阅读说明：本技术 介入治疗中的图像呈现方法及系统、成像系统和存储介质 (Image presentation method and system in interventional therapy, imaging system and storage medium ) 是由 蒋鹏程 于 2020-05-18 设计创作，主要内容包括：本发明实施例中公开了一种介入治疗中的图像呈现方法及系统、成像系统和存储介质。其中,方法包括：基于释放在先支架时X射线设备采集的包括两端标记点的在先图像序列得到在先标记点的运动轨迹；基于X射线设备当前采集的包括两端标记点的设定数量的当前图像得到当前标记点的运动轨迹；根据在先标记点的运动轨迹中的坐标信息,确定在先标记点在当前图像中的位置信息；基于当前标记点的运动轨迹,对在先标记点的运动轨迹进行运动同步,得到运动同步信息；根据位置信息和运动同步信息,将在先标记点按照其运动轨迹依次叠加在当前采集的对应图像中。本发明实施例中的技术方案能够帮助医生更加准确地确定对在先支架再次扩张或拼接另一个新支架的位置。(The embodiment of the invention discloses an image presentation method and system, an imaging system and a storage medium in interventional therapy. The method comprises the following steps: obtaining a motion track of a previous mark point based on a previous image sequence which is acquired by X-ray equipment when the previous support is released and comprises the mark points at two ends; obtaining a motion track of a current mark point based on a set number of current images including the mark points at two ends, which are currently acquired by X-ray equipment; determining the position information of the previous marked point in the current image according to the coordinate information in the motion track of the previous marked point; based on the motion trail of the current mark point, carrying out motion synchronization on the motion trail of the previous mark point to obtain motion synchronization information; and sequentially overlapping the previous marked points in the corresponding image collected currently according to the motion track of the previous marked points according to the position information and the motion synchronization information. The technical scheme of the embodiment of the invention can help a doctor to more accurately determine the position of the previous stent to be expanded or spliced with another new stent.)

1. An image rendering method in interventional therapy, comprising:

obtaining a motion track (101) of a previous mark point based on a previous image sequence which is acquired by X-ray equipment when the previous support is released and comprises the mark points at two ends;

acquiring current images which are acquired by X-ray equipment currently and comprise a set number of marking points at two ends, and acquiring a motion track (102) of the current marking points based on the current images of the set number;

determining the position information (103) of the previous marking point in the current image according to the coordinate information in the motion track of the previous marking point;

based on the motion track of the current mark point, performing motion synchronization on the motion track of the previous mark point to obtain motion synchronization information (104);

and sequentially superposing the previous marked points in the currently acquired corresponding image according to the motion tracks of the previous marked points according to the position information and the motion synchronization information (105).

2. The method for image representation in interventional therapy according to claim 1, wherein the obtaining of the motion trajectory (101) of the previous marker point in the image based on the previous image sequence including the marker points at both ends acquired by the X-ray device when the previous stent is released comprises: receiving a previous image sequence which is selected by a user from an image sequence collected by X-ray equipment when a previous support is placed and comprises mark points at two ends when the previous support is released, sequentially identifying the mark points of each previous image in the previous image sequence, determining the coordinate positions of the mark points in the previous image, and obtaining the motion trail of the previous mark points based on the coordinate positions of the mark points in each previous image;

the obtaining of the motion track (102) of the current mark point in the image based on the set number of current images comprises: and sequentially identifying the mark points of each current image in the set number of current images, determining the coordinate positions of the mark points in the current images, and obtaining the motion trail of the current mark points based on the coordinate positions of the mark points in each current image.

3. The method for image representation during interventional therapy according to claim 2, wherein after the sequentially performing marker point identification on each previous image in the sequence of previous images, further comprising: and performing enhanced display processing on the mark points.

4. An image rendering system in interventional procedures, comprising:

a first unit (401) for obtaining a motion trajectory of a previous marker point based on a previous image sequence including marker points at both ends acquired by an X-ray device when the previous stent is released;

a second unit (402) for acquiring a set number of current images including two end marker points currently acquired by the X-ray device, and obtaining a motion trajectory of the current marker points based on the set number of current images;

a third unit (403) for determining the position information of the previous marked point in the current image according to the coordinate information in the motion track of the previous marked point;

a fourth unit (404) for performing motion synchronization on the motion trajectory of the previous mark point based on the motion trajectory of the current mark point to obtain motion synchronization information;

and a fifth unit (405) for sequentially superimposing the previous marked points in the currently acquired corresponding image according to the position information and the motion synchronization information and the motion trajectory thereof.

5. The interventional procedure image presentation system according to claim 4, wherein the first unit (401) receives a previous image sequence including two end marker points when a previous stent selected by a user from an image sequence acquired by an X-ray device when the previous stent is placed is released, sequentially performs marker point identification on each previous image in the previous image sequence, determines the coordinate position of the marker point in the previous image, and obtains the motion track of the previous marker point based on the coordinate position of the marker point in each previous image;

the second unit (402) sequentially identifies the mark points of each current image in the set number of current images, determines the coordinate positions of the mark points in the current images, and obtains the motion tracks of the current mark points based on the coordinate positions of the mark points in each current image.

6. The interventional therapy image rendering system of claim 5, wherein the first unit (401), after sequentially performing marker point identification for each preceding image of the sequence of preceding images, further comprises: and performing enhanced display processing on the mark points.

7. An image rendering system in interventional procedures, comprising: at least one memory (51) and at least one processor (52), wherein:

the at least one memory (51) is for storing a computer program;

the at least one processor (52) is configured to invoke a computer program stored in the at least one memory (51) to perform the in-intervention image rendering method according to any of claims 1 to 3.

8. An imaging system comprising an X-ray device and an in-intervention image rendering system as claimed in any one of claims 4 to 7.

9. An imaging system according to claim 8, wherein the X-ray device is a medical angiographic X-ray machine.

10. A computer-readable storage medium having stored thereon a computer program; characterized in that the computer program is executable by a processor and implements the method of image presentation in an interventional procedure according to any one of claims 1 to 3.

Technical Field

The present invention relates to the medical field, and in particular, to an image presentation method and system, an imaging system, and a computer-readable storage medium in interventional therapy.

Background

Interventional procedures, also known as radiosurgery, are radiological image-guided minimally invasive surgical procedures that minimize risk and trauma from invasive medical techniques. Can be used for angioplasty, catheter delivery stent and the like. Surgical procedures are commonly performed using X-ray, CT, ultrasound, MRI and other imaging modalities, using needles and catheters, rather than through incisions into the body.

Stenting procedures, such as in cardiac interventional procedures, typically require the use of catheters and guidewires to deliver a stent to a site with a vascular occlusion under X-ray image guidance, followed by balloon expansion and release of the stent.

With the development of stent material technology, the metal proportion of clinically applied stents is gradually reduced, especially for metal-free absorption stents. In order to solve the problem, two Marker (Marker) points can be arranged at two ends of each stent, when the stent is placed, two black points can be displayed at the positions of the Marker points on the image, and the two black points can disappear after the stent is released and the saccule with the Marker points is drawn out. This is not problematic when the occluded length of the vessel is short and only one stent need be placed without re-expanding the stent, and can present significant challenges if re-expansion of the stent is required or if the occluded length of the vessel is long and two or more stents need to be placed, if the physician cannot accurately determine where to re-expand the stent or splice another new stent.

In some current applications, an outdoor assistant uses a mouse cursor to locate an unclear or invisible previous stent and guides a doctor to locate the previous stent according to the operation of the doctor indoors in the current image. Alternatively, the physician in the room can simply determine the position of the previous stent based on the position of the anatomy in which the stent was previously placed. In addition, some physicians prefer to reference another reference image for localization. However, these methods still present clinical risks due to their limited positional accuracy.

Disclosure of Invention

In view of the above, embodiments of the present invention provide an image rendering method in interventional procedures, and an image rendering system, an imaging system and a computer readable storage medium in interventional procedures, so as to help a physician determine more accurately a position of a previous stent to be expanded again or another new stent to be spliced.

The image presentation method in interventional therapy provided in the embodiment of the present invention includes: obtaining a motion track of a previous mark point based on a previous image sequence which is acquired by X-ray equipment when the previous support is released and comprises the mark points at two ends; acquiring current images which are acquired by X-ray equipment currently and comprise a set number of marking points at two ends, and acquiring a motion track of the current marking points based on the current images of the set number; determining the position information of the previous marking point in the current image according to the coordinate information in the motion track of the previous marking point; based on the motion track of the current mark point, carrying out motion synchronization on the motion track of the previous mark point to obtain motion synchronization information; and sequentially superposing the previous marked points in the currently acquired corresponding image according to the motion trail of the previous marked points according to the position information and the motion synchronization information.

In one embodiment, the obtaining the motion trajectory of the previous marker point in the image based on the previous image sequence including the two end marker points acquired by the X-ray device when the previous stent is released comprises: receiving a previous image sequence which is selected by a user from an image sequence collected by X-ray equipment when a previous support is placed and comprises mark points at two ends when the previous support is released, sequentially identifying the mark points of each previous image in the previous image sequence, determining the coordinate positions of the mark points in the previous image, and obtaining the motion trail of the previous mark points based on the coordinate positions of the mark points in each previous image; the obtaining of the motion trajectory of the current mark point in the image based on the set number of current images includes: and sequentially identifying the mark points of each current image in the set number of current images, determining the coordinate positions of the mark points in the current images, and obtaining the motion trail of the current mark points based on the coordinate positions of the mark points in each current image.

In one embodiment, after the sequentially performing marker point identification on each previous image in the previous image sequence, the method further includes: and performing enhanced display processing on the mark points.

The image presentation system in interventional therapy provided in the embodiment of the present invention includes: the first unit is used for obtaining the motion trail of the mark points at the two ends based on the previous image sequence which is acquired by the X-ray equipment when the previous support is released and comprises the mark points at the two ends; the second unit is used for acquiring current images which are acquired by the X-ray equipment currently and comprise a set number of marking points at two ends, and obtaining the motion trail of the current marking points based on the set number of current images; the third unit is used for determining the position information of the previous marking point in the current image according to the coordinate information in the motion track of the previous marking point; a fourth unit, configured to perform motion synchronization on the motion trajectory of the previous mark point based on the motion trajectory of the current mark point to obtain motion synchronization information; and the fifth unit is used for sequentially superposing the previous marked points in the currently acquired corresponding image according to the motion trail of the previous marked points according to the position information and the motion synchronization information.

In one embodiment, the first unit receives a previous image sequence which is selected by a user from image sequences acquired by an X-ray device when a previous stent is placed and comprises two end marking points when the previous stent is released, sequentially identifies the marking points of each previous image in the previous image sequence, determines the coordinate positions of the marking points in the previous image, and obtains the motion track of the previous marking points based on the coordinate positions of the marking points in each previous image. And the second unit sequentially identifies the mark points of each current image in the set number of current images, determines the coordinate positions of the mark points in the current images, and obtains the motion trail of the current mark points based on the coordinate positions of the mark points in each current image.

In one embodiment, the first unit further includes, after sequentially performing marker point identification on each previous image in the sequence of previous images: and performing enhanced display processing on the mark points.

The image presentation system in interventional therapy provided in the embodiment of the present invention includes: at least one memory and at least one processor, wherein: the at least one memory is for storing a computer program; the at least one processor is configured to invoke a computer program stored in the at least one memory to perform the method for image rendering in interventional procedures as described in any of the above embodiments.

An imaging system proposed in an embodiment of the present invention includes an X-ray device and an in-interventional image rendering system as described in any one of the above embodiments.

In one embodiment, the X-ray device is a medical angiographic X-ray machine.

A computer-readable storage medium provided in an embodiment of the present invention, on which a computer program is stored; the computer program can be executed by a processor and implements the method for image presentation in interventional procedures as described in any of the embodiments above.

In the scheme, the image series with the mark points at two ends is obtained when the stent is released firstly, and then the motion trail of the mark point is obtained based on the image series; the motion trail of the current mark point is obtained based on the set number of current images comprising the current mark point, the motion trail of the previous mark point is synchronized based on the motion trail of the current mark point, and then the previous mark point is sequentially superposed to each image acquired currently according to the motion trail of the previous mark point based on the synchronization information, so that the dynamic superposition of the previous mark point on the image acquired currently is realized, and thus, under the guidance of the previous mark point, a doctor can be helped to more accurately determine the position of re-expanding the previous support or splicing another new support.

In addition, the display of the overlapped previous marked points can be clearer by performing enhanced display on the previous marked points.

Drawings

The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:

fig. 1 is an exemplary flowchart of an image presenting method in interventional therapy in an embodiment of the present invention.

FIG. 2 is a schematic diagram of a prior stent re-expansion based on a prior marker displayed superimposed.

Fig. 3 is a schematic diagram of stent splicing based on the prior marked points displayed in superposition.

Fig. 4 is an exemplary block diagram of an image rendering system in an interventional procedure in accordance with an embodiment of the present invention.

Fig. 5 is an exemplary block diagram of an image rendering system in accordance with yet another embodiment of the present invention.

Wherein the reference numbers are as follows:

reference numerals	Means of
		101～105	Step (ii) of
21、22	Marking points in advance
		20	Prior support
31、32	Post mark point
		30	At the back support
401	First unit
		402	Second unit
403	Third unit
		404	Fourth unit
405	Fifth unit
		51	Memory device
52	Processor with a memory having a plurality of memory cells
		53	Display device
54	Bus line

Detailed Description

In the embodiment of the invention, in order to help a doctor to more accurately determine the position of re-expanding the stent or splicing another new stent, under the condition of keeping the position of a system and a patient unchanged, the stent image including the marker points at two ends when the prior stent is released is superposed and displayed on the current real-time image, and the dynamic tracking display of the prior stent image is realized, so that the more accurate position of the prior stent of the doctor is provided in real time.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by referring to the following examples.

Fig. 1 is an exemplary flowchart of an image presenting method in interventional therapy in an embodiment of the present invention. In this embodiment, it is desirable to maintain the posture of the system and the patient. As shown in fig. 1, the method may include the steps of:

step 101, obtaining a motion track of a previous mark point based on a previous image sequence including the mark points at two ends collected by the X-ray device when the previous stent is released.

Wherein the X-ray device may be a medical angiographic X-ray machine.

In a specific implementation, the user can select an image sequence including two end marker points when the previous stent is released according to clinical needs, so as to be convenient for distinguishing from a current image later, the image is called a previous image, and the sequence of the previous image can be called a previous image sequence. Accordingly, a previous image sequence including marker points at both ends upon release of the previous stent selected by the user from the image sequences acquired upon placement of the previous stent may be received in this step. Then, the identification of the mark point can be sequentially carried out on each previous image in the previous image sequence, the coordinate position of the mark point in the previous image is determined, the motion track of the mark point in the previous image sequence is obtained based on the coordinate position of the mark point in each previous image, and the motion track is recorded as the motion track of the previous mark point for convenience of description and later distinction.

Further, in order to make the mark points clearer, the step may further perform enhanced display processing on the identified mark points. For example, the marker points are enlarged and the contrast is increased.

102, acquiring a set number of current images which are acquired by the X-ray equipment currently and comprise two end mark points, and acquiring a motion track of the current mark points based on the set number of current images. The value of the set number can be determined according to actual conditions, as long as the basic motion trajectory of the current mark point can be obtained, and the number of the acquired current images may not be the same as the number of the previous images contained in the previous image sequence, or certainly the number of the acquired current images may be the same as the number of the previous images contained in the previous image sequence. Wherein the set number of current images may constitute a current image sequence, and then a basic motion trajectory of a current marker point may be determined based on the current image sequence.

In this embodiment, if the previous stent needs to be expanded again, the marker points in the current image are from the balloon with the marker points at the two ends, and if the subsequent stent needs to be spliced with the previous stent, the marker points in the current image are from the subsequent stent with the marker points at the two ends.

Similar to step 101, in this step, marking point identification may be sequentially performed on each of the set number of current images, a coordinate position of the marking point in the current image is determined, and a motion trajectory of the marking point in the current image sequence is obtained based on the coordinate position of the marking point in each current image, and is recorded here as obtaining the motion trajectory of the current marking point for convenience of description and distinction.

In this embodiment, the posture of the system and the patient is required to be kept unchanged, so that the previous image and the current image correspond to the same coordinate system, and thus, the motion trajectory of the previous marked point and the motion trajectory of the current marked point are based on the same coordinate system.

And 103, determining the position information of the previous marking point in the current image according to the coordinate information in the motion track of the previous marking point.

In this step, the position information mainly refers to a position where the previous marked point is placed in the current image according to the coordinate information of the previous marked point, but since the coordinate information of the previous marked point is information that is constantly changing, i.e., corresponds to different positions at different times, the previous marked point cannot be simply and directly superimposed on each currently acquired image according to the coordinate information of the previous marked point, and the previous marked point also needs to be subjected to motion synchronization.

There is no absolute precedence relationship between step 103 and step 102 and step 104, for example, step 103 may be executed before step 102, or may also be executed after step 104.

And 104, performing motion synchronization on the motion track of the previous mark point based on the motion track of the current mark point to obtain motion synchronization information.

In general, the heartbeat, the respiration, the body position, and the like of the patient all affect the position information of the mark points, so in this embodiment, it is considered that the motion trajectory of the previous mark point is subjected to motion synchronization based on the motion trajectory of the current mark point, that is, when the body position postures of the system and the patient are kept unchanged, the motion trajectories of the two mark points should have substantially the same motion period. For example, when the current marking point moves to the lowest point or the highest point, the previous marking point should also be at the lowest point or the highest point, so that the two can be synchronized in movement.

And 105, sequentially superposing the previous marking points in the currently acquired corresponding image according to the motion tracks of the previous marking points according to the position information and the motion synchronization information.

Thus, the accurate positioning of the prior bracket can be conveniently obtained, so that the prior bracket can be expanded and the bracket splicing of the subsequent bracket and the prior bracket can be carried out. Fig. 2 is a schematic view of the re-expansion of a previous stent using a balloon 23 (the area within the box) with a current marker point (which has overlapped the previous marker point) based on the previous marker points 21, 22 displayed superimposed, as shown in fig. 2 and 3. Fig. 3 is a schematic illustration of a subsequent stent 33 (the area within the box) with current marker points 31 (overlapping the previous marker points 22), 32 spliced to the previous stent based on the previous marker points 21, 22 shown superimposed.

The image presenting method in the interventional therapy in the embodiment of the present invention is described in detail above, and the image presenting system in the interventional therapy in the embodiment of the present invention is described in detail below. The image presenting system in interventional therapy in the embodiment of the present invention can be used for implementing the image presenting method in interventional therapy in the embodiment of the present invention, and details which are not disclosed in detail in the embodiment of the system of the present invention can be referred to in the corresponding description in the embodiment of the method of the present invention, and are not described herein again.

Fig. 4 is an exemplary block diagram of an image rendering system in interventional therapy in accordance with an embodiment of the present invention. As shown in fig. 4, the system may include: a first cell 401, a second cell 402, a third cell 403, a fourth cell 404 and a fifth cell 405.

The first unit 401 is configured to obtain a motion trajectory of a previous marker point based on a previous image sequence including marker points at two ends acquired by the X-ray device when the previous stent is released.

The second unit 402 is configured to obtain current images, which are currently acquired by the X-ray device and include a set number of marker points at two ends, and obtain a motion trajectory of the current marker point based on the set number of current images.

The third unit 403 is configured to determine, according to the coordinate information in the motion trajectory of the previous mark point, position information of the previous mark point in the current image.

The fourth unit 404 performs motion synchronization on the motion trajectory of the previous mark point based on the motion trajectory of the current mark point, so as to obtain motion synchronization information.

The fifth unit 405 is configured to sequentially superimpose the previous marked points on the currently acquired corresponding image according to the motion trajectory thereof, according to the position information and the motion synchronization information.

In a specific implementation, the first unit 401 may receive a previous image sequence including marking points at two ends when a previous stent selected by a user is released from an image sequence acquired by an X-ray device when the previous stent is placed, sequentially perform marking point identification on each previous image in the previous image sequence, determine a coordinate position of the marking point in the previous image, and obtain a motion trajectory of the previous marking point based on the coordinate position of the marking point in each previous image. Further, the first unit 401 may further perform an enhanced display process on the marker point after sequentially performing marker point identification on each previous image in the previous image sequence.

The second unit 402 may sequentially perform mark point identification on each current image in the set number of current images, determine a coordinate position of the mark point in the current image, and obtain a motion trajectory of the current mark point based on the coordinate position of the mark point in each current image.

Fig. 5 is a schematic structural diagram of an image rendering system in an interventional procedure according to another embodiment of the present invention, as shown in fig. 5, the system may include: at least one memory 51, at least one processor 52 and at least one display 53. In addition, some other components may be included, such as a communications port, etc. These components communicate over a bus 54.

Wherein the at least one memory 51 is adapted to store a computer program. In one embodiment, the computer program may be understood to comprise the various modules of the in-intervention image rendering system shown in fig. 4. Further, the at least one memory 51 may also store an operating system and the like. Operating systems include, but are not limited to: an Android operating system, a Symbian operating system, a Windows operating system, a Linux operating system, and the like.

At least one display 53 is used to display the previous image as well as the current image etc.

The at least one processor 52 is used to invoke the computer program stored in the at least one memory 51 to perform the image rendering method in interventional procedures described in the embodiments of the present invention. The processor 52 may be a CPU, processing unit/module, ASIC, logic module, or programmable gate array, etc. Which can receive and transmit data through the communication port.

In an embodiment of the present invention, an imaging system is further provided, which includes an X-ray apparatus such as a medical angiography X-ray machine and the image rendering system in the interventional therapy in any one of the above embodiments.

It should be noted that not all steps and modules in the above flows and structures are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.

It is understood that the hardware modules in the above embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., a special purpose processor such as an FPGA or ASIC) for performing specific operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general-purpose processor or other programmable processor) that are temporarily configured by software to perform certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.

Furthermore, a computer-readable storage medium is provided in an embodiment of the present invention, and a computer program is stored thereon, where the computer program can be executed by a processor and implements the image rendering method in interventional therapy described in the embodiment of the present invention. Specifically, a system or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program code stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments may also be implemented by writing the program code read out from the storage medium to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code. Examples of the storage medium for supplying the program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.

In the scheme, the image series with the mark points at two ends is obtained when the stent is released firstly, and then the motion trail of the mark point is obtained based on the image series; the motion trail of the current mark point is obtained based on the set number of current images comprising the current mark point, the motion trail of the previous mark point is synchronized based on the motion trail of the current mark point, and then the previous mark point is sequentially superposed to each image acquired currently according to the motion trail of the previous mark point based on the synchronization information, so that the dynamic superposition of the previous mark point on the image acquired currently is realized, and thus, under the guidance of the previous mark point, a doctor can be helped to more accurately determine the position of re-expanding the previous support or splicing another new support.

In addition, the display of the overlapped previous marked points can be clearer by performing enhanced display on the previous marked points.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.