Vascular Interventional Surgery Path Planning and 3D Visual Navigation

doi:10.1007/s12204-023-2653-4

Abstract

Abstract: The introduction of path planning and visual navigation in vascular interventional surgery can provide an intuitive reference and guidance for doctors. In this study, based on the preprocessing results of vessel skeleton extraction and stenosis diagnosis in X-ray coronary angiography images, clustering is used to determine the connectivity of the intersection points, and then the improved Dijkstra algorithm is used to automatically plan the surgical path. On this basis, the intermediate point is introduced to piecewise correct the path and improve the accuracy of the system. Finally, the epipolar constrained inverse projection transformation is used to reconstruct the coronary artery 3D model, and the optimal path is marked to achieve a multi-angle 3D visual navigation. Clinical experimental results show that compared with the traditional Dijkstra algorithm, the improved method can reduce the need for intermediate points, which improves computational efficiency, and the average error of manual calibration path is reduced to 4% of that before overall optimization. The results of 3D reconstruction and reprojection further qualitatively and quantitatively verify the effectiveness of the whole scheme.

Key words: X-ray coronary angiography, vascular interventional surgery, path planning, piecewise correction, 3D visual navigation

摘要： 在血管介入手术中引入路径规划和视觉导航可以为医生提供直观的参考和指导。本研究基于X射线冠状动脉造影图像血管骨架提取和狭窄病变诊断的预处理结果，先利用聚类判断交叉点的连通性，再通过改进的Dijkstra算法自动规划手术路径。在此基础上，引入中间点对路径进行分段修正，提高系统精度。最后通过外极约束逆投影变换重建冠脉三维模型，并标注出最优路径，实现多角度三维视觉导航。临床数据实验结果表明，与使用传统Dijkstra算法相比，改进方法能够减少中间点需求，提升计算效率，且与人工标定路径的平均误差降低到整体优化前的4%。三维重建和重投影的结果进一步定性和定量地验证了整体方案的可靠性。

关键词: X射线冠脉造影，血管介入手术，最短路径规划，分段修正，三维视觉导航

CLC Number:

Fu Zeyu, Fu Zhuang, Guan Yisheng. Vascular Interventional Surgery Path Planning and 3D Visual Navigation[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(3): 472-481.

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