CN114366295A - Microcatheter path generation method, shaping method of shaped needle, computer device, readable storage medium and program product - Google Patents
Microcatheter path generation method, shaping method of shaped needle, computer device, readable storage medium and program product Download PDFInfo
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Abstract
The present application relates to a microcatheter path generation method, a shaping method of a shaping needle, a computer device, a readable storage medium and a program product, comprising: obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle; continuously detecting by a detector from a starting point to an end point, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, forming a first detector by each candidate vector, moving the first detector by a preset step length by taking one of the candidate vectors of the first detector as a direction, and generating a second detector according to the direction of the first detector; and continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector to obtain the micro-catheter path. The application simulates the interaction with the vessel wall in the micro-catheter conveying process, and the obtained micro-catheter path meets the clinical requirement.
Description
Technical Field
The present application relates to the field of medical device technology, and in particular, to a method for generating a microcatheter path, a method for shaping a shaped needle, a computer device, a readable storage medium, and a program product.
Background
Intracranial aneurysm refers to abnormal bulging of the wall of an intracranial artery, with a prevalence of about 2%. The most common treatment for aneurysms today is coil embolization or stent-assisted coil embolization. During such procedures, the successful placement and stability of the microcatheter tip is critical to the successful performance of the procedure.
In order to ensure proper positioning and stability, the microcatheter tip is typically shaped. The traditional shaping step is that a metal shaping needle is inserted into the head end of a microcatheter, then the shaping needle is subjected to three-dimensional shaping according to the trend of a blood vessel and the included angle between the blood vessel and the growth direction of an aneurysm, then the shaping needle is subjected to steam fumigation, and then the shaping needle is cooled by normal saline.
However, traditional shaping techniques rely heavily on the rich knowledge and experience of the physician, with steeper learning curves for the elderly physicians, and higher failure rates for the patient, which increases the time and cost of the procedure.
Disclosure of Invention
In view of the above, it is necessary to provide a method for generating a microcatheter path.
The present application relates to a method for generating a microcatheter path, comprising:
obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
continuously detecting by a detector from the starting point to the ending point, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, forming a first detector by each candidate vector, moving the first detector by a preset step length by taking one of the candidate vectors of the first detector as a direction, and generating a second detector according to the direction of the first detector;
and continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector to obtain a micro-catheter path.
Optionally, the second detector is configured to detect continuously in a direction toward the aneurysm according to a generation manner of the first detector relative to the second detector, so as to obtain a microcatheter path, which specifically includes:
continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector;
monitoring the distance change between the current position of the detector and the demarcation point, stopping detection if the distance is increased, and taking the position of the detector when the calculation is stopped as a new demarcation point;
and performing curve interpolation between the new boundary point and the termination point, and combining detection paths of all the detectors to obtain a micro-catheter path.
Optionally, the generating a plurality of candidate vectors of unit length with the starting point as a vector starting point, each candidate vector forming a first detector, specifically includes:
obtaining a first detection vector, and generating a hemisphere with the radius as a unit length by taking the first detection vector as a polar axis;
fixing the starting point of the first detection vector, and performing discrete processing on the end point of the first detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a first detector.
Optionally, taking one of the candidate vectors of the first detector as a direction, specifically including:
and evaluating the potential energy of the first detector after moving towards all the candidate vectors, and selecting the direction with the smallest potential energy as the moving direction, wherein the potential energy comprises the space potential energy for judging whether the detector is positioned in the blood vessel.
Optionally, the potential energy further comprises collision potential energy
And/or bending potential
Wherein d is the modulus of the candidate vector, R is the radius of the microcatheter, and n is a positive integer;
Wherein alpha is an included angle between detection vectors of two adjacent detectors, and n is a positive integer.
Optionally, moving the first detector by a predetermined step length, and generating a second detector according to the orientation of the first detector, specifically including:
determining the direction as the direction of a second detection vector, and generating a hemisphere with the radius as unit length by taking the second detection vector as a polar axis;
fixing the starting point of the second detection vector, and performing discrete processing on the end point of the second detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a second detector.
The present application also provides a method of shaping a shaping needle, comprising:
obtaining a microcatheter pathway obtained by a microcatheter pathway generation method as described herein;
and carrying out micro-catheter overmoulding calculation on the micro-catheter path to obtain a shaping needle shape.
The present application also provides a computer device comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement the steps of the microcatheter path generation method described herein.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the microcatheter path generation method described herein.
The present application also provides a computer program product comprising computer instructions which, when executed by a processor, carry out the steps of the microcatheter path generation method described herein.
The micro-catheter path generation method has at least one of the following effects:
the micro-catheter path generation method utilizes a path detection technology, and continuously detects from the starting point to the end point through the detector, so that the interaction between the micro-catheter and the vessel wall in the conveying process is simulated, and the obtained micro-catheter path can meet the clinical requirement;
the shaping method of the shaping needle obtains the shape of the shaping needle by using the obtained micro-catheter path, and can be used for shaping the micro-catheter.
Drawings
FIG. 1 is a schematic flow chart of a method for generating a microcatheter path in one embodiment of the present application;
FIG. 2 is a schematic view of the microcatheter path and shaped needle shape obtained in an embodiment of the present application;
fig. 3 is an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The traditional micro-catheter shaping method has a steep learning curve and a long capability improvement period of doctors, and the result obtained by the existing micro-catheter auxiliary shaping method has high uncertainty, so that the clinical use is inconvenient.
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
To solve the above technical problem, referring to fig. 1, an embodiment of the present application provides a method for generating a micro-catheter path, including steps S100 to S300:
step S100, obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
step S100 specifically includes step S110 to step S130, where:
step S110, acquiring a medical image of an intracranial blood vessel, segmenting the medical image of the intracranial blood vessel by using a level set algorithm, and performing three-dimensional reconstruction on the image by using a marching cubes algorithm (MarchingCubes) to obtain an intracranial blood vessel model.
In step S120, an area with an aneurysm is extracted (i.e., region of interest extraction), and a centerline from the proximal vascular access to the aneurysm is generated. It will be understood that the path of the microcatheter to be created is within the vessel, with distal referring to the end of the vessel with the aneurysm relatively close to the aneurysm and proximal to the end relatively far from the aneurysm.
Step S130, selecting key points on the central line, where the key points include a proximal start point, a distal end point, and a middle boundary point. The demarcation point can be a point positioned at the position of the tumor neck, and can also be a point on the central line of a blood vessel at the near end of the tumor cavity, and is selected by a user.
Step S200, continuously detecting from the starting point to the end point through a detector; step S200 specifically includes steps S210 to 230:
the method for generating the microcatheter path in the present embodiment is based on a path detection technique, and performs virtual detection toward the distal end of the blood vessel by a detector. The detector is a virtual sphere, and the attached information comprises three-dimensional coordinates of a sphere center, candidate vectors, detection radius and potential energy. The detection radius may for example be equal to a modulus of the candidate vector. The poles of the hemisphere are located in the direction of the probe vector. For convenience of description, the embodiment of the present application names the initial detector as a detector number one, and the detection vector thereof is named as a first detection vector; the second detector is named detector number two, and its detection vector is named second detection vector. The first detector and the second detector can be understood as the position of the same detector at different times, and can also be understood as a newly generated detector.
Step S210, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, wherein each candidate vector forms a first detector;
the formation process of the first detector includes step S211 and step S212, in which: step S211, obtaining a first detection vector, and generating a hemisphere with the radius as the unit length by taking the first detection vector as a polar axis; step S212, fixing the starting point of the first detection vector, and performing discrete processing on the end point of the first detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a first detector.
The first probe vector may be part of a candidate vector. From the order of generation, each candidate vector is generated from the first probe vector. The magnitude and direction of the first probe vector can be freely specified. Specifically, the specification can be carried out in two ways: specified by the user in an interactive fashion, by any two points on the centerline (pointing from the opposite proximal end to the opposite distal end).
The discretization process may determine a discrete distance of the first detection vector end point in terms of latitude and longitude. For example: the pole (90 degrees in latitude) is a point (i.e., the end point of the first detection vector). Twelve points are scattered at positions of 60 °, 30 ° and 0 ° in latitude, respectively, every 30 ° in longitude, for a total of 37 points. Of course, discrete points may be encrypted or sparse, depending on computational efficiency requirements, and computational accuracy.
Step S220, moving the first detector by a preset step length by taking one candidate vector of the first detector as a direction, and generating a second detector according to the direction of the first detector;
the predetermined step size may be, for example, the detection radius of the detector. The second probe vector may be part of a candidate vector. The second detection vector has similar existence significance with the first detection vector, the second detection vector is used for the second detector, and the first detection vector is used for generating the first detector; but the two differ in the manner of obtaining them.
Step S220 specifically includes step S221 to step S222, in which: step S221, evaluating potential energy of the first detector after moving towards all candidate vectors, and selecting the direction with the minimum potential energy as the moving direction; determining the moving direction as the direction of a second detection vector, and generating a hemisphere with the radius as unit length by taking the second detection vector as a polar axis; step S222, fixing the starting point of the second detection vector, and performing discrete processing on the end point of the second detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a second detector.
The potential energy comprises space potential energy, collision potential energy and bending potential energy, and the calculation mode of the potential energy is the sum of the space potential energy, the collision potential energy and the bending potential energy.
Wherein:
the space potential energy is used for describing whether the detector is in the blood vessel, if the detector is positioned in the lumen of the blood vessel, the space potential energy is 0, otherwise, the space potential energy is 1. The formula of the space potential energy is as follows:
wherein:
representing the spatial potential energy.
The collision potential energy is used to describe the distance of the probe from the vessel wall. If the distance between the coordinate of the sphere center of the detector and the vessel wall is larger than the radius of the micro catheter, the collision potential energy is 0, otherwise, the collision potential energy is larger than 0. In this case, the collision potential energy is a function of the distance.
The formula of the collision potential energy can adopt a formula I or a formula II:
the formula I is as follows:
the formula II is as follows:
wherein;
is collision potential energy, d is detection radius, R is micro-catheter radius, and n is a positive integer. It can be understood that the formula one is different from the formula two, but the calculation of the collision potential can be realized.
The bending potential energy is used to describe the elastic energy generated by the bending of the microcatheter. When the bending angle of the micro-catheter is larger than 90 degrees, the potential energy is 1, and when the bending angle is smaller than 90 degrees, the potential energy is a function of the bending angle, and the formula of the bending potential energy can adopt a formula I or a formula II:
the formula I is as follows:
the formula II is as follows:
wherein the content of the first and second substances,
and alpha is an included angle between detection vectors of two adjacent detectors for bending potential energy, and n is a positive integer.
And step S300, continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector, and obtaining a micro-catheter path.
Specifically, the detection vectors of the subsequent detectors are determined by the candidate vector with the smallest potential energy of the previous detector, and the specific determination mode may refer to the generation mode of the second detector relative to the first detector.
Step S300 specifically includes step S310 and step S320, in which:
step S310, monitoring the distance change between the current position of the detector and the demarcation point, stopping detection if the distance is increased, and taking the position of the detector when the calculation is stopped as a new demarcation point;
it will be appreciated that as the probe progresses distally, its distance from the original demarcation point will gradually decrease. For example, the original dividing point is located at the tumor neck, and when the distance between the detector and the original dividing point is not decreased any more, no detection is needed.
Since the original demarcation point was initially selected on the centerline, the probe will eventually never reach exactly the location of the demarcation point, often on the vessel wall. The further advance is stopped when the probe is closest to the position of the demarcation point and the position of the probe (e.g. the centre of sphere coordinates) is taken as the new demarcation point.
And step S320, performing curve interpolation between the new boundary point and the termination point, and combining detection paths of all the detectors to obtain a micro-catheter path.
Depending on the path taken by the probe, the microcatheter path can be divided into a new vessel segment (the vessel segment after the probe has been offset) and a new extension segment. Wherein, a new blood vessel section in the normal blood vessel is arranged between the starting point and the new demarcation point, and specifically comprises a spherical center position passed by the detector; a new extending section from the end of the new blood vessel section to the interior of the tumor cavity is formed between the new boundary point and the termination point.
The curve interpolation may be, for example, curve interpolation between the new dividing point and the new ending point by using a bezier curve or other curves to obtain a new extension path. The curve interpolation can also be carried out from the sphere center of the detector before the new boundary point to the end point. The length of the curve interpolation may be, for example, the detection radius, and the curve interpolation must ensure that the slope of the microcatheter path is continuous.
And connecting the new blood vessel section and the new extension section, and performing path smoothing treatment on the new blood vessel section and the new extension section to obtain a final micro-catheter path.
The micro-catheter path generation method in the embodiment simulates the interaction between the micro-catheter and the blood vessel wall in the delivery process by using the path detection technology, so that the micro-catheter path meeting the clinical requirement can be obtained.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
An embodiment of the present application further provides a method of shaping a shaping needle. Namely, the method comprises a step S400 of performing micro-catheter overmoulding calculation on the micro-catheter path obtained in the previous embodiments to obtain the shape of the shaping needle.
The shaped needle shape obtained in this example can be used to shape a microcatheter. Specifically, the method includes steps 410 to 430. Wherein:
step S410, dividing the obtained micro-catheter path into a plurality of micro straight line segments;
step S420, calculating the included angle of any two adjacent straight line segments, and calculating the plastic angle by combining the inherent coefficient of resilience of the micro-catheter;
step S430, calculating the rotating shafts of any two adjacent straight line segments, and calculating the rotating matrix of each straight line segment according to the plastic coating angle and the rotating shafts; and sequentially rotating all the straight line segments by utilizing the rotation matrix to obtain the shape of the shaping needle.
It is understood that the method of shaping the needle is an application to the microcatheter path obtained in the various embodiments above. As shown in fig. 2, line a in fig. 2 is the resulting centerline, line B is the resulting microcatheter path, and line C is the resulting shaped needle shape.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device comprises a processor, a memory, a network interface and database, a display screen and an input device which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data in the steps of the microcatheter path generation method and during the shaping method of the shaping needle. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a microcatheter path generation method and/or a shaping method of a shaping needle.
The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, presents a three-dimensional visual effect, and can help a user to conveniently shape. The input device of the computer equipment can be a touch layer covered on a display screen, a key, a track ball or a touch pad arranged on a shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
The user can three-dimensionally render visualizations of the vessel model, the final path of the microcatheter, and the shaped needle shape on the computer device. The user can also carry out length and angle measurement to moulding needle or microcatheter to do benefit to the accurate moulding of microcatheter.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
step S100, obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
step S200, continuously detecting from the starting point to the end point through a detector;
step S210, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, wherein each candidate vector forms a first detector;
step S220, moving the first detector by a preset step length by taking one candidate vector of the first detector as a direction, and generating a second detector according to the direction of the first detector;
and step S300, continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector, and obtaining a micro-catheter path.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
step S100, obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
step S200, continuously detecting from the starting point to the end point through a detector;
step S210, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, wherein each candidate vector forms a first detector;
step S220, moving the first detector by a preset step length by taking one candidate vector of the first detector as a direction, and generating a second detector according to the direction of the first detector;
and step S300, continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector, and obtaining a micro-catheter path.
In one embodiment, a computer program product is provided comprising computer instructions which, when executed by a processor, perform the steps of:
step S100, obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
step S200, continuously detecting from the starting point to the end point through a detector;
step S210, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, wherein each candidate vector forms a first detector;
step S220, moving the first detector by a preset step length by taking one candidate vector of the first detector as a direction, and generating a second detector according to the direction of the first detector;
and step S300, continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector, and obtaining a micro-catheter path.
In this embodiment, the computer program product comprises program code portions for performing the steps of the microcatheter path generation method and/or the shaping method of the shaping needle in the embodiments of the present application when the computer program product is executed by one or more computing devices. The computer program product may be stored on a computer-readable recording medium. The computer program product may also be provided for downloading via a data network, e.g. via a RAN, via the internet and/or via an RBS. Alternatively or additionally, the method may be encoded in a Field Programmable Gate Array (FPGA) and/or an Application Specific Integrated Circuit (ASIC), or the functionality may be provided for downloading by means of a hardware description language.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The micro-catheter shaping scheme meeting clinical requirements can be quickly and accurately obtained according to the embodiments of the application, and the shape of the shaping needle can be obtained by performing simple interactive operation on automatic, real-time and accurate micro-catheter shaping auxiliary software. The method flattens the learning curve of the micro-catheter shaping, reduces the technical threshold of the micro-catheter shaping, reduces the operation difficulty, and improves the receiving and treating capacity of hospitals for patients with aneurysms; shortens the operation time, reduces the operation cost, relieves the pain of patients, and has remarkable clinical application value and wide market prospect.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of microcatheter path generation comprising:
obtaining an intracranial vascular model with aneurysm, generating a central line from a proximal vascular inlet to a distal aneurysm, and determining a starting point at the proximal end of the central line, a termination point at the distal end and a boundary point in the middle;
continuously detecting by a detector from the starting point to the ending point, generating a plurality of candidate vectors with unit length by taking the starting point as a vector starting point, forming a first detector by each candidate vector, moving the first detector by a preset step length by taking one of the candidate vectors of the first detector as a direction, and generating a second detector according to the direction of the first detector;
and continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector to obtain a micro-catheter path.
2. The method for generating a microcatheter path according to claim 1, wherein the microcatheter path is obtained by continuously detecting in the direction of the aneurysm according to the generation manner of the second probe with respect to the first probe, specifically comprising:
continuously detecting towards the direction of the aneurysm according to the generation mode of the second detector relative to the first detector;
monitoring the distance change between the current position of the detector and the demarcation point, stopping detection if the distance is increased, and taking the position of the detector when the calculation is stopped as a new demarcation point;
and performing curve interpolation between the new boundary point and the termination point, and combining detection paths of all the detectors to obtain a micro-catheter path.
3. The method of claim 1, wherein generating a number of candidate vectors of unit length with the starting point as a vector starting point, each candidate vector forming a probe number one, comprises:
obtaining a first detection vector, and generating a hemisphere with the radius as a unit length by taking the first detection vector as a polar axis;
fixing the starting point of the first detection vector, and performing discrete processing on the end point of the first detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a first detector.
4. The method of claim 1, wherein pointing to one of the candidate vectors of the probe number one, specifically comprises:
and evaluating the potential energy of the first detector after moving towards all the candidate vectors, and selecting the direction with the smallest potential energy as the moving direction, wherein the potential energy comprises the space potential energy for judging whether the detector is positioned in the blood vessel.
5. The microcatheter path generation method of claim 4, wherein the potential energy further comprises collision potential energy
And/or bending potential
Wherein d is the modulus of the candidate vector, R is the radius of the microcatheter, and n is a positive integer;
Wherein alpha is an included angle between detection vectors of two adjacent detectors, and n is a positive integer.
6. The method of claim 1, wherein moving the first probe by a predetermined step size and generating a second probe according to the orientation of the first probe comprises:
determining the direction as the direction of a second detection vector, and generating a hemisphere with the radius as unit length by taking the second detection vector as a polar axis;
fixing the starting point of the second detection vector, and performing discrete processing on the end point of the second detection vector on the surface of the hemisphere to obtain a plurality of candidate vectors, wherein each candidate vector forms a second detector.
7. A method of shaping a shaping needle, comprising:
obtaining a microcatheter path obtained by the microcatheter path generation method of claim 1;
and carrying out micro-catheter overmoulding calculation on the micro-catheter path to obtain a shaping needle shape.
8. Computer device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the microcatheter path generation method of any of claims 1 to 6.
9. Computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the micro-catheter path generation method according to any one of claims 1 to 6.
10. Computer program product comprising computer instructions, characterized in that the computer instructions, when executed by a processor, implement the steps of the microcatheter path generation method of any of claims 1 to 6.
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