KR20240003038A - Method and device to decide shape of guidewire tip - Google Patents

Abstract

An apparatus for determining the shape of a guidewire tip according to an embodiment includes an image acquisition unit that acquires a target medical image representing a blood vessel of a target patient; Memory storing computer-executable instructions; a display electrically connected to the processor; And the target medical image from a plurality of previous procedure data including the shape of the guidewire tip used in each procedure and the morphological index data of blood vessels obtained from previous medical images of the patient on whom the procedure was performed. Determine one or more candidate shapes for the guide wire tip using the morphological index data of the blood vessel obtained based on the determined one or more candidate shapes of the guide wire tip for vascular procedures of the target patient. It may include a processor that determines the shape and presents the determined shape of the guide wire tip through the display.

Description

Method and device for determining the shape of a guidewire tip {METHOD AND DEVICE TO DECIDE SHAPE OF GUIDEWIRE TIP}

Hereinafter, technology regarding a guidewire tip forming guide method and device using a library is provided.

When treating cardiovascular, cerebrovascular, and peripheral blood vessels, interventional procedures that involve inserting stents using catheters are widely used. The guide wire may represent a medical wire used to insert and guide the above-mentioned medical tool to the target area of the blood vessel, and is a tool for setting a path to transfer a stent, etc. into the blood vessel by passing through the catheter. The guide wire is used to prevent disease. In order to transport to the end of a blood vessel, visual information based on medical images such as angiography and tactile information based on fine hand sensations are used.

Recently, remote robots have been developed to reduce the physical burden of the operator, such as radiation exposure, and to precisely control surgical tools. Surgical robots have passed the FDA and are being commercialized, but learning to adapt to new tools is required to perform simple surgical operations. Robots are increasingly performing functions such as moving the guide wire backwards or rotating it at a certain angle, even if the user does not perform the relevant movements themselves, but their proportion in the procedure is small.

The background technology described above is possessed or acquired by the inventor in the process of deriving the disclosure of the present application, and cannot necessarily be said to be known technology disclosed to the general public before this application.

An apparatus for determining the shape of a guidewire tip according to an embodiment includes an image acquisition unit that acquires a target medical image representing a blood vessel of a target patient; Memory storing computer-executable instructions; a display electrically connected to the processor; And the target medical image from a plurality of previous procedure data including the shape of the guidewire tip used in each procedure and the morphological index data of blood vessels obtained from previous medical images of the patient on whom the procedure was performed. Determine one or more candidate shapes for the guide wire tip using the morphological index data of the blood vessel obtained based on the determined one or more candidate shapes of the guide wire tip for vascular procedures of the target patient. It may include a processor that determines the shape and presents the determined shape of the guide wire tip through the display.

The processor calculates the morphological index data from the target medical image of the target patient, and selects a region of interest (ROI) in the blood vessel based on at least one of blood vessel information, lesion information, branch information, or stent information. interest), extract some data corresponding to the region of interest from the calculated morphological index data, and use the extracted partial data to match the procedure of the target patient among a plurality of previous procedure data. You can search data.

The processor calculates a first score by applying a weight to a partial matching score between values corresponding to the region of interest in the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data, A second score is calculated by applying a weight to a partial matching score between values corresponding to a region including the region of interest and another region in the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data. And, the matching score can be calculated based on the first score and the second score.

The processor may calculate the matching score based on at least one of the gender, age, or medical history of the target patient and the patient on whom the procedure was performed.

The processor determines the deformed portion (portion) of the guide wire tip used in the previous procedure data corresponding to the determined shape, the angle at which the guide wire tip is deformed at the portion, or the deformed portion at the guide wire tip. At least one of the curvatures can be presented.

The processor displays a blood vessel area of the target patient in the target medical image and outputs navigation information that guides the path along which the guidewire tip having the determined shape should move in the blood vessel area during the procedure. can do.

When there are a plurality of parts requiring molding in the determined shape, the processor may individually provide a molding process required for each of the plurality of parts.

The processor outputs a pressing depth for manufacturing the determined shape in the forming process, based on the plurality of parts requiring forming, and adjusts the moving speed and number of repetitions of the forming tool based on the forming process. Can be printed.

Based on the procedure, the processor additionally targets at least one of transfer information or angiography (CAG, Cardiac Angiography) angle frequency from the point where the guide wire is inserted into the blood vessel of the target patient to the target point. It can be output along with blood vessel images.

The processor determines a plurality of shapes for the guidewire tip for vascular surgery of the target patient based on the determined one or more candidate shapes, and combines the determined plurality of shapes based on the matching score to create a new shape. can be presented.

A method of determining the shape of a guidewire tip implemented with a processor according to an embodiment includes the steps of acquiring a target medical image representing blood vessels of a target patient; Obtained based on the target medical image from a plurality of previous procedure data including the shape of the guidewire tip used in each procedure and the morphological index data of blood vessels obtained from previous medical images of the patient on whom the procedure was performed. determining one or more candidate shapes for the guidewire tip using morphological index data of blood vessels; determining a shape of the guidewire tip for vascular surgery of the target patient based on the determined one or more candidate shapes; And it may include presenting the determined shape of the guide wire tip through the display.

Figure 1 is a diagram illustrating a device for determining the shape of a guidewire tip according to one embodiment.
Figure 2 is a flowchart illustrating a method of determining the shape of a guidewire tip based on previous procedure data according to one embodiment.
FIG. 3 is a diagram illustrating calculating morphological index data from a blood vessel image according to an embodiment.
Figure 4 is a flowchart illustrating a method of extracting some data corresponding to a region of interest from morphological indicator data according to an embodiment.
FIG. 5 is a diagram illustrating a method of extracting some data corresponding to a region of interest from morphological index data according to an embodiment.
Figure 6 is a diagram illustrating a method of calculating a matching score according to one embodiment.
Figure 7 is a flowchart illustrating a method of calculating a matching score by applying a weight to a partial matching score according to an embodiment.
FIG. 8 is a diagram illustrating display of procedure information by an electronic device according to an embodiment.
Figure 9 is a diagram showing the determined shape of a guidewire tip according to one embodiment.
FIG. 10 is a diagram illustrating navigation that guides a path along which a guide wire determined according to an embodiment should be moved in a blood vessel area.
Figure 11 is a diagram showing the forming process of a guide wire tip according to one embodiment.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be changed and implemented in various forms. Accordingly, the actual implementation form is not limited to the specific disclosed embodiments, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Terms such as first or second may be used to describe various components, but these terms should be interpreted only for the purpose of distinguishing one component from another component. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being “connected” to another component, it should be understood that it may be directly connected or connected to the other component, but that other components may exist in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to designate the presence of the described features, numbers, steps, operations, components, parts, or combinations thereof, and are intended to indicate the presence of one or more other features or numbers, It should be understood that this does not exclude in advance the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

As used herein, “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “A Each of phrases such as “at least one of , B, or C” may include any one of the items listed together in the corresponding phrase, or any possible combination thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms as defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings they have in the context of the related technology, and unless clearly defined in this specification, should not be interpreted in an idealized or overly formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the accompanying drawings, identical components will be assigned the same reference numerals regardless of the reference numerals, and overlapping descriptions thereof will be omitted.

1 shows an apparatus for determining the shape of a guidewire tip according to one embodiment.

The electronic device 100 according to one embodiment may determine the shape of the guidewire tip to be used in the procedure. The electronic device 100 may also be referred to as a device for determining the shape of a guide wire tip. The electronic device 100 may determine the shape of the guidewire tip based on medical images of the patient's blood vessels. The electronic device 100 may include an image acquisition unit 110, a memory 120, a processor 130, and a display 140.

The image acquisition unit 110 may acquire the medical image 114. In this specification, an example in which the medical image 114 is an image of a blood vessel of a target object (e.g., a target patient 112) is mainly described, and the medical image 114 related to blood vessels may also be referred to as a blood vessel image. .

For example, the image acquisition unit 110 may capture a medical image 114. The image acquisition unit 110 may include X-ray imaging equipment. The image acquisition unit 110 may capture a medical image 114 (eg, an X-ray-based CAG image) through X-ray-based coronary angiography (CAG). For imaging blood vessels, a contrast agent may be injected into the blood vessels of the target patient 112, and the blood vessels of the target patient 112 may be imaged while the contrast agent is maintained. The medical image 114 may include frame images captured of the patient in a plurality of consecutive frames. For reference, an example in which the image acquisition unit 110 captures the medical image 114 using X-ray imaging equipment has been described, but it is not limited to this. For another example, the image acquisition unit 110 may include a communication module for wired communication and/or wireless communication. The image acquisition unit 110 may receive a blood vessel image from an external imaging device through a communication module.

Memory 120 may temporarily and/or permanently store various data and/or information required to determine the shape of the guidewire tip. For example, the memory 120 may store at least one of the medical image 114, a procedure library, navigation information, a candidate shape, or a determined shape.

The processor 130 may determine the shape of a guidewire tip to be recommended for a procedure on a target patient based on a procedure record having a morphological index similar to the medical image 114 in the procedure library. Processor 130 may execute software and control at least one other component (eg, hardware or software component) connected to processor 130. The processor 130 may also perform various data processing or operations. For example, the processor 130 may store the medical image 114 received from the image acquisition unit 110 in the memory 120 . The processor 130 may output the shape of the tip determined for the medical image 114 through the display 140 as result data using a method for determining the shape of the guidewire tip, which will be described later.

The display 140 can visually provide the user with information 142 about the procedure and the shape of the guidewire tip recommended for the procedure. The display 140 can visually output at least one of the medical image 114, a recommended candidate shape of the guidewire tip for the target patient's procedure, a determined shape of the guidewire tip, navigation information, or a method of shaping the guidewire tip. You can. For example, the display 140 may include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of force generated by the touch. However, it is not limited thereto, and the display 140 may include, for example, a display, a hologram device, or a projector, and a control circuit for controlling the device.

Figure 2 is a flowchart illustrating a method of determining the shape of a guidewire tip based on previous procedure data according to one embodiment.

In step 210, an electronic device (eg, the electronic device 100 of FIG. 1) may acquire a target medical image representing blood vessels of a target patient. A bifurcation and/or lesion may be located in a blood vessel of a target patient included in a medical image. As will be described later, the bifurcation area containing the bifurcation point of the blood vessel and the lesion area containing the lesion may require direction control of the guide wire, so they are used as a standard for setting the area of interest. Alternatively, it can be set as an area of interest.

In step 220, the electronic device may calculate morphological index data of the blood vessel of the target patient from the target medical image (eg, medical image 114 of FIG. 1) of the target patient. The electronic device may calculate morphological index data based on the target medical image of the target patient.

Morphological index data may be data representing a value according to an index representing the shape of a blood vessel (e.g., a morphological index). For example, the morphological index is at least one of the diameter of the vessel in question (e.g., vessel width), the angle between the major vessel and branched vessels in the branching area (hereinafter referred to as branch angle), or the point-specific curvature of the vessel. can represent. Morphological index data may include values for each point within a blood vessel (e.g., diameter value or curvature value) along the corresponding morphological index. For example, morphological index data may be data including the diameter value of a blood vessel at points spaced a certain length along the center line of the blood vessel from a reference location (eg, coronary artery inlet). Morphological index data including the diameter value of blood vessels at each point can also be expressed as a blood vessel diameter profile. However, the morphological indicators and morphological indicator data are not limited to the above, and various morphological indicators, such as curvature representing the morphological characteristics of blood vessels, and morphological indicator data with values according to the morphological indicators may be used. there is. For example, the morphological index data may include at least one of the angle value between the main blood vessel and the branched blood vessel at the branch point or the angle value between the branched blood vessels for each branch point.

In step 230, the electronic device may determine one or more candidate shapes for the guidewire tip corresponding to morphological index data of the target patient's blood vessel, based on a plurality of previous procedure data. The plurality of previous procedure data may include the shape of a guidewire tip used in the previous procedure, a medical image, and morphological index data of the medical image. The procedure library may include a plurality of previous procedure data regarding the performance of the same or similar procedure as the procedure to be performed on the target patient. The morphological index data of each previous procedure data may be calculated in advance before acquiring the medical image in step 210. One or more candidate shapes are candidates for shapes recommended for a procedure to be performed on a target patient, and may be determined based on a comparison of morphological index data of the target patient and morphological index data of a plurality of previous procedure data. For example, the electronic device may provide one or more candidates through the results of comparing the diameter value or branch angle value of the target patient's blood vessel to the corresponding morphological index data (e.g., diameter value or branch angle value) from a plurality of previous procedure data. The shape can be determined.

Additionally, a plurality of previous procedure data stored in the procedure library may be classified into a plurality of groups. Each group may include previous procedure data with the same or similar morphological index values (e.g., diameter values or branch angle values). For example, each group may be clustered to include previous procedure data in which the difference between morphological index values is less than a threshold value.

In step 240, the electronic device may determine the shape of the guidewire tip required for the treatment of the target patient based on one or more determined candidate shapes. For example, the electronic device may determine one shape among the one or more determined candidate shapes as the shape of the guidewire tip. The electronic device may select the shape of the previous procedure data with the highest matching score from the comparison results between the morphological index of the target patient and the previous procedure data. However, the operation of determining the shape of the guidewire tip is not limited to the above-mentioned, and the electronic device may determine the shape of the guidewire tip based on a combination of one or more candidate shapes.

FIG. 3 is a diagram illustrating calculating morphological index data from a blood vessel image according to an embodiment.

An electronic device (eg, the electronic device 100 of FIG. 1) may identify the boundary 310 between the blood vessel area and the remaining area. The electronic device may identify the boundary 310 between the blood vessel area and the remaining area based on the medical image 300.

For example, the electronic device may extract the boundary 310 between the blood vessel area and the remaining area using a machine learning model from each frame of the medical image. The machine learning model is a model designed to output pixels corresponding to the boundary 310 among the pixels of the frame image, and may include a neural network (e.g., deep neural network (DNN)) as an example, but is not limited to this. no. For another example, the electronic device may calculate an edge based on a gradient value for each pixel of a medical image and identify the boundary 310 based on the calculated edge.

Additionally, the electronic device may extract an extension line 320 that extends the center line of one vessel branch of the blood vessel region. The electronic device can extract an extension line 330 that extends the center line of another blood vessel branch where the guide wire will not be transported. A vascular branch may refer to a blood vessel branching off from a main blood vessel at a bifurcation point. Other blood vessels may represent vessels that the guidewire has not or will not pass through. The extension line 320 extending the center line of one blood vessel branch and the extension line 330 extending the center line of another blood vessel branch are located at points (e.g., center points) that are the center of the corresponding blood vessel along the longitudinal direction of the corresponding blood vessel. It can represent connected lines.

As described above, the morphological index data may exemplarily include a diameter value 340 or a branch angle value 350 of a target patient's blood vessel. The diameter value 340 of the target patient's blood vessel may represent the inner diameter through which blood flow can flow in the blood vessel. However, in this specification, for convenience of explanation, it is mainly described as diameter, but it is not limited to this and may also be expressed as the width of the blood vessel. In the branch area of the target patient's blood vessel, the branch angle value 350 may be an angle value between the main blood vessel and a blood vessel branch or an angle value between blood vessel branches. In the example shown in FIG. 3, the branch angle value 350 is formed between the extension line 320 and the extension line 330. It can be an angle value.

Figure 4 is a flowchart illustrating a method of extracting some data corresponding to a region of interest from morphological indicator data according to an embodiment.

In step 410, the electronic device (e.g., the electronic device 100 of FIG. 1) identifies the target patient based on at least one of the target patient's blood vessel information, lesion information, branch information, or stent information to be used in the target patient's procedure. You can set a region of interest (ROI) in the blood vessels.

Blood vessel information may indicate the type of blood vessel of the target patient, the number of lesions in the blood vessel, or whether the blood vessel is occluded. The lesion information may indicate the location, degree of stenosis, composition, thickness, size, or length of the lesion. Branching information may indicate whether there is a branching lesion, the branching angle value, or the number of branches. Stent information may indicate a stent surgical technique. For example, a stent may include a cylindrical medical material that can be inserted into a narrowed portion of a patient's blood vessel to improve blood flow. Additionally, the stent surgery technique may indicate a method of inserting a stent inserted into a target patient's blood vessel in the corresponding procedure.

The electronic device according to one embodiment is a machine that stores at least one of the target patient's blood vessel information, lesion information, branch information, or stent information to be used in the target patient's procedure, and a medical image (e.g., the medical image 300 in FIG. 3). By inputting it as input data to the learning model, the region of interest can be output.

In step 420, the electronic device may extract some data corresponding to the region of interest from the calculated morphological index data. Some data may include some portion of calculated morphological index data. For example, some data may represent blood vessel diameter values in a branch region of a subject patient's blood vessel. A method of extracting some data based on the region of interest will be described later in FIG. 5.

In step 430, the electronic device may search for procedure data matching the procedure of the target patient using some of the extracted data. A method of retrieving procedure data will be described later in FIG. 7.

For reference, in order to move the guide wire along a desired path during the procedure, direction control of the guide wire tip may be required, mainly in the lesion area and/or branch area. The desired path may represent a path for moving the guide wire from the starting position to the target position. The shape of the guide wire tip may be recommended, suggested, or determined as a shape for moving the guide wire along a desired path. Therefore, as described above, the shape of the guidewire tip may be recommended, presented, or determined mainly by considering information on the lesion area and/or branch area, and the area of interest set based on the above-described blood vessel information and stent information.

FIG. 5 is a diagram illustrating a method of extracting some data corresponding to a region of interest from morphological index data according to an embodiment.

An electronic device (eg, the electronic device 100 of FIG. 1) may identify the boundary 510 between the blood vessel area and the remaining area. Additionally, the electronic device can extract the center line 520 of the blood vessel area. The electronic device may determine the region of interest 530 among the blood vessel regions. The region of interest 530 may represent a blood vessel region and/or an area determined based on a bifurcation point from the blood vessel region. The electronic device may calculate a graph 540 of the diameter of the blood vessel based on the center line 520. In the graph 540 shown in FIG. 5, the horizontal axis may represent the length along the center line 520 of the blood vessel from the starting point of the blood vessel (e.g., the point where the guide wire for the target patient's procedure is inserted) to the corresponding point. . The vertical axis may represent the diameter of the blood vessel at that point for each length along the center line 520. The electronic device may extract some data 550 from the calculated graph 540. The electronic device may calculate a matching score using some of the extracted data 550. The method of calculating the matching score is described later in Figure 6.

Figure 6 is a diagram illustrating a method of calculating a matching score according to one embodiment.

An electronic device (e.g., the electronic device 100 of FIG. 1) according to an embodiment may calculate a matching score based on a machine learning model. A machine learning model is one or more models with a machine learning structure designed to extract a matching score from some data in response to input of some data, and may include, for example, a neural network. The electronic device may calculate a matching score by performing an operation according to the above-described machine learning model on some received data. Input data of the machine learning model may represent first partial data 620 and second partial data 630. The first partial data 620 may represent partial data extracted by the electronic device from the morphological index data of the target patient. The second partial data 630 may represent some data extracted from blood vessel morphological index data obtained by the electronic device from a previous medical image of a patient on whom the procedure was performed. The output data of the machine learning model may be a score indicating the matching level between the target patient's morphological index data and previous procedure data (eg, morphological index data of the previous procedure). The electronic device can determine the matching score using various methods.

Machine learning models can be created through machine learning. Learning algorithms may include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but It is not limited. A machine learning model may include multiple artificial neural network layers. Artificial neural networks include deep neural network (DNN), convolutional neural network (CNN), recurrent neural network (RNN), restricted boltzmann machine (RBM), belief deep network (DBN), bidirectional recurrent deep neural network (BRDNN), It may be one of deep Q-networks or a combination of two or more of the above, but is not limited to the examples described above. For reference, in the case of supervised learning, the machine learning model described above uses a pair of training input (e.g., some data for training) and a training output (e.g., a matching score for training) mapped to that training input. It can be trained based on training data it contains. For example, a machine learning model can be trained to output training output from training input. A machine learning model during training may produce temporary outputs in response to training inputs and may be trained such that loss between the temporary outputs and training outputs (e.g., true values) is minimized. During the training process, parameters of the machine learning model (e.g., connection weights between nodes/layers in a neural network) may be updated according to the loss. For example, such learning may be performed in the electronic device 100 itself, where the machine learning model is performed, or may be performed through a separate server. The machine learning model that has completed training can be stored in memory.

However, although an example of a machine learning model extracting a matching score from some data has been described, it is not limited to this. For example, the machine learning model is designed to extract a matching score from the above-described input data in response to input of characteristic data of the target patient (e.g., target patient 112 in FIG. 1) and characteristic data of the patient on which the procedure was performed. It can represent a model with a machine learning structure. Patient characteristic data, which is input data for a machine learning model, may represent at least one of gender, age, medical history, or current disease.

Furthermore, the electronic device may calculate a similarity or distance score between the first partial data 620 and the second partial data 630 as the above-described matching score. According to one embodiment, when the matching score is a distance score (e.g., Euclidean distance), the electronic device scores the distance score by accumulating the difference value between the first partial data 620 and the second partial data 630. can be decided. For reference, in FIG. 6 , an example of using a distance score determined by accumulating difference values between the first partial data 620 and the second partial data 630 as a matching score has been described, but it is not limited thereto. For another example, the electronic device may calculate the similarity between the first partial data 620 and the second partial data 630 as a matching score. The electronic device may determine the cosine similarity between the curvatures of corresponding points of the first partial data 620 and the second partial data 630 as a matching score. However, similarity is not limited to being calculated only for curvatures, and can also be calculated for diameters of corresponding points, branch angles at branch points, and lesion positions. Additionally, similarity is not limited to cosine similarity, and various measures that can indicate similarity between two data may be used.

The electronic device according to one embodiment may calculate the similarity between the first vector data and the second vector data as a matching score. The electronic device may determine cosine similarity between corresponding elements of the first vector data and the second vector data as a matching score. The vector data may include at least one of a value indicating the type of blood vessel, a value indicating a lesion, a diameter value of the blood vessel, a branch angle value, or a curvature value. The first vector data may represent vector data of the target patient, and the second vector data may represent vector data of the patient on whom the procedure was performed. For reference, the electronic device may determine partial vector data including vectors of different dimensions as elements of the above-described vector data.

The electronic device can determine a value indicating the type of blood vessel based on the type of blood vessel. A value indicating the type of blood vessel may be expressed as a value indicating the order of the blood vessel according to the type of blood vessel. The types of blood vessels are coronary arteries, right coronary artery (RCA), left coronary artery (LCA), left coronary artery (LAD), and left circumflex. It may represent at least one of the artery, LCx), or the posterior descending artery (PDA). The value indicating the blood vessel order may represent the numbering value for the above-mentioned blood vessel types. For example, an electronic device may use values representing the type of blood vessel as an integer value of 1 for the coronary artery, an integer value of 2 for the right coronary artery, an integer value of 3 for the left coronary artery, and an integer value of 4 for the left anterior descending branch. The left circumflex artery can be determined as an integer value of 5, and the posterior descending artery can be determined as an integer value of 6.

The electronic device may determine a value representing the lesion based on whether the lesion exists. For example, the electronic device may determine that a lesion exists if the proportion of the lesion in the blood vessel area is greater than or equal to a critical ratio, based on the portion where the lesion occurred. For reference, the critical ratio may represent the ratio in which the lesion occupies 50% or more based on the blood vessel diameter value. The electronic device may obtain a value representing the lesion at each branch point along the blood vessel from a reference location (eg, coronary artery inlet). The value representing the lesion may represent, for each branch point, an integer value of 1 when the lesion is present and an integer value of 0 when the lesion does not exist.

As described above in FIG. 2, the branch angle value may represent the angle value between blood vessels branching from the branch point for each branch point along the center line of the blood vessel from the reference position. The curvature value may represent the curvature value of the blood vessel at points spaced a certain length along the center line of the blood vessel from the reference position.

The electronic device according to one embodiment may apply a weight to the first vector data and the second vector data to calculate the similarity as a matching score. For example, as described above with reference to FIG. 4, the electronic device may set a portion of vector data corresponding to the region of interest. The electronic device may calculate the similarity as a matching score by applying a weight to the portion corresponding to the region of interest among the vector data.

Figure 7 is a flowchart illustrating a method of calculating a matching score by applying a weight to a partial matching score according to an embodiment.

In step 710, the electronic device (e.g., the electronic device 100 of FIG. 1) may extract some data corresponding to the region of interest from the calculated morphological index data. The electronic device according to one embodiment may extract some data of a portion corresponding to the region of interest from morphological index data.

In step 720, the electronic device may calculate the first score by applying a weight to the partial matching score between some data corresponding to the region of interest. For example, the electronic device may obtain the first score by multiplying the partial matching score by a weight.

In step 730, the electronic device may calculate the second score by applying a weight to the partial matching score between values corresponding to the additional region including the region distinct from the region of interest. The additional area may include at least some of the remaining areas excluding the area of interest. For example, the additional area may include only a portion of the remaining areas, the entire remaining area, or may further include at least a portion of the region of interest along with at least a portion of the remaining areas.

In step 740, the guidewire tip formation determination device may calculate a matching score based on the first score and the second score. The guidewire tip formation determination device may calculate the similarity or distance score between the first score and the second score as a matching score. For example, when the matching score is a distance score (eg, Euclidean distance), the electronic device may determine the distance score by accumulating the difference between the first score and the second score. For another example, when the matching score is similarity, the cosine similarity of the first score and the second score may be determined as the matching score. However, similarity is not limited to cosine similarity, and various measures that can indicate similarity between two data may be used.

FIG. 8 is a diagram illustrating display of procedure information by an electronic device according to an embodiment.

The display 810 of the electronic device (e.g., the electronic device 100 of FIG. 1) may output a graphic object representing treatment information. The graphic object representing the procedure information may include at least one of a graphic object 820 representing the determined shape of the guidewire tip, a graphic object 830 representing navigation, or a graphic object 840 representing a forming method.

The graphic object 820 representing the determined shape of the guidewire tip may represent the shape of the guidewire tip determined by the electronic device. For example, the determined shape of the guidewire tip may represent the shape of previous procedure data with the highest matching score (e.g., matching score in FIG. 2). However, the determined shape of the guidewire tip is not limited to the above-described shape, and may represent the shape of the guidewire tip determined based on a combination of one or more candidate shapes. As another example, graphic object 820 may represent a plurality of determined shapes of guidewire tips. The plurality of determined shapes of the guidewire tip may represent one or more candidate shapes for which a matching score is greater than or equal to a threshold value. The determined shape of the guidewire tip is described later in FIG. 9.

The electronic device according to one embodiment may output auxiliary information of previous treatment data along with the determined shape of the guidewire tip. The auxiliary information may include direction control information of the guidewire. The direction control information may represent at least one of the success rate of reaching the target point of the guide wire, the arrival time, the number of times it enters the wrong path, the number of times the guide wire is initialized, or direction control failure data. The success rate of reaching the target point may indicate the probability that the direction of the determined shape of the guide wire tip is successfully controlled by the operator to the target point at each branch point. The time to reach the target point may represent the time taken from the point where the determined shape of the guide wire tip is inserted to the target point. For reference, the electronic device may determine the time during which the shape of the guidewire tip was transferred in the branch area as the time to reach the target point. The number of times an incorrect path has been entered may indicate that the determined shape of the guidewire tip has failed to control direction by the operator at the target point at each branch point. The guide wire initialization count may indicate the number of times the determined shape of the guide wire tip is reset to the coronary artery inlet and/or branch point when entering the wrong path described above. Direction control failure data may indicate the number of times the wrong path was entered and/or the number of guidewire initializations.

The graphic object 830 representing navigation may represent the path along which the shape of the guidewire tip determined by the electronic device must be moved in the blood vessel area. The processor of the electronic device (eg, processor 130 in FIG. 1) may obtain a combined image by combining the graphic object 820 and the graphic object 830. For reference, a description of navigation will be provided later in FIG. 10.

The graphic object 840 representing the forming method may represent a method for manufacturing the shape of the guidewire tip determined by the electronic device. For reference, a description of the molding method will be provided later in FIG. 11.

Figure 9 is a diagram showing the determined shape of a guidewire tip according to one embodiment.

An electronic device (eg, the electronic device 100 of FIG. 1 ) according to an embodiment may display at least one of the determined shape 910 of a guidewire tip or an angiography imaging angle. The determined shape 910 of the guidewire tip may include a deformed portion 920 of the guidewire tip, an angle 930 of the deformed portion, and a length 940 of the tip. The deformed portion 920 is a curved portion of the deformed tip of the guide wire and may be referred to as a curved portion. The electronic device may calculate angles 930 of the plurality of deformed parts 920 . For example, the angle 930 of the deformed part may represent an outer angle bent with respect to the deformed part 920 (e.g., the angle shown on the right in FIG. 8) at the tip of the determined shape 910. . For reference, in FIG. 8, the outer angle is explained as the angle 930 of the deformed part, but it is not limited thereto. For another example, the angle 930 of the deformed portion represents the curved inner angle formed by the extension line of the tip including the deformed portion in the determined shape 910 and the extension line of the undeformed guide wire in the determined shape 910. You can. The length 940 of the tip may represent the length of the tip including the deformed portion of the guide wire. The angiography shooting angle may represent the angle taken to acquire a blood vessel image (e.g., X-ray-based CAG image) from an image acquisition unit (e.g., the image acquisition unit 110 of FIG. 1).

FIG. 10 is a diagram illustrating navigation that guides a path along which a guide wire determined according to an embodiment should be moved in a blood vessel area.

First, an electronic device (eg, the electronic device 100 of FIG. 1) can acquire a medical image having consecutive frame images through an image acquisition unit, as described above in FIG. 1. The electronic device can capture a medical image of a patient's blood vessels or receive the medical image from an external imaging device that captured the medical image. For reference, FIG. 10 shows navigation indicating a path along which a determined guide wire moves in a blood vessel area, but is not limited thereto.

The electronic device according to one embodiment provides guidance in a portion of the target patient's blood vessel region that requires direction control of the guide wire, based on a medical image in which the target patient's blood vessels are captured (e.g., the medical image 114 of FIG. 1). Navigation showing the wire transfer process can be output. The area requiring direction control of the guide wire may be determined based on the branch area and/or lesion area, but is not limited thereto. Navigation information is information to guide the transfer of the guidewire within the blood vessel, and includes a graphic representation (1000), a path along which the graphic representation is transferred (1002), a path to which the graphic representation will be transferred (1004), and a central path ( 1010), or may include a visual representation of at least one of the blood vessel border 1020. The graphical representation 1000 may represent the determined shape of the guidewire tip (e.g., the determined shape 910 of the guidewire tip in FIG. 9 ). The transferred path 1002 may represent the path resulting from the transfer of the determined guidewire in the blood vessel area of the target patient (e.g., the target patient 112 in FIG. 1 ). The path to be transferred 1004 may represent a predicted path along which the guidewire determined in the blood vessel area of the target patient should be transferred. The electronic device according to one embodiment detects a point where the operator's manipulation is required to move the guide wire along the path to be transferred 1004, and performs the manipulation required at that point (e.g., forward, backward, or rotation of the guide wire). An indicative visual representation may be displayed on the path 1004 to be transported. The central path 1010 may represent a line connecting central points of the blood vessel (eg, center points) along the longitudinal direction of the blood vessel in the direction in which the guide wire determined in the blood vessel area of the target patient is transferred. The blood vessel border 1020 may represent a boundary indicating the boundary between the blood vessel area and the remaining area in the target patient.

Figure 11 is a diagram showing the forming process of a guide wire tip according to one embodiment.

The guide wire forming tool 1102 according to one embodiment may be used to deform the guide wire 1100. The deformed guidewire tip may include a deformed portion 1104 compared to the straight guidewire tip. The deformed guidewire tip may include a deformed angle 1106 and a depressed depth 1108 based on the deformed portion 1104. The modified angle 1106 may represent an angle inclined to the guide wire 1100 through molding at a portion where the operator (eg, the object in FIG. 11) supports the guide wire tip. For example, the deformed angle 1106 may represent the angle formed by the distal end and the portion connected to the deformed portion at the point where the forming tool 1102 is pressed against the guide wire 1100. The pressed depth 1108 may represent the depth pressed through molding at the part where the operator (e.g., the object in FIG. 11) supports the guidewire tip. For example, the pressed depth 1108 is a virtual straight line 1110 of the part where the operator does not support the guide wire 1100 and a virtual straight line 1112 of the part where the operator presses through the shaping tool 1102. It can be expressed as the width between.

An electronic device (e.g., the electronic device 100 of FIG. 1) according to an embodiment may present the movement speed and number of repetitions of the forming tool 1102 to the user. The moving speed may represent the relative speed of the guide wire 1100 and the forming tool 1102 during the forming process. The number of repetitions may indicate the number of times the operator repeated the shaping to produce the deformed part 1104.

For reference, in Figure 11, an example showing the forming process of one guide wire tip is described, but it is not limited thereto. As another example, the electronic device may present the user with a process for forming a plurality of guidewire tips. The forming process of the plurality of guide wire tips may indicate to the user the forming process of each of the plurality of guide wire tips and the forming process of a new guide wire tip that is a combination of the above-described plurality of forming processes.

The embodiments described above may be implemented with hardware components, software components, and/or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, and a field programmable gate (FPGA). It may be implemented using a general-purpose computer or a special-purpose computer, such as an array, programmable logic unit (PLU), microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and software applications running on the operating system. Additionally, a processing device may access, store, manipulate, process, and generate data in response to the execution of software. For ease of understanding, a single processing device may be described as being used; however, those skilled in the art will understand that a processing device includes multiple processing elements and/or multiple types of processing elements. It can be seen that it may include. For example, a processing device may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are possible.

Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing unit to operate as desired, or may be processed independently or collectively. You can command the device. Software and/or data may be used on any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or to provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on a computer-readable recording medium.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. A computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination, and the program instructions recorded on the medium may be specially designed and constructed for the embodiment or may be known and available to those skilled in the art of computer software. It may be possible. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

The hardware devices described above may be configured to operate as one or multiple software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on this. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

Claims (21)

In electronic devices,
An image acquisition unit that acquires a target medical image representing blood vessels of a target patient;
Memory storing computer-executable instructions;
a processor that accesses the memory and executes the instructions; and
Display electrically connected to the processor
Including,
The above commands are:
From a plurality of previous procedure data including the shape of the guidewire tip used in each procedure and vascular morphological index data obtained from previous medical images of the patient on whom the procedure was performed, the target medical image Determining one or more candidate shapes for the guidewire tip using the morphological index data of the blood vessel obtained based on it,
Determining the shape of the guidewire tip for vascular surgery of the target patient based on the determined one or more candidate shapes,
Presenting the determined shape of the guidewire tip through the display,
Electronic devices.
According to paragraph 1,
The processor,
Calculating the morphological index data from the target medical image of the target patient,
Determining a region of interest (ROI) in the blood vessel based on at least one of blood vessel information, lesion information, branch information, or stent information,
Extracting some data corresponding to the region of interest from the calculated morphological index data,
Searching for procedure data matching the procedure of the target patient among a plurality of previous procedure data using some of the extracted data,
Electronic devices.
According to paragraph 1,
The processor,
Calculating a first score by applying a weight to a partial matching score between values corresponding to a region of interest in the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data,
Calculating a second score by applying a weight to a partial matching score between values corresponding to a region including a region of interest and another region in the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data; ,
Calculating the matching score based on the first score and the second score,
Electronic devices.
According to paragraph 3,
The processor,
Calculating the matching score based on at least one of the gender, age, or medical history of the target patient and the patient on whom the procedure was performed,
Electronic devices.
According to paragraph 1,
The processor,
At least one of a deformed portion (portion) of the guide wire tip used in the previous procedure data corresponding to the determined shape, an angle at which the guide wire tip was deformed at the portion, or a curvature at which the guide wire tip was deformed at the portion. presenting,
Electronic devices.
According to paragraph 1,
The processor,
Displaying a blood vessel area of the target patient in the target medical image,
In the procedure, outputting navigation information that guides the path along which the guidewire tip having the determined shape should be moved in the blood vessel area,
Electronic devices.
According to paragraph 1,
The processor,
When there are a plurality of parts that require molding in the determined shape, the required molding process is individually provided for each of the plurality of parts,
Electronic devices.
In clause 7,
The processor,
Based on the plurality of parts requiring molding, output a pressing depth for manufacturing the determined shape during the molding process,
Based on the forming process, outputting the moving speed and number of repetitions of the forming tool,
Electronic devices.
According to paragraph 1,
The processor,
Based on the procedure, at least one of transport information or angiography (CAG, Cardiac Angiography) angle frequency from the point where the guide wire is inserted into the blood vessel of the target patient to the target point is additionally provided along with the target blood vessel image. printing,
Electronic devices.
According to paragraph 3,
The processor,
Determining a plurality of shapes for the guidewire tip for vascular procedures of the target patient based on the determined one or more candidate shapes,
Presenting a new shape by combining the determined plurality of shapes based on the matching score,
Electronic devices.
In a method performed by a processor,
Acquiring a target medical image representing blood vessels of a target patient;
Obtained based on the target medical image from a plurality of previous procedure data including the shape of the guidewire tip used in each procedure and the morphological index data of blood vessels obtained from previous medical images of the patient on whom the procedure was performed. determining one or more candidate shapes for the guidewire tip using morphological index data of blood vessels;
determining a shape of the guidewire tip for vascular surgery of the target patient based on the determined one or more candidate shapes; and
Presenting the determined shape of the guidewire tip through a display
How to include .
According to clause 11,
Determining one or more candidate shapes for the guidewire tip includes:
calculating the morphological index data from the target medical image of the target patient;
determining a region of interest in the blood vessel based on at least one of blood vessel information, lesion information, branch information, or stent information;
extracting some data corresponding to the region of interest from the calculated morphological index data; and
Searching for procedure data matching the procedure of the target patient among a plurality of previous procedure data using the extracted partial data.
How to include .
According to clause 12,
The step of retrieving the procedure data is,
calculating a matching score based on the extracted partial data and morphological index data of the plurality of previous procedure data;
Selecting one or more procedure data from the plurality of previous procedure data based on the matching score
How to include .
According to clause 11,
Determining one or more candidate shapes for the guidewire tip includes:
calculating a first score by applying a weight to a partial matching score between values corresponding to the region of interest in the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data;
calculating a second score between values corresponding to a region including the region of interest and another region from the morphological index data of the target patient and the morphological index data of the plurality of previous procedure data; and
Calculating the matching score based on the first score and the second score
How to include .
According to clause 14,
Calculating the matching score based on at least one of gender, age, or medical history of the target patient and the patient on whom the procedure was performed.
How to include more.
According to clause 11,
Determining one or more candidate shapes for the guidewire tip includes:
At least one of a deformed portion (portion) of the guide wire tip used in the previous procedure data corresponding to the determined shape, an angle at which the guide wire tip was deformed at the portion, or a curvature at which the guide wire tip was deformed at the portion. Steps to present
How to include .
According to clause 11,
The steps presented through the display are:
displaying a blood vessel area of the target patient in the target medical image; and
Outputting navigation information that guides the path along which the guidewire tip having the determined shape should move in the blood vessel area during the procedure.
How to include .
According to clause 11,
The steps presented through the display are:
When there are a plurality of parts requiring molding in the determined shape, individually providing the required molding process for each of the plurality of parts.
How to include .
According to clause 18,
outputting a pressing depth for manufacturing the determined shape during the forming process, based on the plurality of parts requiring forming; and
Based on the forming process, outputting the moving speed and number of repetitions of the forming tool.
How to include more.
According to clause 11,
The steps presented through the display are:
Based on the procedure, at least one of transport information or angiography (CAG, Cardiac Angiography) angle frequency from the point where the guide wire is inserted into the blood vessel of the target patient to the target point is additionally provided along with the target blood vessel image. Steps to print
How to include .
A computer program combined with hardware and stored in a computer-readable recording medium to execute the method of any one of claims 11 to 20.

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