WO2020093971A1

WO2020093971A1 - Method and apparatus for coronary stenosis assessment, storage medium, and electronic device

Info

Publication number: WO2020093971A1
Application number: PCT/CN2019/115347
Authority: WO
Inventors: 张宇; 刘健
Original assignee: 北京三普威盛科技有限公司
Priority date: 2018-11-06
Filing date: 2019-11-04
Publication date: 2020-05-14
Also published as: CN109616200A

Abstract

The present disclosure relates to a method and apparatus for coronary stenosis assessment, a storage medium, and an electronic device. The method comprises: obtaining an angiographic image of a coronary artery; performing vessel three-dimensional reconstruction according to the angiographic image to obtain a three-dimensional vessel model of the coronary artery; for a target branch of the coronary artery, performing a pressure drop test on the three-dimensional vessel model to obtain a quadratic function relationship between a blood flow rate and a blood flow pressure of the target branch, the target branch being any branch of the coronary artery; and assessing a stenosis condition of the coronary artery according to a constant coefficient of the quadratic function relationship. Embodiments of the present disclosure are used for assessing the stenosis degree of a vessel.

Description

Method, device, storage medium and electronic equipment for evaluating coronary stenosis

Technical field

The present disclosure relates to the technical field of medical image processing, and in particular, to a method, device, storage medium, and electronic equipment for coronary artery stenosis evaluation.

Background technique

At present, related technologies can be based on medical CT (Computed Tomography, electronic computer tomography) images and MRI (MagneticResonanceImaging, magnetic resonance imaging) contrast, reconstruction of the three-dimensional coronary vessel shape, and can be further based on three-dimensional coronary image calculation FFR (Fractional Flow Reserve, coronary blood flow reserve fraction).

However, the prior art calculates FFR from a three-dimensional coronary image based on a series of assumptions, including but not limited to: hypothesis of coronary blood flow, hypothesis of blood flow of coronary branches, hypothesis of coronary inlet pressure, injection of gland The hypothesis that peripheral vascular resistance decreases after glycosides. Because this series of assumptions may not be satisfied in actual situations, there is still a large deviation between the calculated FFR and the measured FFR, especially in the critical state of coronary stenosis (ie, FFR is near 0.8) There are often differences between calculations and actual measurements.

Summary of the invention

In order to overcome the problems in the related art, the present disclosure provides a method, device, storage medium, and electronic equipment for coronary stenosis evaluation.

In order to achieve the above objective, a first aspect of the embodiments of the present disclosure provides a method for coronary stenosis assessment, the method includes:

Obtain coronary angiography images;

Performing three-dimensional reconstruction of the blood vessel according to the angiography image to obtain the three-dimensional blood vessel model of the coronary artery;

For the target branch of the coronary artery, a pressure drop test is performed on the three-dimensional blood vessel model to obtain a quadratic function relationship between blood flow and blood pressure of the target branch, wherein the target branch is the Any branch of the coronary artery;

According to the constant coefficient of the quadratic function relationship, the coronary stenosis is evaluated.

Optionally, performing a pressure drop test on the three-dimensional blood vessel model for the target branch of the coronary artery to obtain a quadratic function relationship between blood flow and blood flow pressure of the target branch includes:

Adjusting the blood flow of the target branch, and recording the blood flow pressure under each blood flow to obtain multiple sets of sample data including blood flow and blood flow pressure corresponding to the blood flow;

Draw the curve relationship between blood flow and blood flow pressure based on multiple sets of sample data;

The least square method is used to fit the curve to obtain the quadratic function relationship.

Optionally, the adjusting the blood flow of the target branch and recording the blood flow pressure under each blood flow includes:

Adjust the blood flow of the target branch to gradually change from 0 to 100 ml per minute, and calculate the blood flow pressure of the target branch every time the blood flow changes by 10 ml per minute.

Optionally, the blood flow pressure of the blood vessel is a quadratic function of blood flow, and the quadratic function relationship between the blood flow of the target branch and the blood flow pressure is: Dp = A * Q ² + BQ;

Among them, Dp is the blood flow pressure, Q is the blood flow, A is the quadratic constant coefficient, and B is the linear constant coefficient.

Optionally, the evaluation of the coronary stenosis according to the constant coefficient of the quadratic function relationship includes:

Determine the preset value interval of the values of A and B respectively;

The FFR value of the target branch is determined according to the correspondence between the combination of the preset value interval between A and B and the FFR value of the blood flow reserve fraction.

A second aspect of an embodiment of the present disclosure provides a device for coronary stenosis evaluation, the device includes:

The acquisition module is used to acquire coronary angiography images;

A three-dimensional reconstruction module, configured to perform three-dimensional reconstruction of blood vessels based on the angiography image to obtain a three-dimensional blood vessel model of the coronary artery;

The pressure drop test module is configured to perform a pressure drop test on the three-dimensional blood vessel model for the target branch of the coronary artery to obtain a quadratic function relationship between blood flow and blood flow pressure of the target branch, wherein, The target branch is any branch of the coronary artery;

The evaluation module is configured to evaluate the coronary stenosis according to the constant coefficient of the quadratic function relationship.

Optionally, the voltage drop test module includes:

A sampling sub-module for adjusting the blood flow of the target branch and recording the blood flow pressure under each blood flow to obtain multiple sets of sample data including the blood flow and the blood flow pressure corresponding to the blood flow;

Curve drawing submodule, used to draw the curve relationship between blood flow and blood flow pressure based on multiple sets of sample data;

The fitting submodule is used to fit the curve by least square method to obtain the quadratic function relationship.

Optionally, the blood flow pressure of the blood vessel is a quadratic function of blood flow, and the quadratic function relationship between the blood flow of the target branch and the blood flow pressure is: Dp = A * Q ² + BQ, where Dp is Blood flow pressure, Q is the blood flow, A is the quadratic constant coefficient, and B is the linear constant coefficient;

The evaluation module includes:

The first determining submodule is used to determine the preset value interval where the values of A and B are respectively located;

The second determination submodule is used to determine the FFR value of the target branch according to the correspondence between the combination of the preset value interval between A and B and the blood flow reserve FFR value.

A third aspect of an embodiment of the present disclosure provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the steps of the method of the first aspect.

A fourth aspect of the embodiments of the present disclosure provides an electronic device, including:

Memory, on which computer programs are stored;

A processor is configured to execute the computer program in the memory to implement the steps of the method in the first aspect.

Using the above technical solutions can at least achieve the following technical effects:

The blood flow pressure of a blood vessel is a quadratic function of blood flow. By establishing a quadratic function relationship between the blood flow pressure and blood flow of a normal coronary artery (that is, a coronary artery with a measured FFR value within a reasonable range), the corresponding value of the normal coronary artery can be obtained. The constant coefficient of the quadratic function relationship should be in the numerical range. In this way, for a certain coronary artery to be tested, the pressure drop test is used to obtain the quadratic function relationship between the blood pressure of the coronary artery branch and the blood flow, and it is determined whether the constant of the quadratic function relationship is within a reasonable numerical range. The degree of coronary stenosis can be determined according to the judgment result. The technical solution provided by the present disclosure is not based on any theoretical assumption, and is closer to the measured FFR value, so the assessment of coronary stenosis is more accurate than the prior art.

Other features and advantages of the present disclosure will be described in detail in the detailed description section that follows.

BRIEF DESCRIPTION

The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, together with the following specific embodiments to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the drawings:

FIG. 1 is a schematic flowchart of a method for evaluating coronary stenosis provided by an embodiment of the present disclosure;

2 is a schematic diagram of a three-dimensional model of a blood vessel provided by an embodiment of the present disclosure;

3 is a schematic flowchart of a method for obtaining a quadratic function relationship between blood flow pressure and blood flow through a pressure drop test provided by an embodiment of the present disclosure;

4 is a curve relationship between a blood flow and blood flow pressure of a normal blood vessel provided by an embodiment of the present disclosure, and a corresponding quadratic function relationship;

5 is a curve relationship between a blood flow rate and blood flow pressure of a narrow blood vessel provided by an embodiment of the present disclosure, and a corresponding quadratic function relationship;

6 is a schematic structural diagram of a device for evaluating coronary stenosis provided by an embodiment of the present disclosure;

7 is a schematic structural diagram of another apparatus for evaluating coronary stenosis provided by an embodiment of the present disclosure;

8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

detailed description

The specific embodiments of the present disclosure will be described in detail below with reference to the drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

An embodiment of the present disclosure provides a method for evaluating coronary stenosis, as shown in FIG. 1, including:

S11. Acquire an angiography image of a coronary artery.

Angiography is an interventional detection method. The developer is injected into the blood vessel. Since the X-ray cannot penetrate the developer, the developer can show the image of the blood vessel under the X-ray.

Exemplarily, CT angiography (CTA) technology is used to combine CT enhancement technology with thin layer, large-scale and fast scanning technology. Through reasonable post-processing, the details of blood vessels can be clearly displayed, which is non-invasive and easy to operate. Features.

S12. Perform three-dimensional reconstruction of the blood vessel according to the angiography image to obtain a three-dimensional blood vessel model of the coronary artery.

The blood vessel can be regarded as a special kind of pipe, and the surface of the pipe can be regarded as the envelope formed by rolling the ball center along a certain curve (central axis), and the central axis of the blood vessel has only one intersection with the blood vessel slice. Therefore, based on the multiple parallel slice images of the blood vessel, the three-dimensional shape of the blood vessel is represented by drawing the projection of the central axis in the XY, YZ, and ZX planes to obtain a three-dimensional blood vessel model. Referring to FIG. 2, FIG. 2 is a schematic diagram of a three-dimensional blood vessel model shown in an embodiment of the present disclosure.

S13. Perform a pressure drop test on the three-dimensional blood vessel model for the target branch of the coronary artery to obtain a quadratic function relationship between blood flow and blood flow pressure of the target branch.

Wherein, the target branch is any branch of the coronary artery.

In other words, for any blood vessel branch of the coronary artery, a pressure drop test can be performed on the three-dimensional blood vessel model to obtain data (blood flow and corresponding blood flow pressure), and further obtain the blood flow of the blood vessel branch according to the adopted data A quadratic function relationship with blood pressure.

It is worth noting that the following formula (1) can prove that the blood flow pressure Pa is a quadratic function of the blood flow Q:

In this way, the constant coefficient in the specific quadratic function relationship between blood flow and blood pressure can be used as the flow resistance coefficient of the blood vessel. The flow resistance coefficient can objectively reflect the degree of stenosis, fineness and curvature of the blood vessel, so that The effect of coronary stenosis on myocardial blood supply.

S14. Assess the stenosis of the coronary artery according to the constant coefficient of the quadratic function relationship.

In specific implementation, the quadratic function relationship between the blood pressure and blood flow of the normal coronary artery (that is, the coronary artery with the measured FFR value within a reasonable range) can be established in advance, so that the quadratic function relationship corresponding to the normal coronary artery The constant coefficient should be in the numerical range. In this way, for a coronary artery to be tested, the pressure drop test is used to obtain the quadratic function relationship between the blood pressure of the coronary branch and the blood flow. If the constant is within a reasonable numerical range, the degree of coronary stenosis can be determined according to the judgment result. The technical solution provided by the present disclosure is not based on any theoretical assumption, and is closer to the measured FFR value, so the assessment of coronary stenosis is more accurate than the prior art.

In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present disclosure, the above steps will be described in detail below.

Optionally, as shown in FIG. 3, the method for obtaining the quadratic function relationship of the target branch (that is, step S13 above) may specifically include:

S31. Adjust the blood flow of the target branch, and record the blood flow pressure under each blood flow to obtain multiple sets of sample data including the blood flow and the blood flow pressure corresponding to the blood flow.

For example, the blood flow of the target branch is adjusted to gradually change from 0 to 100 ml per minute, and the blood flow pressure of the target branch is calculated every time the blood flow changes by 10 ml per minute.

S32. Draw a curve relationship between blood flow and blood flow pressure according to multiple sets of sample data.

S33. Fit the curve by least square method to obtain the quadratic function relationship.

For example, since the blood flow pressure of the blood vessel is a quadratic function of blood flow, the quadratic function relationship between the blood flow of the target branch and the blood flow pressure can be expressed as: Dp = A * Q ² + BQ;

Among them, Dp is the blood flow pressure, Q is the blood flow, A is the quadratic constant coefficient, and B is the linear constant coefficient. By fitting the curve, the specific values of A and B can be obtained.

4 and 5 respectively show the curve relationship between the blood flow and blood flow pressure of normal blood vessels and narrow blood vessels, and the corresponding quadratic function relationship.

It can be seen from FIG. 4 that the quadratic function relationship between the blood flow and the blood flow pressure of the example normal blood vessel is: Dp = 1.0e-3 * Q ² + 0.044Q;

It can be seen from FIG. 5 that the quadratic function relationship between blood flow and blood flow pressure of the exemplary narrow blood vessel is: Dp = 2.5e-3 * Q ² + 0.222Q.

It is worth noting that through a large number of data samples, the A value of the quadratic function relationship of normal blood vessels can be obtained in advance should be in the numerical range [0.0039-2.7e-5, 0.0039 + 2.7e-5], and the B value should be in the value Within the interval [0.079-0.0025, 0.079 + 0.0025]. In this way, for a blood vessel to be tested, if the calculated A value or B value in the quadratic function relationship between the blood flow and the blood flow pressure is not within the preset numerical range, the blood vessel may be considered to be narrowed.

In a possible implementation manner of the embodiment of the present disclosure, the correspondence between the combination of the preset value interval where the A value and the B value are located and the blood flow reserve FFR value may also be established in advance, so that the above step S14 According to the constant coefficient of the quadratic function relationship, evaluating the stenosis of the coronary artery may specifically include: separately determining a preset numerical interval where the values of A and B are located; according to a combination of the preset numerical intervals where A and B are located The correspondence between the FFR value of the blood flow reserve fraction and the FFR value of the target branch are determined.

For example, the relationship between the combination of A's preset value interval [0.0039-2.7e-5,0.0039 + 2.7e-5] and B's preset value interval [0.079-0.0025,0.079 + 0.0025] and FFR value 0.8 is established in advance , Indicating that the measured A value is within the preset numerical range [0.0039-2.7e-5,0.0039 + 2.7e-5], and the measured B value is within the preset numerical range [0.079-0.0025,0.079 + 0.0025] In this case, the FFR value of the blood vessel is 0.8. That is, the FFR value objectively reflects the degree of stenosis of blood vessels.

Further, the embodiment of the present disclosure may also output an evaluation result showing the degree of stenosis of the blood vessel, and the evaluation result may be conclusion information about whether the blood vessel is narrowed, or may be the FFR value of the blood vessel. This disclosure does not limit this.

Based on the same inventive concept, an embodiment of the present disclosure also provides an apparatus for coronary stenosis assessment, which is used to implement the steps of the method for coronary stenosis assessment provided by the above method embodiments, as shown in FIG. 6, The device 60 includes:

The obtaining module 61 is used to obtain coronary angiography image CTA;

The three-dimensional reconstruction module 62 is configured to perform three-dimensional reconstruction of blood vessels according to the CTA to obtain a three-dimensional blood vessel model of the coronary artery;

The pressure drop test module 63 is configured to perform a pressure drop test on the three-dimensional blood vessel model for the target branch of the coronary artery to obtain a quadratic function relationship between blood flow and blood flow pressure of the target branch, where , The target branch is any branch of the coronary artery;

The evaluation module 64 is configured to evaluate the coronary stenosis according to the constant coefficient of the quadratic function relationship.

With the above device, the device can preliminarily establish the quadratic function relationship between the blood pressure of the normal coronary artery (that is, the coronary artery whose measured FFR value is within a reasonable range) and the blood flow, thereby obtaining the quadratic function relationship corresponding to the normal coronary artery The constant coefficient of should be in the numerical range, so that for a certain coronary artery to be tested, the pressure drop test is used to obtain the quadratic function relationship between the blood flow pressure of the coronary artery branch and the blood flow, and then the quadratic function relationship is judged If the constant is within a reasonable numerical range, the degree of coronary stenosis can be determined according to the judgment result. The technical solution provided by the present disclosure is not based on any theoretical assumption, and is closer to the measured FFR value, so the assessment of coronary stenosis is more accurate than the prior art.

Optionally, as shown in FIG. 7, the voltage drop test module 63 includes:

The sampling submodule 631 is used to adjust the blood flow of the target branch and record the blood flow pressure under each blood flow to obtain multiple sets of sample data including the blood flow and the blood flow pressure corresponding to the blood flow;

The curve drawing sub-module 632 is used to draw a curve relationship between blood flow and blood flow pressure according to multiple sets of sample data;

The fitting sub-module 633 is used to fit the curve by least square method to obtain the quadratic function relationship.

As shown in FIG. 7, the evaluation module 64 includes:

The first determining sub-module 641 is configured to determine the preset value interval where the values of A and B are respectively located;

The second determination submodule 642 is configured to determine the FFR value of the target branch according to the correspondence between the combination of the preset value interval between A and B and the FFR value of the blood flow reserve fraction.

Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment related to the method, and will not be elaborated here.

Embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the steps of the above method for coronary stenosis assessment.

An embodiment of the present disclosure also provides an electronic device, including:

Memory, on which computer programs are stored;

A processor for executing the computer program in the memory to implement the steps of the above method for coronary stenosis evaluation

Fig. 8 is a block diagram of an electronic device 70 according to an exemplary embodiment. As shown in FIG. 8, the electronic device 70 may include: a processor 701 and a memory 702. The electronic device 70 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

The processor 701 is used to control the overall operation of the electronic device 70 to complete all or part of the steps in the above method for coronary stenosis assessment. The memory 702 is used to store various types of data to support operation on the electronic device 70, and the data may include, for example, instructions for any application or method for operating on the electronic device 70, and application-related data. The memory 702 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, SRAM for short), electrically erasable programmable read-only memory ( Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), read-only Memory (Read-Only Memory, ROM for short), magnetic memory, flash memory, magnetic disk or optical disk. The multimedia component 703 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker for outputting audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules. The other interface modules may be a keyboard, a mouse, a button, and so on. These buttons can be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 70 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module.

In an exemplary embodiment, the electronic device 70 may be one or more application specific integrated circuits (Application Specific Integrated Circuit (ASIC for short), digital signal processor (DSP for short), digital signal processing device (Digital for short) Signal Processing (Device DSP), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic components Implementation, for performing the above method for coronary stenosis assessment.

In addition, the computer-readable storage medium provided by the embodiment of the present disclosure may be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions may be executed by the processor 701 of the electronic device 70 to complete the above method for coronary stenosis assessment.

The preferred embodiments of the present disclosure have been described in detail above with reference to the drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that the specific technical features described in the above specific embodiments can be combined in any suitable manner without contradictions. In order to avoid unnecessary repetition, the present disclosure The combination method will not be explained separately.

In addition, various combinations of various embodiments of the present disclosure can also be arbitrarily combined, as long as it does not violate the idea of the present disclosure, it should also be regarded as what is disclosed in the present disclosure.

Claims

A method for evaluating coronary stenosis, characterized in that the method includes:

Obtain coronary angiography images;

Performing three-dimensional reconstruction of the blood vessel according to the angiography image to obtain the three-dimensional blood vessel model of the coronary artery;

For the target branch of the coronary artery, a pressure drop test is performed on the three-dimensional blood vessel model to obtain a quadratic function relationship between blood flow and blood pressure of the target branch, wherein the target branch is the Any branch of the coronary artery;

According to the constant coefficient of the quadratic function relationship, the coronary stenosis is evaluated.
The method according to claim 1, wherein the target branch of the coronary artery is subjected to a pressure drop test on the three-dimensional blood vessel model to obtain the blood flow between the target branch and the blood flow pressure Of the quadratic function, including:

Adjusting the blood flow of the target branch, and recording the blood flow pressure under each blood flow to obtain multiple sets of sample data including blood flow and blood flow pressure corresponding to the blood flow;

Draw the curve relationship between blood flow and blood flow pressure based on multiple sets of sample data;

The least square method is used to fit the curve to obtain the quadratic function relationship.
The method according to claim 2, wherein the adjusting the blood flow of the target branch and recording the blood flow pressure at each blood flow includes:

Adjust the blood flow of the target branch to gradually change from 0 to 100 ml per minute, and calculate the blood flow pressure of the target branch every time the blood flow changes by 10 ml per minute.
The method according to any one of claims 1 to 3, wherein the blood flow pressure of the blood vessel is a quadratic function of blood flow, and the quadratic function relationship between the blood flow of the target branch and the blood flow pressure Is: Dp = A * Q 2 + BQ;

Among them, Dp is the blood flow pressure, Q is the blood flow, A is the quadratic constant coefficient, and B is the linear constant coefficient.
The method according to claim 4, wherein the assessing the coronary stenosis according to the constant coefficient of the quadratic function relationship includes:

Determine the preset value interval of the values of A and B respectively;

The FFR value of the target branch is determined according to the correspondence between the combination of the preset value interval between A and B and the FFR value of the blood flow reserve fraction.
A device for evaluating coronary stenosis, characterized in that the device includes:

The acquisition module is used to acquire coronary angiography images;

A three-dimensional reconstruction module, configured to perform three-dimensional reconstruction of blood vessels based on the angiography image to obtain a three-dimensional blood vessel model of the coronary artery;

The pressure drop test module is configured to perform a pressure drop test on the three-dimensional blood vessel model for the target branch of the coronary artery to obtain a quadratic function relationship between blood flow and blood flow pressure of the target branch, wherein, The target branch is any branch of the coronary artery;

The evaluation module is configured to evaluate the coronary stenosis according to the constant coefficient of the quadratic function relationship.
The device according to claim 6, wherein the voltage drop test module comprises:

A sampling sub-module for adjusting the blood flow of the target branch and recording the blood flow pressure under each blood flow to obtain multiple sets of sample data including the blood flow and the blood flow pressure corresponding to the blood flow;

Curve drawing submodule, used to draw the curve relationship between blood flow and blood flow pressure based on multiple sets of sample data;

The fitting submodule is used to fit the curve by least square method to obtain the quadratic function relationship.
The device according to claim 6 or 7, wherein the blood flow pressure of the blood vessel is a quadratic function of blood flow, and the quadratic function relationship between the blood flow of the target branch and the blood flow pressure is: Dp = A * Q 2 + BQ, where Dp is the blood flow pressure, Q is the blood flow, A is the quadratic constant coefficient, and B is the linear constant coefficient;

The evaluation module includes:

The first determining submodule is used to determine the preset value interval where the values of A and B are respectively located;

The second determination submodule is used to determine the FFR value of the target branch according to the correspondence between the combination of the preset value interval between A and B and the blood flow reserve FFR value.
A computer-readable storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, the steps of the method according to any one of claims 1-5 are realized.
An electronic device, characterized in that it includes:

Memory, on which computer programs are stored;

A processor, configured to execute the computer program in the memory, to implement the steps of the method according to any one of claims 1-5.