经常性神经网络用于对血管几何学进行概括,在主动性内血管导线导航中,在大动脉中导航
Lennart Karstensen1,2, Jacqueline Ritter1, Johannes Hatzl3
1Fraunhofer IPA, Theodor-Kutzer-Ufer 1-3, 68167, Mannheim, Germany.
概括
这项研究介绍了一种用于内血管导线导航的循环神经网络控制器. 人工智能控制器成功地适应了新的船体几何形状,提高了机器人手术的导航成功率.
科学领域:
- 医疗机器人 医疗机器人
- 人工智能在医学中的应用
- 心血管干预 心血管干预
背景情况:
- 内血管干预对于治疗心血管疾病如心脏病发作和中风至关重要.
- 程序自动化可以改善医生的工作条件,并将高质量的护理扩展到偏远地区.
- 将自动化系统适应患者特定的解剖学仍然是一个重大挑战.
研究的目的:
- 研究一种基于循环神经网络 (RNN) 的控制器,用于内血管导线导航.
- 评估控制器适应新的和变化的血管几何形状的能力,特别是大动脉门.
- 在in-silico内血管模拟环境中评估RNN控制器的概括能力.
主要方法:
- 开发一种使用循环神经网络的内血管导线控制器架构.
- 控制器在导航可参数化的大动脉模拟中对控制器性能进行in-silico评估.
- 通过对各种主动脉形状的训练和对未见的数据集的测试来检查控制器概括的检查.
主要成果:
- 循环控制器在29200次干预后实现了75.0%的导航成功率,超过了前控制器 (71.6%在156800次干预后).
- 该RNN控制器展示了强度和通用性,以以前未见的大动脉弧形几何形状和尺寸变化.
- 在2048几何学上的训练产生了与完全变异训练相似的结果,成功地导航了显著的插值和超值范围.
结论:
- 适应患者特定的血管几何形状对于成功的内血管仪器导航至关重要.
- 证明RNN控制器的内在概括能力是实现自主内血管机器人技术的关键进展.
相关概念视频
01:29Blood Flow
Blood is pumped by the heart into the aorta, the largest artery in the body, and then into increasingly smaller arteries, arterioles, and capillaries. The velocity of blood flow decreases with increased cross-sectional blood vessel area. As blood returns to the heart through venules and veins, its velocity increases. The movement of blood is encouraged by smooth muscle in the vessel walls, the movement of skeletal muscle surrounding the vessels, and one-way valves that prevent backflow.
01:14Overview of Blood Vessels
The human cardiovascular system comprises five primary types of blood vessels: arteries, arterioles, veins, venules, and capillaries, each serving unique functions.
Arteries and Arterioles: Arteries are muscular and elastic vessels that primarily carry oxygenated blood from the heart to body tissues, except for the pulmonary artery, which carries deoxygenated blood. They have thick walls to withstand high pressure and contain a layer of muscle tissue, allowing them to expand or contract as...
Arteries and Arterioles: Arteries are muscular and elastic vessels that primarily carry oxygenated blood from the heart to body tissues, except for the pulmonary artery, which carries deoxygenated blood. They have thick walls to withstand high pressure and contain a layer of muscle tissue, allowing them to expand or contract as...
01:18Neural Regulation of Blood Pressure
The neural regulation of blood pressure involves intricate interactions between the autonomic nervous system (ANS) and cardiovascular system, ensuring adequate perfusion of tissues. This regulation primarily occurs through baroreceptor and chemoreceptor reflexes, involving both short-term and long-term mechanisms.
Baroreceptor Reflex
Baroreceptors, located in the carotid sinuses and aortic arch, detect changes in blood pressure. When blood pressure rises, these stretch-sensitive receptors...
Baroreceptor Reflex
Baroreceptors, located in the carotid sinuses and aortic arch, detect changes in blood pressure. When blood pressure rises, these stretch-sensitive receptors...
01:17Autoregulation of Blood Flow
Autoregulation mechanisms are characterized by their inherent capacity for self-regulation without necessitating specific nervous stimulation or endocrine control. These mechanisms facilitate the adjustment of blood flow and, therefore, perfusion specific to each tissue region. This self-regulation encompasses chemical signals and myogenic controls.
Chemical Signaling in Autoregulation
Chemical signaling operates at the precapillary sphincter level, inciting either contraction or relaxation.
Chemical Signaling in Autoregulation
Chemical signaling operates at the precapillary sphincter level, inciting either contraction or relaxation.
01:26Arteries of the Head and Neck
The human body's intricate network of arteries ensures that every organ system receives the necessary oxygen and nutrients for optimal function. The arterial network in the head and neck region is particularly complex, providing vital blood flow to the brain, eyes, and other critical structures. Prominent arteries in this region include the internal carotid arteries and the vertebral arteries.
The internal carotid arteries supply blood to the anterior portion of the cerebrum. They enter the...
The internal carotid arteries supply blood to the anterior portion of the cerebrum. They enter the...
01:20Anatomy of Blood Vessels
The vascular system, an integral part of the circulatory system, comprises various blood vessels that play crucial roles in maintaining the body's homeostasis. These blood vessels form a complex and efficient circulatory network. The three primary categories of blood vessels are the arteries, veins, and capillaries.
Arteries
Arteries circulate oxygenated blood from the heart, except the pulmonary artery, which transports deoxygenated blood to the lungs. Large arteries, such as the aorta, have...
Arteries
Arteries circulate oxygenated blood from the heart, except the pulmonary artery, which transports deoxygenated blood to the lungs. Large arteries, such as the aorta, have...