CN-122005090-A - Accurate microcatheter positioning device and method for adrenal arterial embolism operation

CN122005090ACN 122005090 ACN122005090 ACN 122005090ACN-122005090-A

Abstract

The application discloses a microcatheter accurate positioning device and method for adrenal arterial embolism, relating to the technical field of medical operation, wherein the method comprises the steps of acquiring three-dimensional blood vessel image data of a target patient in different respiratory cycles from a preset database; the method comprises the steps of selecting a follow-up reference point serving as a registration point from anatomical points based on displacement degrees of all anatomical points in three-dimensional vascular image data, determining a plurality of registration point density analysis ranges based on complexity expression degrees of the range of the reference point and distances between the reference point and a focus area, taking the reference point corresponding to the registration point density analysis ranges as the registration point, and screening all registration points based on distribution uniformity degrees of the registration points corresponding to the registration point density analysis ranges and overlapping expressions of the registration points under different angles to obtain registration point sets corresponding to different positions of the focus area. The application achieves the technical effect of improving the accuracy of selecting the alignment points.

Inventors

CHANG JING
XIANG RUI
TAO LI
MAO MIN
FENG RUI
TANG PING
ZHANG CHEN

Assignees

重庆医科大学附属第一医院

Dates

Publication Date: 20260512
Application Date: 20260129

Claims (10)

1. A microcatheter accurate positioning method for adrenal arterial embolism, the method comprising: Three-dimensional blood vessel image data of a target patient in different respiratory cycles are obtained from a preset database; selecting a subsequent reference point serving as a registration point from the anatomical points based on the displacement degree of each anatomical point in the three-dimensional blood vessel image data; Determining a plurality of registration point density analysis ranges based on the complexity expression degree of the range of the reference point and the distance between the reference point and the focus area, and taking the reference point corresponding to the registration point density analysis range as a registration point, wherein the registration point density analysis range is determined based on the distribution density requirement of the focus area on the registration point; And screening each registration point based on the distribution uniformity degree of the registration points corresponding to the density analysis range of each registration point and the overlapping performance of the registration points under different angles to obtain registration point sets corresponding to different positions of a focus area so as to assist doctors to position the microcatheter.
2. The accurate positioning method of a microcatheter for an arterial embolism according to claim 1, wherein the selecting a subsequent reference point as a registration point from the anatomical points based on the displacement degree of each anatomical point in the three-dimensional blood vessel image data comprises: determining the degree of protrusion of each anatomical point in the three-dimensional vessel image data; calculating to obtain unsuitable degree values of each anatomical point serving as a registration point based on the displacement degree of each anatomical point and the protruding degree in different time phases in the three-dimensional blood vessel image data; And when the unsuitable degree value meets a preset condition, setting an anatomical point corresponding to the unsuitable degree value as a reference point serving as a subsequent registration point.
3. The accurate positioning method of a microcatheter for an arterial embolism as set forth in claim 2, wherein the calculating the inadequacy value of each anatomical point as the registration point based on the displacement degree of each anatomical point and the protrusion degree of each anatomical point in the three-dimensional blood vessel image data at different time phases comprises: Calculating the shortest distance between each anatomical point in the three-dimensional blood vessel image data and other time phases and the average value of displacement distances; Determining the maximum value of the displacement average value in the displacement distance average value of each anatomical point; And calculating an unsuitable degree value of each anatomical point serving as a registration point based on the difference between the displacement distance mean value and the displacement mean value maximum value, the shortest distance and the protruding degree of each anatomical point under different image data.
4. The method of claim 1, wherein determining a plurality of registration point densitometric ranges based on the complexity performance level of the range of the reference point and the distance between the reference point and the focal region comprises: Analyzing and processing the blood vessel characteristics of each reference point through a neural network model to obtain the complexity expression degree of the range of the reference point; determining a first distance between the reference point and a focus area, a first volume of the focus area and a maximum volume of the focus area in a historical time period; calculating the registration point density requirement degree of each reference point corresponding range based on the ratio between the complexity expression degree and the first distance and the ratio of the first volume to the maximum volume; clustering the registration point density requirement degree to obtain a plurality of clusters, and taking the clusters as a registration point density analysis range.
5. The accurate positioning method of a microcatheter for adrenal arterial embolism as set forth in claim 4, wherein said clustering the required degree of density of the registration points to obtain a plurality of clusters, and using the clusters as the analysis range of density of the registration points, comprises: according to the distance sequence between each reference point and the focus area, the density requirement degree of the registration points is arranged from far to near to obtain a density requirement degree sequence of the registration points; Clustering the reference points corresponding to the registration point density requirement degree sequence through a preset clustering algorithm to obtain a plurality of clustering clusters, and taking the clustering clusters as a registration point density analysis range.
6. The method for precisely positioning a microcatheter for an arterial embolism as set forth in claim 4, wherein said clustering as a range of registration point densitometric analysis further comprises: Aiming at any registration point density analysis range, taking the average value of the registration point density requirement degree of each reference point in the current registration point density analysis range as the registration point density requirement of the current registration point density analysis range; And correcting the preset initial registration point density based on the registration point density requirement to obtain the registration point distribution density of each registration point density analysis range.
7. The accurate positioning method of a microcatheter for arterial embolism according to claim 1, wherein the screening the registration points to obtain registration point sets corresponding to different positions of a focus region based on the uniformity of distribution of registration points corresponding to the density analysis range of the registration points and the overlapping performance of the registration points under different angles comprises: determining a plurality of arrangement sets corresponding to different registration point density analysis ranges, wherein the arrangement sets comprise a plurality of registration points; Calculating the distribution rational degree of the arrangement set based on the interval difference between each registration point in the arrangement set and the inappropriateness degree of each registration point; calculating the preference degree of different arrangement sets based on the reasonable distribution expression degree and the overlapping expression of the registration points under different angles; and taking the arrangement set corresponding to the maximum value of the preference degree as a registration point set corresponding to the current registration point density analysis range, wherein each registration point density analysis range corresponds to different positions of the focus region.
8. The method of claim 7, wherein calculating the preference of different arrangement sets based on the distribution performance rationality and the overlapping performance of the registration points at different angles comprises: Determining the number of registration points, the distance between the registration points of which is smaller than a preset distance under different angles, and the sum of the interval distances between the registration points corresponding to the number of registration points; Acquiring the number of angles with the distance between the registration points smaller than a preset distance, and calculating a first ratio between the interval distance and the number of angles, wherein the first ratio is used for representing the overlapping performance of the registration points under different angles; based on the first ratio, the degree to which the distribution is reasonably represented, and the sum of the spacing distances, which is inversely related to the degree of preference, the degree of preference for the different arrangement sets is calculated.
9. The accurate positioning method of a microcatheter for an arterial embolism according to claim 1, wherein after the step of screening each registration point to obtain a set of registration points corresponding to different positions of a focus area based on a distribution uniformity degree of the registration points corresponding to a density analysis range of each registration point and an overlapping expression of the registration points under different angles to assist a doctor in positioning the microcatheter, the method further comprises: performing iterative computation on the registration point set to obtain an optimal space transformation matrix; Based on the optimal space transformation matrix, the registration point set of the preoperative three-dimensional blood vessel image data is projected into a two-dimensional plane of the intra-operative in-vivo dynamic image of the target patient, so that the preoperative three-dimensional blood vessel image data and the intra-operative in-vivo dynamic image are fused.
10. A microcatheter accurate positioning device for adrenal arterial embolization, the device comprising: The acquisition module is used for acquiring three-dimensional blood vessel image data of the target patient in different respiratory cycles from a preset database; The selecting module is used for selecting a subsequent reference point serving as a registration point from the anatomical points based on the displacement degree of each anatomical point in the three-dimensional blood vessel image data; The determining module is used for determining a plurality of registration point density analysis ranges based on the complexity expression degree of the range of the reference point and the distance between the reference point and the focus area, and taking the reference point corresponding to the registration point density analysis range as the registration point, wherein the registration point density analysis range is determined based on the distribution density requirement of the focus area on the registration point; The processing module is used for screening each registration point based on the distribution uniformity degree of the registration points corresponding to the density analysis range of each registration point and the overlapping performance of the registration points under different angles to obtain registration point sets corresponding to different positions of a focus area so as to assist doctors to position the microcatheter.

Description

Accurate microcatheter positioning device and method for adrenal arterial embolism operation Technical Field The application relates to the technical field of medical operations, in particular to a microcatheter accurate positioning device and method for adrenal arterial embolism. Background The accurate registration point selection is a basic stone for realizing accurate positioning of the microcatheter, and a stable and reliable coordinate corresponding relation between a preoperative CTA (CT vascular imaging) and an intraoperative perspective image is established, so that highly reliable augmented reality navigation is provided for an operator, the super-selection efficiency can be greatly improved, and the operation time is shortened. At present, the selection mode of the registration points only judges whether the points can be used as the registration points according to the contrast and geometric characteristic expression of the points in the image, and the distribution requirement of the registration points at different positions relative to a focus area is not considered, so that the selected registration points are not the most suitable registration points, the fusion of the images during the later operation is easy to be interfered, and then the judgment of the positions of the microcatheters is wrong. Disclosure of Invention In order to solve the technical problems that in the related art, whether the points can be used as the registration points or not is judged only by the contrast and geometric characteristic expression of the points in the image, the selected registration points are not the most suitable registration points, and the fusion of the images during the later operation is easy to be interfered, the application provides a microcatheter accurate positioning device and a microcatheter accurate positioning method for the adrenal artery embolism operation. The adopted technical scheme is as follows: Three-dimensional blood vessel image data of a target patient in different respiratory cycles are obtained from a preset database; selecting a subsequent reference point serving as a registration point from the anatomical points based on the displacement degree of each anatomical point in the three-dimensional blood vessel image data; determining a plurality of registration point density analysis ranges based on the complexity expression degree of the range of the reference point and the distance between the reference point and the focus area, and taking the reference point corresponding to the registration point density analysis range as the registration point, wherein the registration point density analysis range is determined based on the distribution density requirement of the focus area on the registration point; And screening each registration point based on the distribution uniformity degree of the registration points corresponding to the density analysis range of each registration point and the overlapping performance of the registration points under different angles to obtain registration point sets corresponding to different positions of the focus area so as to assist doctors in positioning the microcatheter. In one possible embodiment of the present application, selecting a reference point to be subsequently used as a registration point from anatomical points based on the displacement degree of each anatomical point in the three-dimensional blood vessel image data includes: Determining the degree of protrusion of each anatomical point in the three-dimensional vessel image data; calculating to obtain unsuitable degree values of each anatomical point serving as a registration point based on the displacement degree and the salient degree of each anatomical point in different time phases in the three-dimensional blood vessel image data; When the inappropriateness value meets the preset condition, the anatomical point corresponding to the inappropriateness value is set as a reference point which is used as a registration point subsequently. In one possible embodiment of the present application, calculating the inadequacy level value of each anatomical point as the registration point based on the displacement level of each anatomical point at different phases in the three-dimensional blood vessel image data and the degree of protrusion includes: Calculating the shortest distance between each anatomical point in the three-dimensional blood vessel image data and other time phases and the average value of the displacement distance; Determining the maximum value of the displacement average value in the displacement distance average value of each anatomical point; based on the difference between the displacement distance mean value and the displacement mean value maximum value, the shortest distance and the prominence degree of each anatomical point under different image data, calculating to obtain the unsuitable degree value of each anatomical point as the registration point. In one possib