direction, and selects a point where any scale is positioned as the current point; the next point is a point adjacent to the current point and corresponding to the scale; taking the sum of the radii of the current point and the next point as a diameter D, and calculating the length of the actual release of the blood flow guiding device as L by taking the current L and the D as parameters _delta The method comprises the steps of carrying out a first treatment on the surface of the Accumulation calculation L _delta And L, when L _delta When the length of the blood flow guiding device is equal to that of the blood flow guiding device, the accumulated L is the length of the blood flow guiding device after being actually released, and the length is displayed.