CN117582242A - Coronary intervention operation imaging processing method and system - Google Patents
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Abstract
The application discloses a coronary intervention operation imaging processing method and system, which are characterized in that a coronary vessel real-time image of a target object is acquired; collecting heartbeat data and real-time respiration data of the target object; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same; processing the coronary real-time image to obtain the position of a shaking reference target in the coronary real-time image; controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time respiratory data; and continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary blood vessel is stable. In coronary intervention operation, the system automatically calculates and controls DSA to perform synchronous motion of heart part of patient according to real-time heartbeat and respiration of patient, so that DSA and heart of patient keep the same frequency and amplitude action, and the DSA and heart of patient are at relative rest, and a basically stable blood vessel image is presented on the image.
Description
Technical Field
The application relates to the technical field of imaging treatment of coronary intervention surgery, in particular to a method and a system for imaging treatment of coronary intervention surgery.
Background
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient.
However, in order to use an interventional procedure, DSA (digital angiography) is necessary, and the morphology of the blood vessel can be seen from the image of the DSA by injecting contrast medium into the coronary vessel. Because the heart is continuously beating and the human body is continuously breathing, coronary vessels under DSA images are continuously shaking images. When a doctor treats coronary blood vessels, the doctor needs to operate under the continuously swaying images, and the operation difficulty is high.
There are several problems with coronary interventional imaging: (1) In the operation process, because the heart continuously beats, the blood vessel image presented by the DSA also continuously shakes, eyes are required to be continuously adjusted to shake along with the image in the operation of doctors, and accurate positioning is difficult; (2) The continuous breathing action of the patient can also influence the position of the blood vessel image, the final image is the superposition effect of the breathing and the heartbeat, the breathing and the heartbeat cannot be constantly changed in the operation, the breathing and the heartbeat frequency of the patient can be randomly changed, and the breathing and the heartbeat frequency of the patient cannot be simply processed by a unified method; (3) In complex operations, a doctor needs to accurately judge the position, and the continuous shaking coronary vessel image can influence the operation of the doctor.
Disclosure of Invention
The application provides a coronary intervention operation imaging processing method and system, which aim to solve the problem that a blood vessel image presented by DSA in the prior art is continuously swayed and is difficult to accurately position.
In a first aspect, a method of imaging a coronary intervention procedure, the method comprising:
collecting a real-time coronary vessel image of a target object;
collecting heartbeat data and real-time respiration data of the target object; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
processing the coronary real-time image to obtain the position of a shaking reference target in the coronary real-time image;
controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time respiratory data;
and continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary blood vessel is stable.
In the above solution, optionally, the continuously feeding back the motion parameters of the DSA according to the shake reference target until the real-time image of the coronary vessel is stable includes:
judging whether the position of the shaking reference target in the coronary real-time image moves or not;
under the condition that the position of the shaking reference target moves in the coronary real-time image, feeding back the motion parameters of the DSA, and controlling the DSA to synchronously move along with the heartbeat data according to the motion parameters of the DSA;
and under the condition that the position of the shaking reference target does not move in the coronary real-time image, determining that the coronary real-time image is stable.
In the above solution, optionally, the collecting heartbeat data and real-time respiration data of the target object includes:
collecting heartbeat data and real-time breathing data of the target object through a plurality of electrode plates arranged on a target part of the target object;
and acquiring the heartbeat data and the real-time respiratory data acquired by the electrode slices through a monitor.
In the above scheme, optionally, the motion parameters of the DSA include a respiratory motion coefficient R, a respiratory motion amplitude H, a heartbeat motion coefficient P, and a heartbeat motion amplitude Q.
In the above solution, optionally, the controlling the DSA to move synchronously along with the heartbeat data according to the heartbeat data and the real-time respiratory data includes:
determining a maximum value X and a minimum value Y of the breathing data in the plurality of real-time breathing data in any preset period duration; the preset period duration comprises a plurality of acquisition moments, and each acquisition moment corresponds to one piece of real-time respiratory data;
determining a respiratory data correction value M at each acquisition moment according to the respiratory data maximum value X and the respiratory data minimum value Y;
determining the time E and the period time F in the heartbeat data of the preset period time and the maximum time G in the preset period time;
determining a heartbeat data correction value N of each acquisition time according to the time E, the period duration F and the maximum value time G;
determining a composite motion curve T according to the respiratory data correction value M and the heartbeat data correction value N;
determining motion data of a plurality of motors of the DSA according to the composite motion curve;
and controlling the motors to move according to the movement data of the motors so as to control the DSA to synchronously move along with the heartbeat data.
In the above solution, optionally, when the position of the shake reference target in the real-time image of the coronary vessel moves, feeding back a motion parameter of the DSA, and controlling the DSA to move synchronously along with the heartbeat data according to the motion parameter of the DSA, including:
setting the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q according to historical data;
determining coordinates of the shaking reference target at all moments according to the motion trail of the shaking reference target on the coronary real-time image;
determining a first change amplitude K of the shaking reference target according to the coordinates of the shaking reference target at each moment;
increasing the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q under the condition that the position of the shaking reference target moves in the coronary real-time image;
calculating a second change amplitude L of the shaking reference target after the DSA is controlled by a plurality of motors of the DSA to move according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P and the increased heartbeat motion amplitude Q;
reducing the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, and repeating the steps of calculating the second variation amplitude L of the sway reference target after the plurality of motors of the DSA control the DSA motion according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, if the second variation amplitude L is greater than or equal to the first variation amplitude K;
and under the condition that the second change amplitude L is smaller than the first change amplitude K, the breathing motion coefficient R after the increase, the breathing motion amplitude H after the increase, the heartbeat motion coefficient P after the increase and the heartbeat motion amplitude Q after the increase are increased again until the second change amplitude L is not reduced any more.
In the above aspect, optionally, after the motion parameters of the DSA are continuously fed back according to the shake reference target until the real-time image of the coronary vessel is stable, the method further includes:
judging whether the body position of the target object changes or not;
repeatedly executing the steps of processing the coronary real-time image to obtain the position of the shaking reference target in the coronary real-time image under the condition that the body position of the target object is changed;
and under the condition that the body position of the target object is not changed, completing the processing of the real-time image of the coronary blood vessel.
In a second aspect, a coronary intervention imaging processing system, the system comprising:
the system comprises: imaging equipment and monitoring equipment and DSA control device;
the imaging device includes a DSA and a catheter bed;
the monitoring device comprises a monitor and a plurality of electrode plates, wherein the electrode plates are connected with the monitor, and the monitor is connected with the DSA;
the DSA is used for acquiring a real-time image of a coronary vessel of a target object;
the monitor is used for collecting heartbeat data and real-time breathing data of the target object through the plurality of electrode slices; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
the DSA control device is used for processing the real-time coronary blood vessel image to obtain the position of a shaking reference target in the real-time coronary blood vessel image;
the DSA control device is used for controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time breathing data;
and the DSA control device is used for continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary vessel is stable.
In the above solution, the optional DSA control device is specifically configured to:
judging whether the position of the shaking reference target in the coronary real-time image moves or not;
under the condition that the position of the shaking reference target moves in the coronary real-time image, feeding back the motion parameters of the DSA, and controlling the DSA to synchronously move along with the heartbeat data according to the motion parameters of the DSA;
and under the condition that the position of the shaking reference target does not move in the coronary real-time image, determining that the coronary real-time image is stable.
The present application recognizes the problem of difficulty in accurate positioning due to the continuous shaking of the vessel images presented by the DSA of the prior art based on further analysis and study of the problems of the prior art. The method comprises the steps of acquiring a real-time coronary vessel image of a patient in real time through DSA, and positioning the head end position of a guide catheter in the real-time coronary vessel image; receiving real-time heartbeat data and real-time respiration data of the patient; calculating a motion instruction of the DSA following a cardiac cycle by analyzing real-time heartbeat data and real-time respiration data of the patient, and controlling the DSA to move so as to realize synchronous motion of the DSA and the heart of the patient; observing whether the leading catheter head moves in the real-time image of the coronary vessel of the patient; if the registration is not completed, the system continuously adjusts the parameters, and the motion action is changed after recalculation; if not, the registration is completed.
According to the method, in coronary intervention operation, according to the real-time heartbeat and respiration of a patient, the system automatically calculates and controls the DSA to perform synchronous movement of the heart part of the patient, so that the DSA and the heart of the patient keep the same frequency and amplitude action, the DSA and the heart of the patient are relatively static, and as a result, a basically stable blood vessel image can be presented on an image. Can facilitate the analysis and treatment of vascular diseases by doctors and improve the operation efficiency.
Drawings
FIG. 1 is a flow chart of a method for imaging coronary intervention according to one embodiment of the present disclosure;
FIG. 2 is a schematic overall flow chart of an imaging processing method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a DSA and a catheter bed structure provided in one embodiment of the present application;
FIG. 4 is a schematic diagram of a DSA motion control calculation flow provided in one embodiment of the present application;
FIG. 5 is a schematic diagram of an automatic variable parameter correction flow provided in one embodiment of the present application;
the reference numerals of the drawings are respectively expressed as:
101. DSA; 102. detecting a flat plate; 103. a catheter bed.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one embodiment, as shown in fig. 1-3, there is provided a coronary intervention imaging processing method comprising the steps of: collecting a real-time coronary vessel image of a target object;
collecting heartbeat data and real-time respiration data of the target object; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
processing the coronary real-time image to obtain the position of a shaking reference target in the coronary real-time image;
controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time respiratory data;
and continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary blood vessel is stable.
In the above solution, optionally, the continuously feeding back the motion parameters of the DSA according to the shake reference target until the real-time image of the coronary vessel is stable includes:
judging whether the position of the shaking reference target in the coronary real-time image moves or not;
under the condition that the position of the shaking reference target moves in the coronary real-time image, feeding back the motion parameters of the DSA, and controlling the DSA to synchronously move along with the heartbeat data according to the motion parameters of the DSA;
and under the condition that the position of the shaking reference target does not move in the coronary real-time image, determining that the coronary real-time image is stable.
In the above solution, optionally, the collecting heartbeat data and real-time respiration data of the target object includes:
collecting heartbeat data and real-time breathing data of the target object through a plurality of electrode plates arranged on a target part of the target object;
and acquiring the heartbeat data and the real-time respiratory data acquired by the electrode slices through a monitor.
In the above scheme, optionally, the motion parameters of the DSA include a respiratory motion coefficient R, a respiratory motion amplitude H, a heartbeat motion coefficient P, and a heartbeat motion amplitude Q.
In the above solution, optionally, the controlling the DSA to move synchronously along with the heartbeat data according to the heartbeat data and the real-time respiratory data includes:
determining a maximum value X and a minimum value Y of the breathing data in the plurality of real-time breathing data in any preset period duration; the preset period duration comprises a plurality of acquisition moments, and each acquisition moment corresponds to one piece of real-time respiratory data;
determining a respiratory data correction value M at each acquisition moment according to the respiratory data maximum value X and the respiratory data minimum value Y;
determining the time E and the period time F in the heartbeat data of the preset period time and the maximum time G in the preset period time;
determining a heartbeat data correction value N of each acquisition time according to the time E, the period duration F and the maximum value time G;
determining a composite motion curve T according to the respiratory data correction value M and the heartbeat data correction value N;
determining motion data of a plurality of motors of the DSA according to the composite motion curve;
and controlling the motors to move according to the movement data of the motors so as to control the DSA to synchronously move along with the heartbeat data.
In the above solution, optionally, when the position of the shake reference target in the real-time image of the coronary vessel moves, feeding back a motion parameter of the DSA, and controlling the DSA to move synchronously along with the heartbeat data according to the motion parameter of the DSA, including:
setting the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q according to historical data;
determining coordinates of the shaking reference target at all moments according to the motion trail of the shaking reference target on the coronary real-time image;
determining a first change amplitude K of the shaking reference target according to the coordinates of the shaking reference target at each moment;
increasing the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q under the condition that the position of the shaking reference target moves in the coronary real-time image;
calculating a second change amplitude L of the shaking reference target after the DSA is controlled by a plurality of motors of the DSA to move according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P and the increased heartbeat motion amplitude Q;
reducing the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, and repeating the steps of calculating the second variation amplitude L of the sway reference target after the plurality of motors of the DSA control the DSA motion according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, if the second variation amplitude L is greater than or equal to the first variation amplitude K;
and under the condition that the second change amplitude L is smaller than the first change amplitude K, the breathing motion coefficient R after the increase, the breathing motion amplitude H after the increase, the heartbeat motion coefficient P after the increase and the heartbeat motion amplitude Q after the increase are increased again until the second change amplitude L is not reduced any more.
In the above aspect, optionally, after the motion parameters of the DSA are continuously fed back according to the shake reference target until the real-time image of the coronary vessel is stable, the method further includes:
judging whether the body position of the target object changes or not;
repeatedly executing the steps of processing the coronary real-time image to obtain the position of the shaking reference target in the coronary real-time image under the condition that the body position of the target object is changed;
and under the condition that the body position of the target object is not changed, completing the processing of the real-time image of the coronary blood vessel.
In one embodiment, real-time images of a patient's coronary vessels are acquired in real-time by DSA, and a guide catheter tip location is located within the real-time images of the coronary vessels;
receiving real-time heartbeat data and real-time respiration data of the patient;
calculating a motion instruction of the DSA following a cardiac cycle by analyzing real-time heartbeat data and real-time respiration data of the patient, and controlling the DSA to move so as to realize synchronous motion of the DSA and the heart of the patient;
judging whether the head end of the guide catheter moves in the coronary real-time image or not;
under the condition that the head end of the guide catheter moves, determining that the registration is incomplete, continuously adjusting parameters, and changing motion actions after recalculating;
in the event that no movement of the guide catheter tip occurs, registration is determined to be complete.
In this embodiment, the receiving the real-time heartbeat data and the real-time respiratory data of the patient specifically includes:
a plurality of electrode plates are attached to the body of a patient before operation, and real-time heartbeat data and real-time breathing data of the patient are detected in real time.
In this embodiment, as shown in fig. 4, the calculating a motion instruction of the DSA following a cardiac cycle by analyzing real-time heartbeat data and real-time respiration data of the patient, and controlling the DSA to move so as to achieve synchronous motion of the DSA and the heart of the patient specifically includes:
finding the position of the head end of the guide catheter on the real-time image of the coronary vessel of the patient, and recording the position as coordinates (A, B);
recording the real-time respiratory data and the real-time heartbeat data as respiratory data C and heartbeat data D respectively, wherein the respiratory data C and the heartbeat data D use the same sampling frequency;
respiration and heartbeat are periodic movements, and are analyzed in each period, and 2 groups of data are respectively processed, specifically: finding out the maximum value X and the minimum value Y in a single period of respiratory data;
according to the first preset motion coefficient R and the amplitude H of respiratory motion, calculating a correction value,
using the formula correction value m= ((C-Y)/(X-Y))rh;
the formula shows that during respiration, respiration values at different moments change in amplitude H, and R represents a corrected proportionality coefficient;
finding out the time E, the period duration F and the maximum time G in the current period in the heartbeat data of a single period; according to a second preset motion coefficient P and a heartbeat motion amplitude Q;
calculating a correction value by using the formula correction value n= (|e-g|)/F) ×p×q;
the formula shows that in the heart skip process, the heart beat values at different moments change in amplitude Q, and P represents a corrected proportionality coefficient;
after the correction values of the two groups of data are calculated, merging is carried out according to the corresponding real-time to obtain a composite motion curve T=M+N;
based on the curve T of the compound motion, a motor motion executing instruction is calculated, and the corresponding motor is controlled to move according to the instruction so that the DSA synchronously follows the motion.
In this embodiment, as shown in fig. 5, after the DSA performs the synchronous following motion, whether the coordinates of the head end of the guiding catheter change is continuously detected;
if the balance weight is unchanged, finishing the balance weight; this is
And if the coordinates of the head end of the guide catheter change, carrying out parameter correction, wherein the correction method comprises the following steps: recording the motion trail of the head end of the guide catheter in the image before correction, calculating the change amplitude according to the trail, and marking the change amplitude as K;
the system corrects R, H, P, Q in sequence until the guiding catheter in the image is no longer changed; the target parameter correction method is the same, and specifically comprises the following steps: increasing the magnitude of a target parameter variable value, calculating a control instruction corresponding to a motor, observing the change amplitude L of the head end of the guide catheter after the motor controls the DSA to move, and comparing the magnitudes of L and K;
if L is larger than K, increasing the size of the target parameter variable value, modifying to reduce the size of the target parameter variable value, and returning to recalculation;
if L is smaller than K, continuing to increase the variable value until the L value is not reduced, judging whether the coordinates of the head end of the guide catheter are not changed any more, and if so, finishing registration correction; if the current variable value is changed, the current variable value is saved, and the next variable is corrected until the whole correction is completed.
In this embodiment, the method further includes:
continuously detecting whether the detected body position of the DSA changes, and if the detected body position of the DSA does not change, continuing to use the adjusted DSA movement state;
if the heart rate changes, calculating a motion instruction of the DSA following a cardiac cycle by analyzing the real-time heartbeat data and the real-time respiration data of the patient, and controlling the DSA to move so as to realize synchronous motion of the DSA and the heart of the patient;
observing whether the leading catheter head moves in the real-time image of the coronary vessel of the patient;
if the registration is not completed, the system continuously adjusts the parameters, and the motion action is changed after recalculation;
if not, the registration is completed.
As shown in fig. 1 and 2, in the overall flow and block diagram of the system, DSA101 and catheter bed 103 are placed in a catheter room and the patient is placed on catheter bed 103 for surgery. DSA101 may present an image of the blood vessels of the heart by detecting the passage of plate 102 and corresponding x-ray generator through the patient's heart, in conjunction with the injection of contrast media. The whole method comprises the following steps that firstly, a doctor hangs a guide catheter on a heart coronary artery, a plurality of electrode plates are attached to the body of a patient before operation, and real-time heartbeat data and breathing data of the patient can be detected in real time. The monitors for detecting the data need to be connected with a control host of the DSA equipment before operation, and the monitors are used for ensuring that the DSA system can acquire real-time data detected by the monitors in real time. The DSA may acquire real-time images of the patient after x-rays are emitted and the system may be positioned to the location of the guide catheter tip by image recognition. The system calculates the motion instruction of the DSA following the cardiac cycle by analyzing the heartbeat and respiration data, and controls the DSA to move so as to realize synchronous motion with the heart of the patient. And observing whether the head end of the guide catheter moves in the real-time image or not, and judging whether the calibration is finished or not. If the motion is still in progress, the system will continue to adjust the parameters, recalculate, and change the motion. If the guide catheter tip is found not to move any more, the registration is deemed complete and the physician may continue with the follow-up procedure. The system will then detect if the detected position of the DSA has changed and if not, will continue to use the adjusted DSA motion state. If a change occurs, the system will return to the beginning of the flow and resume the calculation.
As shown in fig. 2 and 3, in the overall flow and block diagram, DSA101 and catheter bed 103 are placed in a catheter room and a patient is placed on catheter bed 103 for surgery. DSA101 may present an image of the blood vessels of the heart by detecting the passage of plate 102 and corresponding x-ray generator through the patient's heart, in conjunction with the injection of contrast media. The whole method comprises the following steps that firstly, a doctor hangs a guide catheter on a heart coronary artery, a plurality of electrode plates are attached to the body of a patient before operation, and real-time heartbeat data and breathing data of the patient can be detected in real time. The monitors for detecting the data need to be connected with a control host of the DSA equipment before operation, and the monitors are used for ensuring that the DSA system can acquire real-time data detected by the monitors in real time. The DSA may acquire real-time images of the patient after x-rays are emitted and the system may be positioned to the location of the guide catheter tip by image recognition. The system calculates the motion instruction of the DSA following the cardiac cycle by analyzing the heartbeat and respiration data, and controls the DSA to move so as to realize synchronous motion with the heart of the patient. And observing whether the head end of the guide catheter moves in the real-time image or not, and judging whether the calibration is finished or not. If the motion is still in progress, the system will continue to adjust the parameters, recalculate, and change the motion. If the guide catheter tip is found not to move any more, the registration is deemed complete and the physician may continue with the follow-up procedure. The system will then detect if the detected position of the DSA has changed and if not, will continue to use the adjusted DSA motion state. If a change occurs, the system will return to the beginning of the flow and resume the calculation.
In one embodiment, as shown in fig. 4 and 5, in the DSA motion control algorithm, the position of the guide catheter tip is first found on the image and recorded as coordinates (a, B). And collecting respiratory data and heartbeat data of the patient from the electrode slice in real time, and recording the respiratory data and the heartbeat data as C and D respectively. Breathing and heartbeat are both periodic movements, and the system will analyze each cycle to process 2 sets of data separately. The same sampling frequency is used for the respiratory data C and the heartbeat data D, so that the data can be corresponding in real time. In the breathing data of a single period, the maximum value X and the minimum value Y in the period are found. The system empirically sets the motion factor R and the amplitude H of the respiratory motion. The system performs a correction calculation using the formula correction m= ((C-Y)/(X-Y))rh. The formula shows that during breathing, the breathing values at different moments in time vary in amplitude H, R representing the corrected scaling factor. And finding out the time E, the period duration F and the maximum time G in the current period in the heartbeat data of a single period. The system empirically sets the motion coefficient P and the amplitude Q of the heart beat motion. The system performs the calculation of the correction value using the formula correction value n= (|e-g|)/F) ×p×q. The formula shows that during a heart skip, the heart beat values at different moments vary in amplitude Q, P representing the modified scaling factor. After calculating the correction values of the two sets of data, they are combined according to the corresponding real-time to obtain a composite motion curve t=m+n. Based on the curve T of the compound motion, a motor motion executing instruction is calculated, and then the corresponding motor is controlled to move according to the instruction. After the DSA performs the synchronous following motion, the system also continuously detects whether the coordinates of the guide catheter head end change. If no change occurs, indicating that the system has been weighted, the physician may be prompted to complete the initial registration and a subsequent surgical procedure may be performed. If the coordinates of the guide catheter head end change, the system weight is not completed. At this time, the system needs to perform parameter correction, and the registration requirement is satisfied. The correction method is that firstly, the motion trail of the head end of the guide catheter in the image before correction is recorded by the system, and the change amplitude value is calculated according to the trail and is marked as K. The system sets 4 variable parameter values, R, H, P, Q respectively, which the system will correct in turn until it is reached that the guide catheter in the image is no longer changing. The correction method for each parameter is substantially the same and the system will start with the first parameter. And (3) increasing the variable value, calculating a control instruction corresponding to the motor, and observing the change amplitude L of the head end of the guide catheter after the motor controls the DSA to move, and comparing the magnitudes of L and K. If L is greater than K, indicating that increasing the variable is the wrong direction, the variable value size will be increased, modified to decrease the variable value size, and recalculated back. If L is less than K, indicating that increasing the variable is in the correct direction, increasing the variable value continues until the L value is no longer decreasing. And judging whether the coordinates of the head end of the guide catheter are no longer changed, and if so, finishing registration correction. If the current variable value is still changing, the current variable value is saved, the next variable is ready to be corrected, and the recalculation is returned. And so on until after the global correction is completed.
The embodiment provides an imaging processing method for coronary intervention operation, which aims to solve the problems that a coronary vessel image presented by DSA (digital subscriber array) continuously swings, a doctor needs eyes to continuously adjust and follow the image to swing, accurate positioning is difficult, the vessel image swing is unobvious, the operation of the doctor is interfered and the like in the coronary intervention clinical operation at the present stage.
According to the method, the DSA automatically follows the synchronous motion of the heart of the patient, so that the coronary blood vessel can be processed in a relatively static state on the image, the blood vessel can be more conveniently watched by a doctor, more accurate operation of a guide wire catheter and the like in the coronary blood vessel can be facilitated for the doctor, the difficulty of manually carrying out image dynamic matching by eyes before the doctor is reduced, and the operation efficiency is improved.
The DSA and the monitoring equipment attached to the patient are used for data matching, so that the DSA can acquire the motion information of the patient in real time. The problem that images cannot be matched after the heartbeat and the breath of a patient are randomly changed in the operation process is effectively solved, the DSA can be adjusted in motion at any time according to real-time data, and the coronary blood vessel can be ensured to be always kept in a static state in the whole operation process.
The DSA performs motion control calculation, the whole process is automatic, a doctor does not need to perform additional operation, the system can be normally used after finishing picture registration by waiting for a few seconds in operation, the operation and the application in clinic are very convenient, and the accurate positioning of a guide wire catheter and the like in the coronary blood vessel can be effectively helped by the doctor after the coronary blood vessel is relatively stationary, so that the success rate of the operation is improved.
In one embodiment, there is provided a coronary intervention imaging processing system, the system comprising: imaging equipment and monitoring equipment and DSA control device;
the imaging device includes a DSA and a catheter bed;
the monitoring device comprises a monitor and a plurality of electrode plates, wherein the electrode plates are connected with the monitor, and the monitor is connected with the DSA;
the DSA is used for acquiring a real-time image of a coronary vessel of a target object;
the monitor is used for collecting heartbeat data and real-time breathing data of the target object through the plurality of electrode slices; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
the DSA control device is used for processing the real-time coronary blood vessel image to obtain the position of a shaking reference target in the real-time coronary blood vessel image;
the DSA control device is used for controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time breathing data;
and the DSA control device is used for continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary vessel is stable.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Claims (9)
1. A method of imaging treatment for coronary intervention, the method comprising:
collecting a real-time coronary vessel image of a target object;
collecting heartbeat data and real-time respiration data of the target object; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
processing the coronary real-time image to obtain the position of a shaking reference target in the coronary real-time image;
controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time respiratory data;
and continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary blood vessel is stable.
2. The method of claim 1, wherein the continuously feeding back the motion parameters of the DSA according to the sloshing reference target until the real-time image of the coronary vessel is stable, comprises:
judging whether the position of the shaking reference target in the coronary real-time image moves or not;
under the condition that the position of the shaking reference target moves in the coronary real-time image, feeding back the motion parameters of the DSA, and controlling the DSA to synchronously move along with the heartbeat data according to the motion parameters of the DSA;
and under the condition that the position of the shaking reference target does not move in the coronary real-time image, determining that the coronary real-time image is stable.
3. The method of claim 1, wherein the acquiring heartbeat data and real-time respiration data of the target subject comprises:
collecting heartbeat data and real-time breathing data of the target object through a plurality of electrode plates arranged on a target part of the target object;
and acquiring the heartbeat data and the real-time respiratory data acquired by the electrode slices through a monitor.
4. The method of claim 1, wherein the motion parameters of the DSA include a respiratory motion coefficient R, a respiratory motion amplitude H, a heartbeat motion coefficient P, and a heartbeat motion amplitude Q.
5. The method of claim 4, wherein controlling the DSA to follow the heartbeat data in synchrony based on the heartbeat data and the real-time respiration data comprises:
determining a maximum value X and a minimum value Y of the breathing data in the plurality of real-time breathing data in any preset period duration; the preset period duration comprises a plurality of acquisition moments, and each acquisition moment corresponds to one piece of real-time respiratory data;
determining a respiratory data correction value M at each acquisition moment according to the respiratory data maximum value X and the respiratory data minimum value Y;
determining the time E and the period time F in the heartbeat data of the preset period time and the maximum time G in the preset period time;
determining a heartbeat data correction value N of each acquisition time according to the time E, the period duration F and the maximum value time G;
determining a composite motion curve T according to the respiratory data correction value M and the heartbeat data correction value N;
determining motion data of a plurality of motors of the DSA according to the composite motion curve;
and controlling the motors to move according to the movement data of the motors so as to control the DSA to synchronously move along with the heartbeat data.
6. The method of claim 4, wherein feeding back the motion parameters of the DSA in the case that the position of the sloshing reference target in the coronary real-time image moves, and controlling the DSA to move synchronously with the heartbeat data according to the motion parameters of the DSA, comprises:
setting the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q according to historical data;
determining coordinates of the shaking reference target at all moments according to the motion trail of the shaking reference target on the coronary real-time image;
determining a first change amplitude K of the shaking reference target according to the coordinates of the shaking reference target at each moment;
increasing the respiratory motion coefficient R, the respiratory motion amplitude H, the heartbeat motion coefficient P and the heartbeat motion amplitude Q under the condition that the position of the shaking reference target moves in the coronary real-time image;
calculating a second change amplitude L of the shaking reference target after the DSA is controlled by a plurality of motors of the DSA to move according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P and the increased heartbeat motion amplitude Q;
reducing the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, and repeating the steps of calculating the second variation amplitude L of the sway reference target after the plurality of motors of the DSA control the DSA motion according to the increased respiratory motion coefficient R, the increased respiratory motion amplitude H, the increased heartbeat motion coefficient P, and the increased heartbeat motion amplitude Q, if the second variation amplitude L is greater than or equal to the first variation amplitude K;
and under the condition that the second change amplitude L is smaller than the first change amplitude K, the breathing motion coefficient R after the increase, the breathing motion amplitude H after the increase, the heartbeat motion coefficient P after the increase and the heartbeat motion amplitude Q after the increase are increased again until the second change amplitude L is not reduced any more.
7. The method of claim 1, wherein after said continuously feeding back the motion parameters of the DSA according to the sloshing reference target until the real-time image of the coronary vessel stabilizes, the method further comprises:
judging whether the body position of the target object changes or not;
repeatedly executing the steps of processing the coronary real-time image to obtain the position of the shaking reference target in the coronary real-time image under the condition that the body position of the target object is changed;
and under the condition that the body position of the target object is not changed, completing the processing of the real-time image of the coronary blood vessel.
8. A coronary intervention imaging processing system, the system comprising: imaging equipment and monitoring equipment and DSA control device;
the imaging device includes a DSA and a catheter bed;
the monitoring device comprises a monitor and a plurality of electrode plates, wherein the electrode plates are connected with the monitor, and the monitor is connected with the DSA;
the DSA is used for acquiring a real-time image of a coronary vessel of a target object;
the monitor is used for collecting heartbeat data and real-time breathing data of the target object through the plurality of electrode slices; wherein the sampling frequency of the heartbeat data and the real-time respiration data is the same;
the DSA control device is used for processing the real-time coronary blood vessel image to obtain the position of a shaking reference target in the real-time coronary blood vessel image;
the DSA control device is used for controlling DSA to synchronously move along with the heartbeat data according to the heartbeat data and the real-time breathing data;
and the DSA control device is used for continuously feeding back the motion parameters of the DSA according to the shaking reference target until the real-time image of the coronary vessel is stable.
9. The system of claim 8, wherein the DSA control device is specifically configured to:
judging whether the position of the shaking reference target in the coronary real-time image moves or not;
under the condition that the position of the shaking reference target moves in the coronary real-time image, feeding back the motion parameters of the DSA, and controlling the DSA to synchronously move along with the heartbeat data according to the motion parameters of the DSA;
and under the condition that the position of the shaking reference target does not move in the coronary real-time image, determining that the coronary real-time image is stable.
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