WO2017036027A1

WO2017036027A1 - Surgical simulation system for endovascular intervention

Info

Publication number: WO2017036027A1
Application number: PCT/CN2015/099180
Authority: WO
Inventors: 吴剑煌; 王浩宇
Original assignee: 深圳先进技术研究院
Priority date: 2015-09-01
Filing date: 2015-12-28
Publication date: 2017-03-09
Also published as: CN105096716A; CN105096716B

Abstract

A surgical simulation system for endovascular intervention enables operations including customizing a surgical scheme for a patient, optimizing a surgical route, rehearsing a surgical procedure, etc. The simulation system comprises: an image acquisition device (101) acquiring medical image data of a vessel which is to be performed endovascular intervention surgical simulation on and tissues and organs surrounding the vessel, the medical image data being medical image data of a specific patient; a model establishing device (102) establishing a three-dimensional geometric model (501) of the vessel and the tissues and organs surrounding the vessel from the medical image data; a physical operative instrument (103) for a user to operate during the endovascular intervention surgical simulation, wherein the model establishing device (102) controls, according to the operation of the user on the physical operative instrument (103), a motion trajectory (502) of a three-dimensional model of the operative instrument in the three-dimensional geometric model (501) of the vessel; and a display (104) displaying the three-dimensional model (501) of the vessel and the tissues and organs surrounding the vessel, and the motion trajectory of the three-dimensional model of the operative instrument in the three-dimensional geometric model of the vessel.

Description

Endovascular interventional surgery simulation system

Technical field

The invention relates to the technical field of medical instruments, in particular to an intravascular interventional surgery simulation system.

Background technique

Interventional surgery is a kind of small hole (meter size) cut in a certain part of the human body under the guidance of medical imaging equipment, and then the interventional instruments such as guide wires and catheters are sent into the human body, and the lesions are diagnosed and treated locally. Minimally invasive surgery. Interventional therapy has the characteristics of no surgery, small trauma, quick recovery and good effect. At present, the surgical instrument guidance during the interventional procedure mainly relies on the image obtained by the two-dimensional real-time perspective imaging technology, and the operation of the device in the three-dimensional space according to the two-dimensional image necessarily requires accurate and efficient hand-eye coordination and a large amount of practical experience. . Therefore, a qualified operation intervention surgeon requires long-term skill training and practice.

How to train a qualified surgeon effectively, quickly and economically is an important issue in the medical field. There are currently four clinically traditional training methods: donated corpses, human models, animals, and patients. These methods have their own obvious shortcomings that affect the training effect: the first way, because of the limited corpses of the donation, and limited by the blood clotting time, can only be used for understanding the outside of the blood vessels (such as blood vessels, dominating areas and adjacent structure). In the second way, a fixed human body model cannot reflect the variability, diversity, and internal structure of the human body. In the third way, the anatomy of the animal is different from that of the human body, the training environment is not ideal, and the limitations of animal anesthesia and radiological equipment matching have almost no chance of intravascular training in animals.勉力, also the same as the first method, because the corpses and animals can not be reused, increasing the cost of training; the first three methods are not suitable for intravascular surgery technical training. Because the fourth way has become the only way for physician training. In traditional surgery, doctors make surgical plans based on human anatomy obtained from specimens or books, combined with clinical experience, and perform preoperative surgical rehearsals in their own brains. The shortcoming of this approach is the quality of the surgical plan. Depending on the individual clinical experience and skills of the doctor, it is not conducive to discovering the problems in the whole operation process in advance, which not only increases the risk of surgery, but also does not conform to ethics, is easy to cause medical disputes, and is not reproducible, and is not conducive to doctors. Learn and explore each other.

Also provided in the prior art is a vascular interventional surgery training simulator including a simulation training platform, a dual-screen simulated surgical monitor, a simulated operating table, a simulated patient, and a software platform for intervention by simulating a patient. Surgery to train, but because the simulated patient is fixed, can not reflect the variability, diversity and internal structure of the human body, the above-mentioned vascular interventional training simulator is only suitable for providing training platform for beginners, not for a certain Individualized patients perform surgical procedures, optimize surgical procedures, and perform surgical rehearsals.

Summary of the invention

The embodiment of the invention provides an intravascular interventional surgery simulation system, which is capable of performing a surgical plan, optimizing a surgical path, and performing a surgical rehearsal for a personalized patient. The system includes: an image acquisition device for acquiring medical image data of a blood vessel and a perivascular tissue organ to be simulated by an intravascular interventional surgery, the medical image data being medical image data of a designated patient; and a model establishing device for obtaining according to the Medical image data to establish a three-dimensional geometric model of blood vessels and perivascular tissue organs; physical surgical instruments are operated by a user during intravascular interventional surgery simulation of the three-dimensional geometric model of the blood vessels and perivascular tissues; The device is further configured to establish a three-dimensional surgical instrument model of the physical surgical instrument, and control a movement track of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel according to operation of the physical surgical instrument by the user; the display is configured to display A three-dimensional geometric model of the blood vessel and surrounding tissue and organs and a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel.

In the practice of the present invention, by acquiring medical image data of a blood vessel and a perivascular tissue organ to be simulated by an intravascular interventional surgery, the medical image data is medical image data of a designated patient (for example, medical image data of a personalized patient) And establish a three-dimensional geometric model of the blood vessels and surrounding tissues and organs, and then, when performing an intravascular interventional simulation on the three-dimensional geometric model of the above-mentioned blood vessels and perivascular tissues and organs, the user establishes a device according to the user by operating a physical surgical instrument. For the operation of physical surgical instruments, real-time control of the trajectory of the three-dimensional surgical instrument model in the three-dimensional geometric model of the blood vessel, visual and real-time display of the three-dimensional geometric model of the blood vessel and the three-dimensional surgical instrument model of the physical surgical instrument in the three-dimensional geometric model of the blood vessel The trajectory of the exercise makes it possible to help experienced doctors to develop surgical plans for individualized patients, optimize surgical procedures, and perform surgical rehearsals to improve the success rate of the operation.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work. In the drawing:

1 is a structural block diagram of an intravascular interventional surgery simulation system according to an embodiment of the present invention;

2 is a structural diagram of a signal acquisition apparatus according to an embodiment of the present invention;

3 is a structural diagram of a force feedback device according to an embodiment of the present invention;

4 is a schematic diagram of a three-dimensional surgical instrument model according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a motion trajectory of a three-dimensional surgical instrument model in a three-dimensional geometric model of a blood vessel according to an embodiment of the present invention; FIG.

FIG. 6 is a schematic diagram of a route of contrast agent diffusion simulation technology provided by an embodiment of the present invention.

detailed description

The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The illustrative embodiments of the present invention and the description thereof are intended to explain the present invention, but are not intended to limit the invention.

In an embodiment of the present invention, an intravascular interventional surgery simulation system is provided. As shown in FIG. 1, the system includes:

An image acquisition device 101, configured to acquire medical image data of a blood vessel and a perivascular tissue organ to be simulated by an intravascular interventional surgery, the medical image data being medical image data of a designated patient;

a model establishing device 102, configured to establish a three-dimensional geometric model of a blood vessel and a tissue surrounding the blood vessel according to the acquired medical image data;

The physical surgical instrument 103 is operated by the user when performing an intravascular interventional surgery simulation on the three-dimensional geometric model of the blood vessel and the tissue around the blood vessel;

The model establishing device 102 is further configured to establish a three-dimensional surgical instrument model of the physical surgical instrument, and control a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel according to operation of the physical surgical instrument by the user;

The display 104 is configured to display a three-dimensional geometric model of the blood vessel and the tissue around the blood vessel and a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel.

As shown in FIG. 1 , in the embodiment of the present invention, medical image data of a blood vessel and a perivascular tissue organ to be simulated by an intravascular interventional surgery is acquired, and the medical image data is medical image data of a specified patient (for example, some Personalized patient medical image data), and establish a three-dimensional geometric model of the blood vessels and perivascular tissue and organs, and then, when performing intravascular interventional surgery simulation on the three-dimensional geometric model of the above-mentioned blood vessels and perivascular tissues and organs, the user operates the physics The surgical instrument and the model establishing device control the movement trajectory of the three-dimensional surgical instrument model in the three-dimensional geometric model of the blood vessel according to the operation of the physical surgical instrument by the user, and display the three-dimensional geometric model of the blood vessel and the three-dimensional operation of the physical surgical instrument through the display in an intuitive and real-time manner. Instrument model in the three-dimensional geometric model of blood vessels The trajectory of movement makes it possible to help experienced doctors to develop surgical plans for individualized patients, optimize surgical procedures, and perform surgical rehearsals to improve the success rate of surgery.

Specifically, the above physical interventional surgical instrument refers to an actual surgical instrument used for clinical interventional surgery, such as a guide wire and a catheter. The user can select different types of surgical instruments to operate on the device of the present invention according to the characteristics, size, position, and surgical plan of the lesion. The entrance of the physical surgical instrument on the intravascular interventional surgery simulation system corresponds to a puncture point of the three dimensional surgical instrument model on a three dimensional geometric model of the blood vessel.

In a specific implementation, the functions of the image acquiring device and the model establishing device may be implemented by software, for example, a computer, a workstation, or the like. Specifically, if the user is to perform a surgical planning rehearsal for a specific personalized patient, the DSA (Digital Subtraction Angiography) and CT (Computed Tomography) of the patient's blood vessel and anatomy may be first acquired by the image acquisition device. A modal image sequence such as computed tomography or MRI (Magnetic Resonance Imaging). The medical image data of the patient is acquired from the medical imaging workstation to the computer or workstation to be processed through the network interface, or the medical image data is acquired by means of mobile storage or the like according to actual needs.

Secondly, the medical image processing and analysis of the acquired patient medical image are performed by using computer technology or manual technology. The specific content includes image preprocessing, image segmentation, and image registration. Image preprocessing refers to image enhancement, noise removal, and image quality improvement by computer. The methods used are image smoothing, sharpening, and filtering. Image segmentation refers to the automatic recognition of a computer program or the anatomy of an expert involved in manual delineation and segmentation into regions of interest. According to the characteristics of the acquired images, the image is segmented by the density and continuity of the tissues and organs, and the results are corrected and supplemented by anatomical knowledge. Image registration refers to the image of different sources, looking for a certain transformation of the space, so that the corresponding points of the two images reach the spatial position and the anatomical structure, so that the points with diagnostic significance and the surgical area are matched. According to the characteristics of the image, the sampled image is registered by the rigid body registration method or the elastic registration method.

Finally, the model building equipment is used to reconstruct the 3D geometric model of the image processing analysis, and the 3D geometric surface model of the blood vessel and its surrounding tissues and organs is obtained. According to the characteristics of the obtained three-dimensional geometric model, the geometric model is processed by simplification, smoothing, mesh optimization, debris removal and subdivision surface fitting. The order of these subsequent processing can be dynamically changed according to the characteristics of the input model. For example, the input model is smoothed and denoised first, and then the mesh is simplified. Or, for example, the input model has many fragments, and the debris can be cleared first, then the mesh is simplified. At the same time, according to each specific processing method, it can be processed separately by serial or parallel (for example, based on a graphics processing unit (GPU)).

In a specific implementation, in order to be able to generate a motion trajectory of the three-dimensional surgical instrument model in the three-dimensional geometric model of the blood vessel in real time and accurately according to the operation of the physical surgical instrument by the user, the display is displayed on the display, and is intuitively and in real time In the present embodiment, the system further includes: a signal acquisition device, configured to perform a push, pull, or rotate operation on the physical surgical instrument by the user (physical surgical instrument advancement, the three-dimensional surgical instrument model is in the blood vessel Advance in a three-dimensional geometric model; after the physical surgical instrument is pulled back, the three-dimensional surgical instrument model is pulled back in the three-dimensional geometric model of the blood vessel; when the physical surgical instrument is rotated, the three-dimensional surgical instrument model is left or right in the three-dimensional geometric model of the blood vessel. The angular displacement and the linear displacement of the physical surgical instrument are acquired; the model establishing device is further configured to generate the three-dimensional surgical instrument model in the three-dimensional shape of the blood vessel according to the angular displacement and the linear displacement of the physical surgical instrument The motion trajectory in the geometric model.

Specifically, as shown in FIG. 2, the signal acquisition device includes: a transmission platform 201; a physical surgical instrument guiding groove running through the transmission platform and parallel to an upper plane of the transmission platform for guiding the physical operation The positioning ball 203 is placed at the center of the plane of the transmission platform, directly above the guiding slot of the physical surgical instrument, and is in contact with the physical surgical instrument in the guiding slot of the physical surgical instrument; the limiting component 204 Mounted on a plane of the transmission platform, one side of the positioning ball, for preventing displacement of the positioning ball; two photoelectric code disks are fixed on a plane of the transmission platform, the two The rotating shafts of the photoelectric code discs are perpendicularly formed at right angles to each other, and the two optical code discs have a rotating shaft parallel to the guiding groove of the physical surgical instrument as a first photoelectric code disc 205, and the two optical code discs have a rotating shaft and the physical body The guiding slot of the surgical instrument is perpendicular to the second photoelectric code disc 206, the positioning ball is located in the right angle, and is in contact with the rotating shaft of the two photoelectric code discs, and the limiting member is flat at the right angle a plurality of light-emitting diodes, one of the two light-emitting diodes being a first light-emitting diode 207 fixed to one side of the first photoelectric code disk; and the two light-emitting diodes The other is a second light-emitting diode 208 fixed on one side of the second photoelectric code disk, two light-emitting diodes for outputting an optical pulse signal; a first photoelectric encoder 209 fixed to the first photoelectric code The other side of the disk is configured to operate the physical surgical instrument when the positioning ball drives the rotating shafts (2051, 2061) of the two photoelectric code disks to rotate, and collect the first light emitting diodes to emit And generating an electrical signal according to the optical pulse signal of the first photoelectric code disk and according to the law of the collected optical pulse signal, the electrical signal indicating a first rotational speed of the rotating shaft of the first photoelectric code disk, the first The rotational speed is used to calculate an angular displacement of the physical surgical instrument; the second photoelectric encoder 210 is fixed to the other side of the second optical code disk for operating the physical surgical instrument by a user, the positioning The ball drives the two photoelectric code disks When the rotating shaft (2051, 2061) rotates, collecting an optical pulse signal emitted by the second light emitting diode and transmitted through the second photoelectric code disk, and generating an electrical signal according to a law of the collected optical pulse signal, the electrical signal A second rotational speed representing a rotational axis of the second optoelectronic disk, the second rotational speed being used to calculate a linear displacement of the physical surgical instrument.

Specifically, when the user operates the catheter (or the guide wire) to retreat or rotate clockwise, the positioning ball has a tendency to move forward or leftward, and the rotation axes of the two photoelectric code disks are located just in front of the movement tendency of the positioning ball, thereby To the limit The action of the positioning ball rotates in the original position and drives the rotation axis of the two photoelectric code disks. At this time, the first photoelectric encoder collects the light pulse signal emitted by the first light emitting diode and transmitted through the first photoelectric code disk, and Generating an electrical signal according to a law of the collected optical pulse signal, the electrical signal representing a first rotational speed of the rotating shaft 2051 of the first photoelectric code disk, wherein the first rotational speed is used to calculate an angular displacement of a physical surgical instrument such as a catheter (or a guide wire); However, when the user operates the catheter (or the guide wire) to advance or rotate counterclockwise, the positioning ball has a backward or rightward movement tendency, and the rotation axes of the two photoelectric code disks are located behind the movement trend of the positioning ball. At this time, the limit position The rolling of the component acts as a limit position, so that the positioning ball rotates in the original position and drives the rotation axis of the two photoelectric code disks to rotate, and the rolling of the positioning ball will drive the limit roller to roll together. At this time, the second photoelectric encoder collects the first An optical pulse signal emitted by the second light emitting diode and transmitted through the second photoelectric code disk, and generating an electrical signal according to the law of the collected optical pulse signal, the electrical signal indicating the second optical code disk Second shaft rotational speed 2061, the second rotational speed for calculating the linear displacement of the catheter (or guidewire) and other physical surgical instrument.

In the specific implementation, in order to simulate the collision of the interventional surgical instrument with the blood vessel wall, and in order to realize the collision between the three-dimensional surgical instrument model and the three-dimensional geometric model of the blood vessel, the user can actually feel the collision due to the physical surgical instrument. a reaction force, in this embodiment, the constituent unit of the three-dimensional geometric model of the blood vessel is a curved piece, and the constituent unit of the three-dimensional surgical instrument model is a particle point, and the system further includes: a distance detecting module, which is used for each user pair After the physical surgical instrument is operated, detecting that the distance between each particle point and the curved surface of the three-dimensional surgical instrument model is equal to less than a preset value, determining that the three-dimensional surgical instrument model collides with the three-dimensional geometric model of the blood vessel, and Recording the distance between each particle of the three-dimensional surgical instrument model and the curved piece; calculating a module for calculating the elasticity of each surface point according to Hooke's law according to the distance between each particle and the curved piece of the three-dimensional surgical instrument model Force, and according to the elastic force, using the friction law to calculate the surface of each particle Friction force, the resultant force of each particle's elastic force and friction force is the force that the particle point is subjected to when the collision occurs; the force decomposition module is used to calculate the resultant force of the elastic force and the friction force of all the mass points, and decompose the resultant force a force parallel to the direction of the three-dimensional surgical instrument model and a force perpendicular to the direction of the three-dimensional surgical instrument model; a force feedback device for applying a force parallel to the direction of the three-dimensional surgical instrument model to the physical surgical instrument, and then feedback To the user.

Specifically, the functions of the distance detecting module, the calculating module, and the force splitting module may be implemented by software, hardware, or a combination of the two, for example, a component such as a processing chip. For example, after the distance detecting module determines that a collision has occurred, the calculation of the collision force is performed on the portion where the collision is determined. The calculation module calculates the collision force of the single particle, and then the force decomposition module calculates the resultant force of the collision force of each particle on the entire three-dimensional surgical instrument model, and decomposes the resultant force along the front end of the three-dimensional surgical instrument model into parallel and The force perpendicular to the three-dimensional surgical instrument model, the force parallel to the three-dimensional surgical instrument model is the reaction force felt by the user. The impact forces on the particles are mainly elastic and frictional forces. Friction is closely related to the elastic force, so the mass spring mold can be used. The type first calculates the elastic force of the particle, so that the friction of the particle can be obtained. Due to the particle spring model, the elastic force of the particle is calculated by calculating the distance between the particle and the patch. Because the distance between the particle and the patch is determined, the three-dimensional geometric model of the blood vessel can be calculated by Hooke's law. The elastic force generated by the instrument model is calculated by the friction law to calculate the friction generated by the three-dimensional geometric model of the blood vessel on the three-dimensional surgical instrument model. The above-mentioned particle spring model may be a virtual spring having a length δ in a natural state covered on the surface of the object. When the particle is close to the surface of the object, it is equivalent to encountering the spring. At this time, the distance detecting module can detect the distance between each particle of the three-dimensional surgical instrument model and the curved piece. The elastic force of the particle is related to the distance h between the particle and the curved piece. Assuming that the spring coefficient is k, the elastic force F to which the particle is subjected can be calculated by:

Therefore, the frictional force 质 of the particle is Γ=λF, and λ is the friction coefficient.

Specifically, as shown in FIG. 3 (the structure in the dotted line frame is the above-mentioned signal acquisition device 200), the force feedback device includes: a screw 301 placed perpendicular to the physical surgical instrument 202; and a stepping motor 302. Driving the screw forward or reverse, when the three-dimensional surgical instrument model collides with the three-dimensional geometric model of the blood vessel, the stepping motor rotates forward; otherwise, the stepping motor reverses; The clamping members 303 are respectively connected to the two nut connecting members connected to the screw, on the same side of the screw, and the friction material 304 is fixed on the opposite side of the two clamping members. The clamping members are placed symmetrically about the physical surgical instrument, the physical surgical instrument being at the same height as the friction material, and when the stepping motor is rotating forward, the two clamping members are at the screw Driving the lower facing movement, after the two clamping members tighten the physical surgical instrument, the frictional material deformation of the two clamping members generates friction to the physical surgical instrument is the parallel three-dimensional surgical device Force Model direction; and when the stepping motor is reversed, the two clamping members away from the driven movement screw.

In order to accurately and accurately reflect the trajectory of the three-dimensional surgical instrument model in the three-dimensional geometric model of the blood vessel, as shown in FIG. 4, in the embodiment, the model establishing device is further configured to construct the three-dimensional surgical instrument model. The plurality of fixed length segments 401 are connected to the line segment through the node 402. When the three-dimensional surgical instrument model collides with the three-dimensional geometric model of the blood vessel, the node can be freely rotated and adjusted. The direction of motion of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel.

Specifically, as shown in FIG. 5, in FIG. 5, 501 is a three-dimensional geometric model of a blood vessel, and 502 is a motion trajectory of a three-dimensional surgical instrument model in a three-dimensional geometric model of a blood vessel, when the three-dimensional surgical instrument model and the three-dimensional blood vessel model a few When the model collides, the surface piece that collides with is the reflecting surface 503, and the three-dimensional surgical instrument model moves in the direction of the reflection angle.

In a specific implementation, in order to perform an intravascular interventional surgery simulation, the user can simulate the operation of injecting the contrast agent, so that the intravascular interventional surgery simulation is more realistic. In the embodiment, the system further includes: a pressure injector for Accepting the pressure applied by the contrast agent during the intravascular interventional surgery simulation; the pressure detecting device is configured to detect the pressure applied by the pressure injector; the model establishing device is further configured to be based on the detected pressure A contrast agent propagation phenomenon corresponding to the magnitude of the pressure is established in the three-dimensional geometric model of the blood vessel.

Specifically, the injection contrast agent simulation is a process of simulating the injection of chemicals into human tissues or organs to enhance the effect of image observation. Instead of injecting a true contrast agent, a model-building device (for example, a computer or the like) is used to simulate a contrast agent. The effect achieved by the spread of human tissue (such as intravascular), such as enhancing the visual effect of vascular structures. Specifically, Figure 6 shows the structure and steps involved in the entire contrast diffusion algorithm. The main principle is based on the Navier-Stokes equation (NS equation):

among them

Is a advection, Is the speed vector. The advancing objects can be density, temperature, and speed itself (self-speed transfer).

Is the pressure term, ρ is the fluid density,

Is the pressure gradient.

Is the diffusion term, ν is the viscosity coefficient,

Can be written as

For the Laplacian operator.

It is an external force item. The acceleration generated comes from the external force acting on the fluid, not necessarily the gravity

Calculation of external force. In the contrast agent simulation process, there are mainly two forces: the injection force when the contrast agent is injected, which is an instantaneous force (the force disappears after the injection is completed), which is equivalent to a pulse drive, the excitation velocity field and the density field change. In a model building device, this force can be modeled as a pulse (density pulse):

Where F _inject is a pulse, κ is a constant used to adjust the magnitude of the force, and ρ is given

Concentration of contrast agent (user can set), ρ ₀ is

The original contrast agent density (the density of the contrast agent at the beginning of the blood vessel is 0),

It is the direction of contrast agent motion. Another is the blood flow (sustaining force) of the blood to the contrast agent. The contrast agent is injected into the blood vessel, and the blood flow force accelerates the contrast agent. When the contrast agent speed is accelerated to the same as the blood flow velocity, the blood is accompanied by the blood. The stream moves together. Assuming that the direction of motion of the contrast agent is parallel to the axial direction of the blood vessel, the blood flow force can be defined as follows:

Among them, F _blood is blood flow,

Is the axial direction of the blood vessel, d is the distance of a particle in the pipe from the center of the pipe, Q is the liquid flow, and r is the pipe radius. After the blood flow, the velocity field becomes:

Where u' is the changed velocity field and u is the velocity field before the change. Advection is the process by which fluid velocity transmits itself and other quantities (such as density). The input field includes the velocity field and the amount that is wanted to be transmitted. The output field is the new field of the transmitted volume. The calculation of this part adopts the unconditional stability algorithm. It is necessary to calculate the movement of the physical quantity with the velocity field. It can be imagined that each coordinate is a particle, and the distance r moved within δt time is:

r(t+δt)=r(t)+u(t)δt (6)

The viscosity of the blood hinders the diffusion of the contrast agent to a certain extent, which leads to the dispersion of the velocity, expressed as a differential equation:

The calculation method is:

Discretization can be solved by iterative techniques:

In a specific implementation, in order to simulate the process of controlling the movement of the C-arm operating bed model (ie, the three-dimensional model of the C-arm operating bed), in the embodiment, the system further includes: two control handles, which are controlled by the user. The arm operation bed model is operated while moving; the distance detecting device is configured to detect a distance signal of one of the two control handles moving up or down, and detecting a distance signal of the other control handle moving to the left or right; The model establishing device is further configured to control the C-arm operating bed model to move up or down according to a detected distance signal of a control handle moving up or down; according to another control handle detected to the left or to the left The distance signal of the right movement controls the C-arm operating bed model to move to the left or right by a corresponding distance.

In a specific implementation, in order to simulate the process of X-ray imaging the blood vessel, in the embodiment, the system further includes: a foot pedal, which is operated by the user when performing X-ray imaging by controlling the intravascular interventional surgery simulation system; State detecting device for detecting whether the foot pedal is depressed, and when detecting that the foot pedal is depressed, transmitting an indication signal for X-ray imaging to the X-ray imaging apparatus (for example, when the foot pedal When depressed, it can be set to 1 state, send an instruction to the X-ray imaging device to indicate X-ray imaging of the patient); when it is detected that the foot pedal is not depressed, transmit to the X-ray imaging device An indication signal that does not perform X-ray imaging (for example, when the foot pedal is not depressed, may be set to a 0 state, and an instruction is sent to the X-ray imaging apparatus indicating that X-ray imaging is not performed on the patient); the X-ray imaging apparatus, It is used to perform corresponding operations according to the received indication signal.

Specifically, the X-ray imaging apparatus may include: a thickness information acquiring module, configured to acquire thickness information of a three-dimensional geometric model of the blood vessel; and an X-ray imaging module to establish an X-ray attenuation model of the three-dimensional geometric model of the blood vessel, according to the The thickness information of the three-dimensional geometric model of the blood vessel is determined, and the illumination intensity of each pixel in the X-ray attenuation model is determined to obtain an X-ray image of the three-dimensional geometric model of the blood vessel. The principle of X-ray imaging is that when X-rays pass through the human body, due to the different density and thickness of different tissues of the human body, the degree of absorption of X-rays is different, so the amount of X-rays reaching the screen or film is different. In the embodiment, the thickness information acquisition module can first use the OpenGL rendering texture technique to obtain the thickness information of the three-dimensional geometric model of the blood vessel by two renderings. Then, an X-ray attenuation model of the three-dimensional geometric model of the blood vessel is established by the X-ray imaging module, and the illumination intensity of each pixel in the X-ray attenuation model is obtained according to the thickness information of the previously acquired three-dimensional geometric model of the blood vessel, thereby obtaining the X of the three-dimensional geometric model of the blood vessel. Ray image. Specifically, the thickness information acquiring module and the X-ray imaging module may be software, hardware, or a combination of the two, and may be, for example, a component such as a processing chip.

In a specific implementation, in order to facilitate the training data provided to the trainer, in the embodiment, the system further includes: a storage device for storing medical image data of different blood vessels and surrounding tissues and/or edited blood vessel three-dimensional images. Geometric model. For example, the data processed according to the specific patient can also be stored in the storage device as a training model in the future. In addition, the manually edited three-dimensional geometric model of the blood vessel can be stored. When the user trains the surgical skill, according to the training target, The case data that can complete the corresponding training target will be called from the storage device, so as to enable the experienced doctor to perform the operation plan of the personalized patient, optimize the operation path, the operation preview, and the like, and provide the interventional surgery for the beginner. The training platform can train beginner doctors' surgical skills, hand-eye coordination, and ability to deal with various emergencies, helping to reduce the cost and cycle of training medical staff.

In the practice of the present invention, by acquiring medical image data of blood vessels and surrounding tissues and organs, and establishing a three-dimensional geometric model of blood vessels and surrounding tissues and organs, a three-dimensional geometric model of a blood vessel can be established, or directly Obtaining the medical image data of the case that has been stored for training to establish a three-dimensional geometric model of the blood vessel Then, when performing an intravascular interventional simulation, the user visually and real-time displays the three-dimensional geometric model of the blood vessel and the three-dimensional surgical instrument model of the physical surgical instrument in the three-dimensional geometric model of the blood vessel by operating the physical surgical instrument. It can help experienced doctors to develop individualized patients' surgical plans, optimize surgical paths, and surgical rehearsals to improve the success rate of surgery. At the same time, provide interventional training platform for beginners to train beginners' surgical skills and hand eyes. Coordinating capabilities and adapting to various emergencies can help reduce the cost and cycle of training medical staff.

Those skilled in the art will appreciate that embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device. The instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

The above described specific embodiments of the present invention are further described in detail, and are intended to be illustrative of the embodiments of the present invention. All modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

An intravascular interventional surgery simulation system, comprising:

An image acquisition device for acquiring medical image data of a blood vessel and a perivascular tissue organ to be simulated by an intravascular interventional surgery, the medical image data being medical image data of a designated patient;

a model establishing device for establishing a three-dimensional geometric model of a blood vessel and a tissue surrounding the blood vessel according to the acquired medical image data;

a physical surgical instrument that is operated by a user during an intravascular interventional simulation of a three-dimensional geometric model of the blood vessel and tissue surrounding the blood vessel;

The model establishing device is further configured to establish a three-dimensional surgical instrument model of the physical surgical instrument, and control a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel according to operation of the physical surgical instrument by the user;

A display for displaying a three-dimensional geometric model of the blood vessel and tissue surrounding the blood vessel and a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel.
The system of claim 1 further comprising:

a signal acquisition device, configured to collect angular displacement and line displacement of the physical surgical instrument when the user performs a pushing, pulling or rotating operation on the physical surgical instrument;

The model establishing device is further configured to generate a motion trajectory of the three-dimensional surgical instrument model in a three-dimensional geometric model of the blood vessel according to the angular displacement and the linear displacement of the physical surgical instrument.
The system of claim 2 wherein said signal acquisition means comprises:

Transmission platform

a physical surgical instrument guide slot extending through the transmission platform and parallel to an upper plane of the transmission platform for guiding the physical surgical instrument;

Positioning the ball, placed at the center of the plane on the transmission platform, directly above the guiding slot of the physical surgical instrument, and in contact with the physical surgical instrument in the guiding slot of the physical surgical instrument;

a limiting component mounted on a plane of the transmission platform and on a side of the positioning ball for preventing displacement of the positioning ball;

Two photoelectric code disks are fixed on a plane of the transmission platform, and the rotation axes of the two photoelectric code disks are perpendicular to each other to form a right angle, and the rotation axes of the two photoelectric code disks are parallel to the guiding grooves of the physical surgical instruments. a first photoelectric code disk, wherein the two optical code disk intermediate shafts are perpendicular to the physical surgical instrument guiding groove, and the second photoelectric code disk is Positioning the ball is located in the right angle and is in contact with the rotating shafts of the two photoelectric code disks, and the limiting member is on the angle bisector of the right angle;

Two light emitting diodes, one of the two light emitting diodes being a first light emitting diode fixed to one side of the first photoelectric code wheel; the other of the two light emitting diodes being a second a light emitting diode fixed on one side of the second photoelectric code disc, and two light emitting diodes for outputting an optical pulse signal;

a first photoelectric encoder fixed on the other side of the first photoelectric code disk for operating the physical surgical instrument when the user rotates the rotating shaft of the two photoelectric code disks, Collecting an optical pulse signal emitted by the first light emitting diode and transmitted through the first photoelectric code disk, and generating an electrical signal according to a law of the collected optical pulse signal, the electrical signal indicating the first photoelectric code disk a first rotational speed of the rotating shaft, the first rotational speed being used to calculate an angular displacement of the physical surgical instrument;

a second photoelectric encoder fixed on the other side of the second photoelectric code disk, configured to operate the physical surgical instrument when the user rotates the rotating shaft of the two photoelectric code disks, Acquiring an optical pulse signal emitted by the second light emitting diode and transmitted through the second photoelectric code disk, and generating an electrical signal according to a law of the collected optical pulse signal, the electrical signal indicating the second photoelectric code disk A second rotational speed of the shaft for calculating a linear displacement of the physical surgical instrument.
The system according to any one of claims 1 to 3, wherein the constituent unit of the three-dimensional geometric model of the blood vessel is a curved sheet, and the constituent unit of the three-dimensional surgical instrument model is a particle point, and the system further comprises:

a distance detecting module, configured to determine the three-dimensional surgical instrument model and the device after detecting that the distance between each particle point and the curved surface of the three-dimensional surgical instrument model is equal to less than a preset value after the user operates the physical surgical instrument The three-dimensional geometric model of the blood vessel collides, and records the distance between each particle of the three-dimensional surgical instrument model and the curved piece;

a calculation module, configured to calculate the elastic force of each surface point of the curved surface piece according to the distance between each particle point and the curved surface piece of the three-dimensional surgical instrument model, and calculate the elastic surface force of each surface point according to the elastic force and the friction law according to the elastic force The friction of the particle, the resultant force of the elastic force of each particle and the friction force is the force that the particle is subjected to in the event of a collision;

a force decomposition module for calculating a resultant force of the elastic force and the friction force of all the mass points, and decomposing the resultant force into a force parallel to the direction of the three-dimensional surgical instrument model and a force perpendicular to the direction of the three-dimensional surgical instrument model;

A force feedback device for applying a force parallel to the direction of the three-dimensional surgical instrument model to the physical surgical instrument.
The system of claim 4 wherein said force feedback means comprises:

a screw disposed perpendicular to the physical surgical instrument;

a stepping motor for driving the screw to rotate forward or reverse. When the three-dimensional surgical instrument model collides with a three-dimensional geometric model of the blood vessel, the stepping motor rotates forward; otherwise, the stepping motor Reverse

Two clamping members respectively connected to two nut connecting members connected to the screw, on the same side of the screw, and friction materials are fixed on opposite sides of the two clamping members, The clamping members are placed symmetrically about the physical surgical instrument, the physical surgical instrument being at the same height as the friction material, and when the stepping motor is rotating forward, the two clamping members are at the screw Driving the lower facing movement, after the two clamping members tighten the physical surgical instrument, the frictional material deformation of the two clamping members generates frictional force on the physical surgical instrument is parallel to the direction of the three-dimensional surgical instrument model The force of the two clamping members is reversed by the screw when the stepping motor is reversed.
The system according to claim 4, wherein said model establishing means is further configured to construct said three-dimensional surgical instrument model to be composed of a plurality of fixed length segments, said plurality of fixed length segments being connected end to end by a node In the line segment, when the three-dimensional surgical instrument model collides with the three-dimensional geometric model of the blood vessel, the node can freely rotate to adjust the moving direction of the three-dimensional surgical instrument model in the three-dimensional geometric model of the blood vessel.
The system according to claim 6, wherein when the three-dimensional surgical instrument model collides with the three-dimensional geometric model of the blood vessel, the curved surface piece that collides is a reflecting surface, and the three-dimensional surgical instrument model is along The direction of the reflection angle moves.
The system of any of claims 1 to 3, further comprising:

a pressure syringe for withstanding the pressure exerted by the contrast agent when the user performs an intravascular interventional simulation;

a pressure detecting device for detecting a pressure applied by the pressure injector;

The model establishing device is further configured to establish a contrast agent propagation phenomenon corresponding to the pressure in the three-dimensional geometric model of the blood vessel according to the detected pressure.
The system of any of claims 1 to 3, further comprising:

Two control handles are operated by the user while controlling the movement of the C-arm operating bed model;

a distance detecting device for detecting a distance signal of one of the two control handles moving up or down, detecting a distance signal of another control handle moving to the left or right;

The model establishing device is further configured to control the C-arm operating bed model to move up or down according to a detected distance signal of a control handle moving up or down; according to another control handle detected to the left or The distance signal moving to the right controls the C-arm operating bed model to move to the left or right by a corresponding distance.
The system of any of claims 1 to 3, further comprising:

The foot pedal is operated by the user during X-ray imaging by controlling the intravascular interventional surgery simulation system;

a state detecting device for detecting whether the foot pedal is depressed, and when detecting that the foot pedal is depressed, transmitting an indication signal for performing X-ray imaging to the X-ray imaging apparatus; when detecting the foot When the pedal is not depressed, transmitting an indication signal that does not perform X-ray imaging to the X-ray imaging apparatus;

The X-ray imaging apparatus is configured to perform corresponding operations according to the received indication signal.
The system of claim 10 wherein said X-ray imaging apparatus comprises:

a thickness information acquiring module, configured to acquire thickness information of a three-dimensional geometric model of the blood vessel;

The X-ray imaging module establishes an X-ray attenuation model of the three-dimensional geometric model of the blood vessel, and determines the illumination intensity of each pixel in the X-ray attenuation model according to the thickness information of the three-dimensional geometric model of the blood vessel, and obtains the X of the three-dimensional geometric model of the blood vessel. Ray image.
The system of any of claims 1 to 3, further comprising:

A storage device for storing medical image data of different blood vessels and surrounding tissues and/or edited three-dimensional geometric models of blood vessels.
The system according to any one of claims 1 to 3, wherein the entrance of the physical surgical instrument on the intravascular interventional surgery simulation system and the three-dimensional surgical instrument model are on the three-dimensional geometric model of the blood vessel The puncture point corresponds.