技术领域Technical Field
本发明涉及医疗设备智能控制技术领域，尤其涉及一种应用于颌面手术下的便携式装置及其操作方法。The present invention relates to the technical field of intelligent control of medical equipment, and in particular to a portable device used in maxillofacial surgery and an operating method thereof.
背景技术Background Art
颌面手术是一种针对颌面部的手术，用于治疗面部畸形、颌面骨折及颌骨缺损等问题。主要包括口腔颌面外科手术、牙槽突颌面手术等。在颌面手术中，常用的设备有：手术器械、骨钉和骨板、手术显微镜、CT扫描仪和X射线机、便携式装置等在颌面手术中起到了重要的作用，帮助医生完成手术并提高手术效果。但是，现有的便携式装置的集成度不是很高，导致设备的体积较大，导致便携性较差。Maxillofacial surgery is a type of surgery on the maxillofacial area, used to treat facial deformities, maxillofacial fractures, and jaw defects. It mainly includes oral and maxillofacial surgery, alveolar maxillofacial surgery, etc. In maxillofacial surgery, commonly used equipment includes: surgical instruments, bone screws and bone plates, surgical microscopes, CT scanners and X-ray machines, portable devices, etc., which play an important role in maxillofacial surgery, helping doctors complete the surgery and improve the surgical effect. However, the integration of existing portable devices is not very high, resulting in a large size of the device and poor portability.
现有技术一，申请号：CN202110174998.7公开了一种基于MR头戴设备的颌面手术辅助系统及方法，系统包括MR头戴设备和手术机器人；手术机器人用于基于患者颌面扫描数据进行患者颌面建模得到患处三维模型，根据三维模型规划得到手术计划，与患者颌面上的定位装置匹配以完成颌面手术；MR头戴设备用于接收手术机器人传输的患处三维模型，采集现场图像，将三维模型叠加在现场图像上患处的对应位置以对颌面手术过程进行监控，虽然可精确地辅助颌面手术的完成，减少患者痛苦。但是，需要头戴设备和机器人的配合，使得系统结构较多，功能集成化程度较低。Prior art 1, application number: CN202110174998.7 discloses a maxillofacial surgery auxiliary system and method based on an MR head-mounted device, the system includes an MR head-mounted device and a surgical robot; the surgical robot is used to perform maxillofacial modeling of the patient based on the patient's maxillofacial scanning data to obtain a three-dimensional model of the affected part, and to obtain a surgical plan according to the three-dimensional model, and to match the positioning device on the patient's maxillofacial surface to complete the maxillofacial surgery; the MR head-mounted device is used to receive the three-dimensional model of the affected part transmitted by the surgical robot, collect the on-site image, and superimpose the three-dimensional model on the corresponding position of the affected part on the on-site image to monitor the maxillofacial surgery process, although it can accurately assist the completion of the maxillofacial surgery and reduce the pain of the patient. However, the cooperation of the head-mounted device and the robot is required, which makes the system structure more and the degree of functional integration is low.
现有技术二，申请号：CN 201510748289.X公开了一种转轴式颌面手术撑开器，包括与人体下颌切迹对应的下撑合部、与人体下颌切迹对应的颧弓吻合的上撑合部，下撑合部的两端分别铰接有下撑前杆和下撑后杆，上撑合部的两端分别铰接有上撑前杆和上撑后杆；下撑前杆的上端与上撑前杆的下端铰接在前铰轴上，下撑后杆的上端与上撑后杆的下端铰接在后铰轴上，前铰轴和后铰轴均安装在中轴上。虽然撑开器结构紧凑，使用方便、病人痛苦小，受力合理，使用中不容易发生机械变形或者折断的情况，可适应不同个体差异。但是其体积较大，不便于携带。Prior art 2, application number: CN 201510748289.X discloses a rotary maxillofacial surgery spreader, comprising a lower spreader corresponding to the mandibular notch of the human body, an upper spreader corresponding to the mandibular notch of the human body, the two ends of the lower spreader are respectively hinged with a lower support front rod and a lower support rear rod, and the two ends of the upper spreader are respectively hinged with an upper support front rod and an upper support rear rod; the upper end of the lower support front rod and the lower end of the upper support front rod are hinged on the front hinge shaft, the upper end of the lower support rear rod and the lower end of the upper support rear rod are hinged on the rear hinge shaft, and the front hinge shaft and the rear hinge shaft are both installed on the central shaft. Although the spreader has a compact structure, is easy to use, causes little pain to the patient, has reasonable force, is not prone to mechanical deformation or breakage during use, and can adapt to different individual differences. However, it is large in size and not easy to carry.
现有技术三，申请号：CN 202210986915.9公开了一种用于口腔颌面手术的超声外科器械，包括手柄组件；中心杆，中心杆限定纵轴线，中心杆的远端设置刀头；夹持组件，夹持组件包括夹持臂；其中，刀头包括与夹持臂相配合的第一夹持面，第一夹持面具有垂直于中心杆的纵轴线延伸的宽度和正交于宽度延伸的长度，以及第一夹持面的至少部分区域为弯曲段一个弯曲段，第一夹持面在由宽度的方向和长度的方向构成第一面，并且第一夹持面的弯曲段的曲率轴曲面轴垂直于第二面，第二面为正交于第一面且包含纵轴线的面。虽然超声外科器械特别适用于口腔颌面手术。但是其结构较多且复杂，智能化程度较低，不利于提升颌面手术设备的自动化程度。Prior art three, application number: CN 202210986915.9 discloses an ultrasonic surgical instrument for oral and maxillofacial surgery, including a handle assembly; a center rod, the center rod defines a longitudinal axis, and a cutter head is arranged at the distal end of the center rod; a clamping assembly, the clamping assembly includes a clamping arm; wherein the cutter head includes a first clamping surface matched with the clamping arm, the first clamping surface has a width extending perpendicular to the longitudinal axis of the center rod and a length extending orthogonal to the width, and at least a part of the first clamping surface is a curved segment, the first clamping surface constitutes a first surface in the direction of the width and the direction of the length, and the curvature axis of the curved segment of the first clamping surface is perpendicular to the second surface, and the second surface is a surface orthogonal to the first surface and containing the longitudinal axis. Although ultrasonic surgical instruments are particularly suitable for oral and maxillofacial surgery. However, its structure is more and more complex, and its intelligence level is low, which is not conducive to improving the automation level of maxillofacial surgical equipment.
目前现有技术一、现有技术二及现有技术三存在设备集成度程度较低，体积较大，便携性较差的问题。因而，本发明提供一种应用于颌面手术下的便携式装置及其操作方法。At present, the existing technologies 1, 2 and 3 have the problems of low device integration, large volume and poor portability. Therefore, the present invention provides a portable device for maxillofacial surgery and an operating method thereof.
发明内容Summary of the invention
本发明的主要目的在于提供一种应用于颌面手术下的便携式装置及其操作方法，以解决现有技术中设备集成度程度较低，体积较大，便携性较差的问题。The main purpose of the present invention is to provide a portable device for maxillofacial surgery and an operating method thereof, so as to solve the problems of low device integration, large size and poor portability in the prior art.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种应用于颌面手术下的便携式装置，所述应用于颌面手术下的便携式装置包括：A portable device for maxillofacial surgery, the portable device for maxillofacial surgery comprising:
导航控制组件，用于控制便携式装置的操作和导航功能，定位手术区域，确定手术路径，并提供导航引导；A navigation control component for controlling the operation and navigation functions of the portable device, locating the surgical area, determining the surgical path, and providing navigation guidance;
图像采集组件，用于采集患者颌面部的X射线图像，包括X射线发射器和接收器，产生和捕捉患者颌面部的X射线图像；An image acquisition component, used for acquiring X-ray images of the patient's maxillofacial region, including an X-ray transmitter and a receiver, for generating and capturing X-ray images of the patient's maxillofacial region;
图像处理组件，用于对采集到的X射线图像进行处理和分析，对X射线图像进行增强、滤波及去噪处理，进行三维重建，生成颌面部结构图像；Image processing component, used to process and analyze the collected X-ray images, enhance, filter and denoise the X-ray images, perform three-dimensional reconstruction, and generate maxillofacial structure images;
图像显示组件，用于采用高分辨率的显示屏显示处理后的图像结果。The image display component is used to display the processed image results on a high-resolution display screen.
作为本发明的进一步改进，导航控制组件，包括：As a further improvement of the present invention, the navigation control component includes:
设备协同模块，用于通过图像采集组件获取患者颌面部的X射线图像；The equipment coordination module is used to obtain an X-ray image of the patient's maxillofacial region through an image acquisition component;
路径确认模块，用于使用图像处理算法对X射线图像进行处理和分析，识别出关键的解剖结构和标记点；根据手术计划和目标，导航控制组件通过计算和比较不同路径的优劣，确定最佳的手术路径；The path confirmation module is used to process and analyze X-ray images using image processing algorithms to identify key anatomical structures and landmarks. Based on the surgical plan and objectives, the navigation control component determines the best surgical path by calculating and comparing the pros and cons of different paths.
导航引导模块，用于提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现。The navigation guidance module is used to provide navigation guidance, guide the surgeon to the correct position and direction, ensure the accuracy of the surgical path and the realization of visual navigation.
作为本发明的进一步改进，图像采集组件，包括：As a further improvement of the present invention, the image acquisition component includes:
线束生成模块，用于控制X射线发射器，产生X射线束，射向目标区域；A beam generation module is used to control the X-ray emitter to generate an X-ray beam and emit it to the target area;
阴影获取模块，用于对X射线束有不同程度的吸收，获取不同的阴影；A shadow acquisition module is used to absorb different degrees of X-ray beams and acquire different shadows;
阴影转化模块，用于使用接收器捕捉X射线图像，将X射线束形成的阴影转化为数字信号。The shadow conversion module is used to capture the X-ray image using a receiver and convert the shadow formed by the X-ray beam into a digital signal.
作为本发明的进一步改进，图像处理组件，包括：As a further improvement of the present invention, the image processing component includes:
图像增强模块，用于对采集到的X射线图像进行增强处理，包括调整图像的对比度和亮度；An image enhancement module is used to enhance the collected X-ray images, including adjusting the contrast and brightness of the images;
图像去噪模块，用于采用均值滤波去除图像中的伪影和不相关信息，使用小波去噪算法去除X射线图像中的噪声；Image denoising module, used to remove artifacts and irrelevant information in the image by using mean filtering, and to remove noise in the X-ray image by using wavelet denoising algorithm;
三维重建模块，用于通过采集到的多个二维X射线图像，通过图像配准、体素重建和体表重建步骤进行三维重建，生成颌面部的三维结构图像。The three-dimensional reconstruction module is used to perform three-dimensional reconstruction through image registration, voxel reconstruction and body surface reconstruction steps through the collected multiple two-dimensional X-ray images to generate a three-dimensional structural image of the maxillofacial region.
作为本发明的进一步改进，图像显示组件，包括：As a further improvement of the present invention, the image display component comprises:
格式转换模块，用于接收处理后的图像，对接收到的图像数据进行解码和转换，将其转换为显示的目标格式；A format conversion module, for receiving the processed image, decoding and converting the received image data, and converting it into a target format for display;
图像缓存模块，用于解码和转换后的图像数据被缓存到显示组件的内存中；An image cache module, for caching decoded and converted image data into the memory of the display component;
显示控制模块，用于根据设备的分辨率和显示配置，控制图像的位置、大小及亮度参数。The display control module is used to control the position, size and brightness parameters of the image according to the resolution and display configuration of the device.
为实现上述目的，本发明还提供了如下技术方案：To achieve the above object, the present invention also provides the following technical solutions:
一种应用于颌面手术下的便携式装置的操作方法，其应用于所述的应用于颌面手术下的便携式装置，所述应用于颌面手术下的便携式装置的操作方法，包括：An operating method of a portable device used in maxillofacial surgery, which is applied to the portable device used in maxillofacial surgery, and the operating method of the portable device used in maxillofacial surgery comprises:
定位手术区域，确定手术路径，并提供导航引导；采集患者颌面部的X射线图像，包括X射线发射器和接收器，产生和捕捉患者颌面部的X射线图像；Locate the surgical area, determine the surgical path, and provide navigation guidance; collect X-ray images of the patient's maxillofacial region, including X-ray transmitters and receivers, generate and capture X-ray images of the patient's maxillofacial region;
对采集到的X射线图像进行处理和分析，对X射线图像进行增强、滤波及去噪处理，进行三维重建，生成颌面部结构图像；Process and analyze the collected X-ray images, enhance, filter and denoise the X-ray images, perform three-dimensional reconstruction, and generate maxillofacial structure images;
采用显示屏显示处理后的图像结果。The processed image results are displayed on a display screen.
作为本发明的进一步改进，确定手术路径的过程，包括：As a further improvement of the present invention, the process of determining the surgical path includes:
通过图像采集组件获取患者颌面部的X射线图像；Acquire an X-ray image of the patient's maxillofacial region through an image acquisition component;
使用图像处理算法对X射线图像进行处理和分析，识别出关键的解剖结构和标记点；根据手术计划和目标，通过计算和比较不同路径的优劣，确定最佳的手术路径；Use image processing algorithms to process and analyze X-ray images to identify key anatomical structures and landmarks; determine the best surgical path by calculating and comparing the pros and cons of different paths based on the surgical plan and goals;
提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现；Provide navigation guidance to guide surgeons to the correct position and direction, ensuring the accuracy of the surgical path and the realization of visual navigation;
识别出关键的解剖结构和标记点的过程，包括：The process of identifying key anatomical structures and landmarks includes:
利用边缘检测算法，对X射线图像进行边缘检测，将X射线图像中的边界提取出来，并形成一系列像素点的集合；基于边缘检测结果，采用基于连通性的轮廓跟踪算法，提取出图像中的轮廓，轮廓是一系列连续的曲线，表示了图像中物体的边界形状；The edge detection algorithm is used to perform edge detection on the X-ray image, and the boundaries in the X-ray image are extracted to form a set of a series of pixel points; based on the edge detection results, the contour tracking algorithm based on connectivity is used to extract the contour in the image. The contour is a series of continuous curves that represent the boundary shape of the object in the image;
基于形状描述子的特征匹配算法，将提取到的轮廓与预定义的解剖结构和标记点的特征进行匹配，特征匹配找到相似的轮廓或特征，识别出关键的解剖结构和标记点；A feature matching algorithm based on shape descriptors matches the extracted contours with the features of predefined anatomical structures and landmarks. Feature matching finds similar contours or features and identifies key anatomical structures and landmarks.
根据预先定义的解剖结构的特征，使用分类器进行结构的识别；分类器利用机器学习算法训练得到，通过对提取到的特征进行分类，确定图像中存在的解剖结构；Based on the features of pre-defined anatomical structures, a classifier is used to identify the structure; the classifier is trained using a machine learning algorithm and determines the anatomical structure present in the image by classifying the extracted features;
标记点利用空间几何关系进行定位，根据已知的标记点的几何位置和关系，计算标记点在图像中的准确位置。The marker points are located using spatial geometric relationships, and the exact position of the marker points in the image is calculated based on the known geometric positions and relationships of the marker points.
作为本发明的进一步改进，提取出图像中的轮廓，包括骤：As a further improvement of the present invention, extracting the contour in the image includes the steps of:
将X射线图像转换为灰度图像，去除彩色信息，只保留灰度值；Convert the X-ray image to grayscale image, remove the color information and keep only the grayscale value;
利用边缘检测算法Canny对灰度图像进行处理，识别图像中灰度值变化较大的地方，标记为边缘点，形成一系列离散的边缘像素点；The grayscale image is processed using the Canny edge detection algorithm to identify places where the grayscale value changes greatly in the image and mark them as edge points, forming a series of discrete edge pixel points.
基于边缘检测结果，采用连通性的轮廓跟踪算法来连接相邻的边缘点，形成闭合的轮廓；通过轮廓跟踪算法，将离散的边缘像素点连接成平滑的曲线，提取出图像中的具体轮廓；Based on the edge detection results, a connected contour tracking algorithm is used to connect adjacent edge points to form a closed contour. Through the contour tracking algorithm, discrete edge pixel points are connected into a smooth curve to extract the specific contour in the image.
特征匹配的过程，包括：The feature matching process includes:
使用形状描述子对提取到的图像轮廓进行特征提取，描述轮廓的形状和结构特征；根据医学知识和经验确定的一系列描述子，用于唯一标识解剖结构或标记点；Use shape descriptors to extract features from the extracted image contours to describe the shape and structural features of the contours; a series of descriptors determined based on medical knowledge and experience are used to uniquely identify anatomical structures or markers;
通过比较提取到的轮廓特征描述子和预定义的解剖结构和标记点特征，使用相应的欧氏距离相似度度量方法，找到最相似的轮廓或特征；By comparing the extracted contour feature descriptors with the predefined anatomical structures and landmark features, the most similar contours or features are found using the corresponding Euclidean distance similarity metric method;
根据匹配的结果，确定哪些轮廓与预定义的解剖结构最匹配或哪些特征与定义的标记点特征最相似，识别出关键的解剖结构和标记点。Based on the matching results, it is determined which contours best match the predefined anatomical structures or which features are most similar to the defined marker point features, and key anatomical structures and marker points are identified.
作为本发明的进一步改进，生成颌面部结构图像的过程，包括：As a further improvement of the present invention, the process of generating the maxillofacial structure image includes:
对采集到的X射线图像进行预处理，包括去噪、增强和滤波等操作；将图像划分为三维体素网格，通过分析体素内的特征和像素之间的关系，进行体素的分类和重建，从而生成三维结构模型；Preprocess the acquired X-ray images, including denoising, enhancement and filtering; divide the images into three-dimensional voxel grids, classify and reconstruct the voxels by analyzing the features within the voxels and the relationship between the pixels, and thus generate a three-dimensional structural model;
通过从图像中提取的特征点，将其转化为三维空间中的点云数据；利用点云数据进行重建，填充缺失的区域并生成三维模型；通过图像中的轮廓和边缘信息，通过曲面拟合将其转化为三维表面模型；By extracting feature points from the image, it is converted into point cloud data in three-dimensional space; point cloud data is used for reconstruction, to fill in missing areas and generate a three-dimensional model; contour and edge information in the image is converted into a three-dimensional surface model through surface fitting;
根据三维重建算法，利用特征点、体素网格或点云数据，进行重建计算和处理，生成颌面部的三维结构模型；对生成的三维模型进行优化和后处理操作，使用显示屏将生成的三维结构模型通过可视化技术展示。According to the three-dimensional reconstruction algorithm, reconstruction calculation and processing are performed using feature points, voxel grids or point cloud data to generate a three-dimensional structural model of the maxillofacial region. The generated three-dimensional model is optimized and post-processed, and the generated three-dimensional structural model is displayed using a display screen through visualization technology.
作为本发明的进一步改进，生成颌面部的三维结构模型，包括：As a further improvement of the present invention, generating a three-dimensional structure model of the maxillofacial region includes:
根据采集到的特征点、体素网格或点云数据，利用三维重建算法进行计算和处理；将特征点或点云数据转化为具体的三维结构模型，包括颌面部的各种组织、器官和骨骼结构；Based on the collected feature points, voxel grids or point cloud data, the 3D reconstruction algorithm is used for calculation and processing; the feature points or point cloud data are converted into a specific 3D structural model, including various tissues, organs and bone structures of the maxillofacial region;
对生成的三维模型进行优化处理，包括去除存在的噪声、平滑表面、填补缺失部分；Optimize the generated 3D model, including removing existing noise, smoothing the surface, and filling in missing parts;
使用三维可视化软件，将生成的三维结构模型呈现在显示屏或其他设备上；通过旋转、放大及缩小操作，展示三维模型的不同角度和细节；添加标记、颜色及透明度效果。Use 3D visualization software to present the generated 3D structural model on a display screen or other devices; display different angles and details of the 3D model through rotation, zooming in and out; add markings, colors and transparency effects.
本发明导航控制组件实现便携式装置的操作和导航功能，通过定位手术区域、确定手术路径和提供导航引导，帮助医生准确进行颌面手术，提高手术的精准性和安全性，同时减少手术时间和创伤。图像采集组件采集患者颌面部的X射线图像，通过X射线发射器和接收器的组合，产生和捕捉患者颌面部的X射线图像，为后续的图像处理和分析提供必要的数据，帮助医生更全面地了解患者的颌面结构。图像处理组件对采集到的X射线图像进行处理和分析，包括增强、滤波和去噪等处理，通过三维重建生成颌面部结构图像，提供清晰、准确的颌面结构图像，帮助医生更好地诊断和规划手术方案。图像显示组件通过高分辨率的显示屏展示处理后的图像结果，让医生能够直观地观察和分析图像，提供直观、清晰的图像显示，帮助医生更好地理解患者的颌面结构，做出准确的诊断和手术决策。The navigation control component of the present invention realizes the operation and navigation functions of the portable device, and helps doctors to accurately perform maxillofacial surgery by locating the surgical area, determining the surgical path and providing navigation guidance, thereby improving the accuracy and safety of the surgery and reducing the surgical time and trauma. The image acquisition component collects X-ray images of the patient's maxillofacial region, generates and captures X-ray images of the patient's maxillofacial region through the combination of an X-ray transmitter and a receiver, provides necessary data for subsequent image processing and analysis, and helps doctors to more comprehensively understand the patient's maxillofacial structure. The image processing component processes and analyzes the collected X-ray images, including enhancement, filtering and denoising, generates maxillofacial structure images through three-dimensional reconstruction, provides clear and accurate maxillofacial structure images, and helps doctors to better diagnose and plan surgical plans. The image display component displays the processed image results through a high-resolution display screen, allowing doctors to intuitively observe and analyze images, and provides intuitive and clear image displays, helping doctors to better understand the patient's maxillofacial structure and make accurate diagnoses and surgical decisions.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明应用于颌面手术下的便携式装置的一个实施例的功能模块示意图；FIG1 is a schematic diagram of functional modules of an embodiment of a portable device for maxillofacial surgery according to the present invention;
图2为本发明应用于颌面手术下的便携式装置的操作方法一个实施例的步骤流程示意图；FIG2 is a schematic flow chart of steps of an embodiment of a method for operating a portable device for maxillofacial surgery according to the present invention;
图3为本发明应用于颌面手术下的便携式装置的操作方法一个实施例确定手术路径的步骤流程示意图；FIG3 is a schematic flow chart of steps for determining a surgical path according to an embodiment of a method for operating a portable device for maxillofacial surgery according to the present invention;
图4为本发明应用于颌面手术下的便携式装置的操作方法一个实施例生成颌面部结构图像的步骤流程示意图；FIG4 is a schematic flow chart of steps for generating a maxillofacial structure image according to an embodiment of a method for operating a portable device for maxillofacial surgery according to the present invention;
图5为本发明电子设备一个实施例的结构示意图；FIG5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
图6为本发明存储介质一个实施例的结构示意图。FIG. 6 is a schematic diagram of the structure of a storage medium according to an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
本发明中的术语“第一”“第二”“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”“第二”“第三”的特征可以明示或者隐含地包括至少一个该特征。本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。The terms "first", "second" and "third" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.
如图1所示，本实施例提供了应用于颌面手术下的便携式装置的一个实施例，在本实施例中，该应用于颌面手术下的便携式装置具体包括：导航控制组件1、图像采集组件2、图像处理组件3及图像显示组件4；As shown in FIG1 , this embodiment provides an embodiment of a portable device used in maxillofacial surgery. In this embodiment, the portable device used in maxillofacial surgery specifically includes: a navigation control component 1, an image acquisition component 2, an image processing component 3 and an image display component 4;
其中，导航控制组件1用于控制便携式装置的操作和导航功能，定位手术区域，确定手术路径，并提供导航引导；图像采集组件2用于采集患者颌面部的X射线图像，包括X射线发射器和接收器，产生和捕捉患者颌面部的X射线图像；图像处理组件3用于对采集到的X射线图像进行处理和分析，对X射线图像进行增强、滤波及去噪等处理，进行三维重建，生成颌面部结构图像；图像显示组件4用于采用高分辨率的显示屏显示处理后的图像结果。Among them, the navigation control component 1 is used to control the operation and navigation functions of the portable device, locate the surgical area, determine the surgical path, and provide navigation guidance; the image acquisition component 2 is used to acquire X-ray images of the patient's maxillofacial region, including an X-ray transmitter and a receiver, to generate and capture X-ray images of the patient's maxillofacial region; the image processing component 3 is used to process and analyze the acquired X-ray images, enhance, filter and denoise the X-ray images, perform three-dimensional reconstruction, and generate maxillofacial structure images; the image display component 4 is used to display the processed image results using a high-resolution display screen.
优选地，本实施例的导航控制组件1实现便携式装置的操作和导航功能，通过定位手术区域、确定手术路径和提供导航引导，帮助医生准确进行颌面手术，提高手术的精准性和安全性，同时减少手术时间和创伤。图像采集组件2采集患者颌面部的X射线图像，通过X射线发射器和接收器的组合，产生和捕捉患者颌面部的X射线图像，为后续的图像处理和分析提供必要的数据，帮助医生更全面地了解患者的颌面结构。图像处理组件3对采集到的X射线图像进行处理和分析，包括增强、滤波和去噪等处理，通过三维重建生成颌面部结构图像，提供清晰、准确的颌面结构图像，帮助医生更好地诊断和规划手术方案。图像显示组件4通过高分辨率的显示屏展示处理后的图像结果，让医生能够直观地观察和分析图像，提供直观、清晰的图像显示，帮助医生更好地理解患者的颌面结构，做出准确的诊断和手术决策。Preferably, the navigation control component 1 of this embodiment realizes the operation and navigation functions of the portable device, and helps doctors to accurately perform maxillofacial surgery by locating the surgical area, determining the surgical path and providing navigation guidance, thereby improving the accuracy and safety of the surgery and reducing the surgical time and trauma. The image acquisition component 2 acquires X-ray images of the patient's maxillofacial region, generates and captures X-ray images of the patient's maxillofacial region through the combination of an X-ray transmitter and a receiver, provides necessary data for subsequent image processing and analysis, and helps doctors to more comprehensively understand the patient's maxillofacial structure. The image processing component 3 processes and analyzes the acquired X-ray images, including enhancement, filtering and denoising, generates maxillofacial structure images through three-dimensional reconstruction, provides clear and accurate maxillofacial structure images, and helps doctors to better diagnose and plan surgical plans. The image display component 4 displays the processed image results through a high-resolution display screen, allowing doctors to intuitively observe and analyze images, and provides intuitive and clear image display, helping doctors to better understand the patient's maxillofacial structure and make accurate diagnoses and surgical decisions.
综上所述，本实施例的组件提供便携式的颌面手术辅助装置，通过导航、图像采集、处理和显示，提高手术的精准性、安全性和效率，为医生提供更好的诊断和手术支持。传统的颌面手术装置，往往是导航设备及图像处理设备是分开的，中间需要信号线的连接，使用笔记本或台式机体积较大，导致整体设备占据空间较大；本实施例的将各个组件集成化设备，之间通过集成及无线连接，大幅提升了整体设备的集成化设置，减小了设备体积，提升了设备的便携性。In summary, the components of this embodiment provide a portable maxillofacial surgery auxiliary device, which improves the accuracy, safety and efficiency of surgery through navigation, image acquisition, processing and display, and provides doctors with better diagnosis and surgical support. Traditional maxillofacial surgery devices often have separate navigation devices and image processing devices, which require signal cables to connect in the middle. The use of laptops or desktops is large in size, resulting in the overall device occupying a large space. The various components of this embodiment are integrated into a device, which is connected through integration and wireless connection, which greatly improves the integrated setting of the overall device, reduces the size of the device, and improves the portability of the device.
进一步地，导航控制组件1具体包括：Furthermore, the navigation control component 1 specifically includes:
设备协同模块，用于通过图像采集组件获取患者颌面部的X射线图像；The equipment coordination module is used to obtain an X-ray image of the patient's maxillofacial region through an image acquisition component;
路径确认模块，用于使用图像处理算法对X射线图像进行处理和分析，识别出关键的解剖结构和标记点；根据手术计划和目标，导航控制组件通过计算和比较不同路径的优劣，确定最佳的手术路径；The path confirmation module is used to process and analyze X-ray images using image processing algorithms to identify key anatomical structures and landmarks. Based on the surgical plan and objectives, the navigation control component determines the best surgical path by calculating and comparing the pros and cons of different paths.
导航引导模块，用于提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现。The navigation guidance module is used to provide navigation guidance, guide the surgeon to the correct position and direction, and ensure the accuracy of the surgical path and the realization of visual navigation.
优选地，本实施例的设备协同模块通过图像采集组件获取患者颌面部的X射线图像，实现了对患者颌面部的实时图像采集，对于手术过程中的实时导航和定位非常重要，可以提供准确的图像数据作为后续处理和分析的基础。路径确认模块使用图像处理算法对采集到的X射线图像进行处理和分析，识别出关键的解剖结构和标记点，通过计算和比较不同路径的优劣，确定最佳的手术路径；通过图像分析和路径计算，提供准确、可靠的手术路径规划；帮助手术医生在手术过程中更加准确地定位手术区域，降低手术风险，提高手术的成功率。导航引导模块用于提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现，通过在显示屏上显示导航信息，如图像结果、方向指示等，帮助手术医生准确地遵循确定的手术路径进行操作；提供直观、实时的导航引导，使手术过程更加精确、高效，提高手术的精确性和安全性，减少手术时间和并发症的发生。Preferably, the equipment coordination module of this embodiment acquires the X-ray image of the patient's maxillofacial region through the image acquisition component, realizing the real-time image acquisition of the patient's maxillofacial region, which is very important for real-time navigation and positioning during the operation, and can provide accurate image data as the basis for subsequent processing and analysis. The path confirmation module uses the image processing algorithm to process and analyze the acquired X-ray image, identify the key anatomical structures and markers, and determine the best surgical path by calculating and comparing the advantages and disadvantages of different paths; through image analysis and path calculation, it provides accurate and reliable surgical path planning; helps the surgeon to locate the surgical area more accurately during the operation, reduce the surgical risk, and improve the success rate of the operation. The navigation guidance module is used to provide navigation guidance, guide the surgeon to the correct position and direction, ensure the accuracy of the surgical path and the realization of visual navigation, and display navigation information on the display screen, such as image results, direction instructions, etc., to help the surgeon accurately follow the determined surgical path to operate; provide intuitive and real-time navigation guidance, make the surgical process more accurate and efficient, improve the accuracy and safety of the operation, and reduce the operation time and the occurrence of complications.
综上所述，本实施例导航控制组件的各个模块通过协同工作，实现了对患者颌面部的图像采集、处理、分析和导航引导，为手术提供了准确的定位和路径规划，提高了手术的精确性和安全性，促进了手术的成功率和效果。To sum up, the various modules of the navigation control component of this embodiment work together to achieve image acquisition, processing, analysis and navigation guidance of the patient's maxillofacial area, provide accurate positioning and path planning for the surgery, improve the accuracy and safety of the surgery, and promote the success rate and effect of the surgery.
进一步地，图像采集组件2具体包括：Furthermore, the image acquisition component 2 specifically includes:
线束生成模块，用于控制X射线发射器，产生X射线束，射向目标区域；A beam generation module is used to control the X-ray emitter to generate an X-ray beam and emit it to the target area;
阴影获取模块，用于对X射线束有不同程度的吸收，获取不同的阴影；A shadow acquisition module is used to absorb different degrees of X-ray beams and acquire different shadows;
阴影转化模块，用于使用接收器捕捉X射线图像，将X射线束形成的阴影转化为数字信号。The shadow conversion module is used to capture the X-ray image using a receiver and convert the shadow formed by the X-ray beam into a digital signal.
优选地，本实施例的线束生成模块能够生成高能量的X射线束，用于穿透患者颌面部组织，形成阴影。阴影获取模块能够根据组织的密度和厚度等因素，获取具有不同灰度级别的阴影图像。阴影转化模块能够将阴影图像转化为数字形式，方便后续的图像处理和分析。Preferably, the beam generation module of this embodiment can generate a high-energy X-ray beam for penetrating the patient's maxillofacial tissue to form a shadow. The shadow acquisition module can acquire shadow images with different grayscale levels according to factors such as tissue density and thickness. The shadow conversion module can convert the shadow image into a digital form to facilitate subsequent image processing and analysis.
综上所述，本实施例通过X射线图像的采集和转化，能够提供医生对患者颌面部的结构和病变进行诊断和分析的依据。同时，这些组件的整合和协同工作，能够实现准确的X射线图像采集和处理，为导航控制组件提供准确的数据，帮助医生确定最佳的手术路径和提供可视化导航引导。In summary, this embodiment can provide doctors with a basis for diagnosing and analyzing the structure and lesions of the patient's maxillofacial region through the collection and conversion of X-ray images. At the same time, the integration and collaborative work of these components can achieve accurate X-ray image collection and processing, provide accurate data for the navigation control component, help doctors determine the best surgical path and provide visual navigation guidance.
进一步地，图像处理组件3具体包括：Furthermore, the image processing component 3 specifically includes:
图像增强模块，用于对采集到的X射线图像进行增强处理，包括调整图像的对比度和亮度；An image enhancement module is used to enhance the collected X-ray images, including adjusting the contrast and brightness of the images;
图像去噪模块，用于采用均值滤波去除图像中的伪影和不相关信息，使用小波去噪算法去除X射线图像中的噪声；Image denoising module, used to remove artifacts and irrelevant information in the image by using mean filtering, and to remove noise in the X-ray image by using wavelet denoising algorithm;
三维重建模块，用于通过采集到的多个二维X射线图像，通过图像配准、体素重建和体表重建等步骤进行三维重建，生成颌面部的三维结构图像。The three-dimensional reconstruction module is used to perform three-dimensional reconstruction through the steps of image registration, voxel reconstruction and body surface reconstruction through the collected multiple two-dimensional X-ray images, so as to generate a three-dimensional structural image of the maxillofacial region.
优选地，本实施例的图像增强模块调整图像的对比度和亮度，使得图像更清晰、更易于观察和分析；提升图像的质量，有助于医生准确判断手术区域的位置和结构。图像去噪模块去除图像中的伪影、不相关信息和噪声，使得图像更干净、更真实；减少图像中的干扰，提高图像的可靠性和可视化效果，帮助医生更准确地分析手术区域的结构和问题。三维重建模块通过多个二维图像的配准和重建，生成颌面部的三维结构图像，呈现出更加真实的空间结构；为医生提供立体化的信息，帮助他们更好地理解手术区域的形态、位置和关系，从而指导手术过程和决策。Preferably, the image enhancement module of this embodiment adjusts the contrast and brightness of the image to make the image clearer, easier to observe and analyze; improving the quality of the image helps the doctor to accurately determine the position and structure of the surgical area. The image denoising module removes artifacts, irrelevant information and noise in the image to make the image cleaner and more realistic; reduces interference in the image, improves the reliability and visualization of the image, and helps the doctor to more accurately analyze the structure and problems of the surgical area. The three-dimensional reconstruction module generates a three-dimensional structural image of the maxillofacial region through the registration and reconstruction of multiple two-dimensional images, presenting a more realistic spatial structure; provides doctors with three-dimensional information to help them better understand the morphology, position and relationship of the surgical area, thereby guiding the surgical process and decision-making.
综上所述，本实施例的图像处理组件的各个模块通过增强图像质量、去除干扰和生成三维结构图像，能够提升颌面手术的精确性和可视化效果，为医生提供更准确、更全面的信息，提高手术的成功率和安全性。In summary, the various modules of the image processing component of this embodiment can improve the accuracy and visualization of maxillofacial surgery by enhancing image quality, removing interference and generating three-dimensional structural images, providing doctors with more accurate and comprehensive information and improving the success rate and safety of surgery.
进一步地，图像显示组件4具体包括：Furthermore, the image display component 4 specifically includes:
格式转换模块，用于接收处理后的图像，对接收到的图像数据进行解码和转换，将其转换为显示的目标格式；A format conversion module, for receiving the processed image, decoding and converting the received image data, and converting it into a target format for display;
图像缓存模块，用于解码和转换后的图像数据被缓存到显示组件4的内存中；An image cache module, used for caching the decoded and converted image data into the memory of the display component 4;
显示控制模块，用于根据设备的分辨率和显示配置，控制图像的位置、大小及亮度等参数。The display control module is used to control image position, size, brightness and other parameters according to the resolution and display configuration of the device.
优选地，本实施例的格式转换模块可以确保图像数据能够被显示组件正确解析和处理，以便进行后续的显示操作。图像缓存模块提高图像显示的效率，减少重复解码和转换的时间。同时，缓存也可以用于存储多个图像，方便进行切换和比较。显示控制模块确保图像在显示设备上以最佳的效果呈现，提供清晰、准确的图像显示。Preferably, the format conversion module of this embodiment can ensure that the image data can be correctly parsed and processed by the display component for subsequent display operations. The image cache module improves the efficiency of image display and reduces the time of repeated decoding and conversion. At the same time, the cache can also be used to store multiple images for convenient switching and comparison. The display control module ensures that the image is presented on the display device with the best effect and provides clear and accurate image display.
本实施例提供清晰的图像显示：通过格式转换和图像缓存，可以确保图像数据被正确解析和处理，从而在显示设备上呈现清晰、准确的图像。提高显示效率：通过图像缓存的使用，可以减少图像解码和转换的重复操作，提高图像显示的效率，减少延迟和卡顿现象。提供灵活的显示控制：通过显示控制模块，可以根据设备的分辨率和显示配置，对图像的位置、大小和亮度等参数进行控制，提供灵活的显示效果，满足用户的需求。图像显示组件的各个模块共同作用，确保图像能够以清晰、准确的方式显示在设备上，提供良好的用户体验。This embodiment provides clear image display: through format conversion and image caching, it can ensure that the image data is correctly parsed and processed, so as to present a clear and accurate image on the display device. Improve display efficiency: through the use of image caching, it is possible to reduce repeated operations of image decoding and conversion, improve the efficiency of image display, and reduce delays and freezes. Provide flexible display control: through the display control module, the position, size, brightness and other parameters of the image can be controlled according to the resolution and display configuration of the device, providing flexible display effects to meet user needs. The various modules of the image display component work together to ensure that the image can be displayed on the device in a clear and accurate manner, providing a good user experience.
如图2所示，本实施例还提供了应用于颌面手术下的便携式装置的操作方法的一个实施例，在本实施例中，应用于颌面手术下的便携式装置的操作方法应用于如上述实施例中的应用于颌面手术下的便携式装置，该应用于颌面手术下的便携式装置的操作方法具体包括以下步骤：As shown in FIG. 2 , this embodiment further provides an embodiment of an operation method of a portable device applied to maxillofacial surgery. In this embodiment, the operation method of a portable device applied to maxillofacial surgery is applied to the portable device applied to maxillofacial surgery in the above embodiment. The operation method of a portable device applied to maxillofacial surgery specifically includes the following steps:
步骤S1：定位手术区域，确定手术路径，并提供导航引导；采集患者颌面部的X射线图像，包括X射线发射器和接收器，产生和捕捉患者颌面部的X射线图像；Step S1: locate the surgical area, determine the surgical path, and provide navigation guidance; collect X-ray images of the patient's maxillofacial region, including an X-ray transmitter and a receiver, and generate and capture X-ray images of the patient's maxillofacial region;
步骤S2：对采集到的X射线图像进行处理和分析，对X射线图像进行增强、滤波及去噪等处理，进行三维重建，生成颌面部结构图像；Step S2: Processing and analyzing the collected X-ray images, performing enhancement, filtering and denoising on the X-ray images, performing three-dimensional reconstruction, and generating maxillofacial structure images;
步骤S3：采用显示屏显示处理后的图像结果。Step S3: using a display screen to display the processed image result.
优选地，本实施例的步骤S1通过导航控制组件，实现对便携式装置的操作和导航功能，定位手术区域，确定手术路径，并提供导航引导；帮助医生准确定位手术区域，确定手术路径，提供导航引导，提高手术的准确性和安全性。步骤S2通过图像处理组件，对采集到的X射线图像进行增强、滤波、去噪等处理，进行三维重建，生成颌面部结构图像；对X射线图像进行处理和分析，可以提高图像的清晰度和对比度，减少噪声干扰，帮助医生更准确地分析和诊断患者的颌面结构。步骤S3通过图像显示组件，将经过处理的图像结果显示在高分辨率的显示屏上；通过显示屏显示处理后的图像结果，医生可以直观地观察和分析颌面结构，辅助手术决策和操作，提高手术效果和治疗质量。Preferably, step S1 of this embodiment realizes the operation and navigation functions of the portable device through the navigation control component, locates the surgical area, determines the surgical path, and provides navigation guidance; helps doctors accurately locate the surgical area, determine the surgical path, provide navigation guidance, and improve the accuracy and safety of the surgery. Step S2 performs enhancement, filtering, denoising and other processing on the collected X-ray images through the image processing component, performs three-dimensional reconstruction, and generates maxillofacial structure images; processing and analyzing the X-ray images can improve the clarity and contrast of the images, reduce noise interference, and help doctors more accurately analyze and diagnose the patient's maxillofacial structure. Step S3 displays the processed image results on a high-resolution display screen through the image display component; by displaying the processed image results on the display screen, doctors can intuitively observe and analyze the maxillofacial structure, assist in surgical decision-making and operation, and improve surgical results and treatment quality.
进一步地，如图3所示，步骤S1中确定手术路径的过程具体包括以下步骤：Further, as shown in FIG3 , the process of determining the surgical path in step S1 specifically includes the following steps:
步骤S11：通过图像采集组件获取患者颌面部的X射线图像；Step S11: acquiring an X-ray image of the patient's maxillofacial region through an image acquisition component;
步骤S12：使用图像处理算法对X射线图像进行处理和分析，识别出关键的解剖结构和标记点；根据手术计划和目标，通过计算和比较不同路径的优劣，确定最佳的手术路径；Step S12: using image processing algorithms to process and analyze the X-ray images, identify key anatomical structures and landmarks; according to the surgical plan and objectives, determine the best surgical path by calculating and comparing the pros and cons of different paths;
步骤S13：提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现。Step S13: Provide navigation guidance to guide the surgeon to the correct position and direction, ensuring the accuracy of the surgical path and the realization of visual navigation.
优选地，本实施例的步骤S11通过图像采集组件获取患者颌面部的X射线图像，获取患者颌面部的X射线图像，为后续的处理和分析提供数据基础；提供了手术区域的详细结构信息，为手术路径的确定提供依据。步骤S12使用图像处理算法对X射线图像进行处理和分析，识别出关键的解剖结构和标记点；根据手术计划和目标，通过计算和比较不同路径的优劣，确定最佳的手术路径；对X射线图像进行处理和分析，提取出关键的解剖结构和标记点，然后根据手术计划和目标，通过计算和比较不同路径的优劣来确定最佳的手术路径；帮助手术医生在手术前准确评估患者的解剖结构，确定最佳的手术路径，提高手术的精确性和安全性。步骤S13提供导航引导，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现，通过导航引导系统，将手术医生引导到正确的位置和方向，确保手术路径的准确性和可视化导航的实现；提供实时的导航引导，帮助手术医生准确地按照预定的手术路径进行操作，提高手术的准确性和可视化导航的实现。Preferably, step S11 of this embodiment acquires an X-ray image of the patient's maxillofacial region through an image acquisition component, acquires an X-ray image of the patient's maxillofacial region, and provides a data basis for subsequent processing and analysis; provides detailed structural information of the surgical area, and provides a basis for determining the surgical path. Step S12 uses an image processing algorithm to process and analyze the X-ray image, identify key anatomical structures and markers; according to the surgical plan and objectives, determine the best surgical path by calculating and comparing the advantages and disadvantages of different paths; processes and analyzes the X-ray image, extracts key anatomical structures and markers, and then according to the surgical plan and objectives, determines the best surgical path by calculating and comparing the advantages and disadvantages of different paths; helps the surgeon to accurately evaluate the patient's anatomical structure before surgery, determine the best surgical path, and improve the accuracy and safety of the surgery. Step S13 provides navigation guidance to guide the surgeon to the correct position and direction, ensuring the accuracy of the surgical path and the realization of visual navigation. Through the navigation guidance system, the surgeon is guided to the correct position and direction to ensure the accuracy of the surgical path and the realization of visual navigation; provides real-time navigation guidance to help the surgeon accurately operate according to the predetermined surgical path, improve the accuracy of the surgery and the realization of visual navigation.
进一步地，步骤S12中识别出关键的解剖结构和标记点的过程具体包括以下步骤：Furthermore, the process of identifying key anatomical structures and landmarks in step S12 specifically includes the following steps:
步骤S121：利用边缘检测算法，对X射线图像进行边缘检测，将X射线图像中的边界提取出来，并形成一系列像素点的集合；基于边缘检测结果，采用基于连通性的轮廓跟踪算法，提取出图像中的轮廓，轮廓是一系列连续的曲线，表示了图像中物体的边界形状；Step S121: using an edge detection algorithm to perform edge detection on the X-ray image, extracting the boundaries in the X-ray image and forming a set of a series of pixel points; based on the edge detection result, using a contour tracking algorithm based on connectivity to extract the contour in the image, the contour is a series of continuous curves, representing the boundary shape of the object in the image;
步骤S122：基于形状描述子的特征匹配算法，将提取到的轮廓与预定义的解剖结构和标记点的特征进行匹配，特征匹配找到相似的轮廓或特征，识别出关键的解剖结构和标记点；Step S122: Based on the feature matching algorithm of the shape descriptor, the extracted contour is matched with the features of the predefined anatomical structure and the marker points, and the feature matching finds similar contours or features to identify the key anatomical structure and the marker points;
步骤S123：根据预先定义的解剖结构的特征，使用分类器进行结构的识别；分类器利用机器学习算法训练得到，通过对提取到的特征进行分类，确定图像中存在的解剖结构；Step S123: using a classifier to identify the structure according to the features of the predefined anatomical structure; the classifier is trained using a machine learning algorithm, and determines the anatomical structure present in the image by classifying the extracted features;
标记点利用空间几何关系进行定位，根据已知的标记点的几何位置和关系，计算标记点在图像中的准确位置。The marker points are located using spatial geometric relationships, and the exact position of the marker points in the image is calculated based on the known geometric positions and relationships of the marker points.
优选地，本实施例的步骤S121使用边缘检测算法提取X射线图像中的边界，并基于连通性的轮廓跟踪算法得到物体的边界形状，从而帮助准确定位解剖结构和标记点的位置；从复杂的X射线图像中提取出目标物体的轮廓信息，为后续的特征匹配和结构识别奠定基础。步骤S122通过形状描述子的特征匹配算法将提取到的轮廓与预定义的解剖结构和标记点的特征进行匹配，找到相似的轮廓或特征，进而识别出关键的解剖结构和标记点；通过特征匹配找到图像中与预定义结构相符合的轮廓，从而对解剖结构和标记点进行准确识别。步骤S123使用分类器进行解剖结构的识别，利用机器学习算法训练得到的分类器来对图像中提取到的特征进行分类，确定存在的解剖结构；通过分类器对特征进行自动分类，提高准确性和效率，同时可以适应不同解剖结构的识别需求；实现对X射线图像中复杂结构的快速自动识别和定位，为医疗诊断和治疗提供可靠的辅助信息；标记点利用空间几何关系进行定位，根据已知的标记点的几何位置和关系，计算标记点在图像中的准确位置；通过数学计算和几何关系定位标记点的具体位置，确保标记点在图像中的精准定位；提高解剖结构和标记点的准确性和可靠性，为后续的临床诊断和手术操作提供精确的定位信息。Preferably, step S121 of this embodiment uses an edge detection algorithm to extract the boundaries in the X-ray image, and obtains the boundary shape of the object based on the contour tracking algorithm of connectivity, thereby helping to accurately locate the position of the anatomical structure and the marker point; extracting the contour information of the target object from the complex X-ray image, laying the foundation for subsequent feature matching and structure recognition. Step S122 matches the extracted contour with the features of the predefined anatomical structure and marker point through the feature matching algorithm of the shape descriptor, finds similar contours or features, and then identifies the key anatomical structure and marker point; finds the contour in the image that matches the predefined structure through feature matching, thereby accurately identifying the anatomical structure and marker point. Step S123 uses a classifier to identify anatomical structures, and uses a classifier trained by a machine learning algorithm to classify features extracted from the image to determine the existing anatomical structures; automatically classifies features through a classifier to improve accuracy and efficiency, and can adapt to the recognition needs of different anatomical structures; realizes rapid and automatic recognition and positioning of complex structures in X-ray images, and provides reliable auxiliary information for medical diagnosis and treatment; the marker points are positioned using spatial geometric relationships, and the exact position of the marker points in the image is calculated based on the known geometric positions and relationships of the marker points; the specific position of the marker points is positioned through mathematical calculations and geometric relationships to ensure the precise positioning of the marker points in the image; improves the accuracy and reliability of anatomical structures and marker points, and provides accurate positioning information for subsequent clinical diagnosis and surgical operations.
进一步地，步骤S121中提取出图像中的轮廓具体包括以下步骤：Furthermore, extracting the contour in the image in step S121 specifically includes the following steps:
步骤S1211：将X射线图像转换为灰度图像，去除彩色信息，只保留灰度值；Step S1211: converting the X-ray image into a grayscale image, removing the color information and retaining only the grayscale value;
步骤S1212：利用边缘检测算法Canny对灰度图像进行处理，识别图像中灰度值变化较大的地方，标记为边缘点，形成一系列离散的边缘像素点；Step S1212: Use the Canny edge detection algorithm to process the grayscale image, identify places where the grayscale value changes greatly in the image, mark them as edge points, and form a series of discrete edge pixel points;
步骤S1213：基于边缘检测结果，采用连通性的轮廓跟踪算法来连接相邻的边缘点，形成闭合的轮廓；通过轮廓跟踪算法，将离散的边缘像素点连接成平滑的曲线，提取出图像中的具体轮廓；Step S1213: Based on the edge detection result, a connected contour tracking algorithm is used to connect adjacent edge points to form a closed contour. The contour tracking algorithm is used to connect discrete edge pixel points into a smooth curve to extract the specific contour in the image.
其中，轮廓跟踪算法的具体过程包括：Among them, the specific process of the contour tracking algorithm includes:
选取一个边缘像素点作为起始点，将其标记为当前点；Select an edge pixel as the starting point and mark it as the current point;
根据预设的搜索规则，寻找当前点周围相邻的未访问过的边缘像素点，相邻点是在当前像素点的上、下、左、右、左上、右上、左下、右下八个方向；According to the preset search rules, find the adjacent unvisited edge pixels around the current point. The adjacent points are in the eight directions of the current pixel: up, down, left, right, upper left, upper right, lower left, and lower right.
根据连续性的规则，确定下一个要访问的点，选择离当前点最近的邻域点；According to the rule of continuity, determine the next point to be visited and select the neighboring point closest to the current point;
将下一个点作为新的当前点，并标记为已访问，继续从新的当前点开始搜索邻域；Set the next point as the new current point, mark it as visited, and continue searching the neighborhood from the new current point;
重复以上步骤，直到连接的边缘像素点形成一个封闭的轮廓，或者当前点无法找到相邻的未访问点；Repeat the above steps until the connected edge pixels form a closed contour, or the current point cannot find an adjacent unvisited point;
完整轮廓：最终得到的轮廓是由一系列连续的像素点组成的曲线，描述了图像中物体的边界形状。Complete contour: The final contour is a curve composed of a series of continuous pixel points, which describes the boundary shape of the object in the image.
优选地，本实施例的步骤S1211将X射线图像转换为灰度图像，去除彩色信息，只保留灰度值；将彩色图像转换为灰度图像，简化图像信息，去除颜色对边缘检测的影响，保留灰度值信息；减少处理复杂度，使边缘检测更加准确和有效，为后续的轮廓提取提供更清晰的图像基础。步骤S1212利用边缘检测算法Canny对灰度图像进行处理，识别图像中灰度值变化较大的地方，标记为边缘点，形成一系列离散的边缘像素点；通过边缘检测算法Canny，识别图像中的边缘，标记出灰度值变化明显的地方，形成一系列离散的边缘像素点；提取出了图像中的边缘信息，为后续轮廓跟踪算法的运行提供了关键数据，准确定义了物体的边界。步骤S1213基于边缘检测结果，采用连通性的轮廓跟踪算法来连接相邻的边缘点，形成闭合的轮廓；通过轮廓跟踪算法，将离散的边缘像素点连接成平滑的曲线，提取出图像中的具体轮廓；利用轮廓跟踪算法连接相邻的边缘点，形成闭合的轮廓，将离散的边缘像素点连接成平滑的曲线，提取出图像中的具体轮廓；将边缘点连接成平滑的曲线有助于更好地描述物体的形状，提高图像处理的准确性和准确度，为后续的分析和识别提供了有意义的特征线索。Preferably, step S1211 of this embodiment converts the X-ray image into a grayscale image, removes the color information, and retains only the grayscale value; converts the color image into a grayscale image, simplifies the image information, removes the influence of color on edge detection, and retains the grayscale value information; reduces the processing complexity, makes edge detection more accurate and effective, and provides a clearer image basis for subsequent contour extraction. Step S1212 uses the edge detection algorithm Canny to process the grayscale image, identifies the places where the grayscale value changes greatly in the image, marks them as edge points, and forms a series of discrete edge pixel points; uses the edge detection algorithm Canny to identify the edges in the image, marks the places where the grayscale value changes significantly, and forms a series of discrete edge pixel points; extracts the edge information in the image, provides key data for the operation of the subsequent contour tracking algorithm, and accurately defines the boundary of the object. Step S1213, based on the edge detection result, adopts a connectivity contour tracking algorithm to connect adjacent edge points to form a closed contour; through the contour tracking algorithm, discrete edge pixel points are connected into a smooth curve to extract the specific contour in the image; connecting edge points into a smooth curve helps to better describe the shape of the object, improve the accuracy and precision of image processing, and provide meaningful feature clues for subsequent analysis and recognition.
综上所述，本实施例可以实现从X射线图像中提取具体轮廓的过程，为进一步的解析、分析和识别提供了基础，有助于在医学图像识别、医疗影像分析等领域中得到更精确有效的结果。In summary, this embodiment can realize the process of extracting specific contours from X-ray images, providing a basis for further parsing, analysis and recognition, and helping to obtain more accurate and effective results in the fields of medical image recognition, medical imaging analysis, etc.
进一步地，步骤S122中特征匹配的过程具体包括以下步骤：Furthermore, the feature matching process in step S122 specifically includes the following steps:
步骤S1221：使用形状描述子对提取到的图像轮廓进行特征提取，描述轮廓的形状和结构特征；根据医学知识和经验确定的一系列描述子，用于唯一标识解剖结构或标记点；Step S1221: using shape descriptors to perform feature extraction on the extracted image contour to describe the shape and structural features of the contour; a series of descriptors determined based on medical knowledge and experience are used to uniquely identify anatomical structures or marker points;
步骤S1222：通过比较提取到的轮廓特征描述子和预定义的解剖结构和标记点特征，使用相应的欧氏距离相似度度量方法，找到最相似的轮廓或特征；Step S1222: by comparing the extracted contour feature descriptor with the predefined anatomical structure and landmark features, using the corresponding Euclidean distance similarity measurement method, the most similar contour or feature is found;
其中，将提取到的轮廓特征描述子和解剖结构和标记点特征表示为向量形式，然后计算它们之间的欧氏距离，欧氏距离是两个向量之间的直线距离，通过计算两个向量之间的欧氏距离公式得到；Among them, the extracted contour feature descriptors, anatomical structures and landmark features are expressed as vector forms, and then the Euclidean distance between them is calculated. The Euclidean distance is the straight-line distance between two vectors, which is obtained by calculating the Euclidean distance formula between two vectors;
根据计算得到的欧氏距离相似度，可以找到最相似的轮廓或特征，较小的欧氏距离表示两个向量之间的相似程度较高；Based on the calculated Euclidean distance similarity, the most similar contour or feature can be found. A smaller Euclidean distance indicates a higher degree of similarity between the two vectors.
步骤S1223：根据匹配的结果，确定哪些轮廓与预定义的解剖结构最匹配或哪些特征与定义的标记点特征最相似，识别出关键的解剖结构和标记点。Step S1223: Based on the matching results, determine which contours best match the predefined anatomical structures or which features are most similar to the defined marker point features, and identify key anatomical structures and marker points.
优选地，本实施例的步骤S1221使用形状描述子对提取到的图像轮廓进行特征提取，描述轮廓的形状和结构特征；通过确定的一系列描述子，可以唯一标识解剖结构或标记点；将图像中的轮廓特征转化为可量化的描述子，从而实现对解剖结构和标记点的特征化表示。步骤S1222通过欧氏距离相似度度量方法比较提取到的轮廓特征描述子和预定义的解剖结构和标记点特征，找到最相似的轮廓或特征；将提取到的特征表示为向量形式，计算它们之间的欧氏距离；技术效果是通过数值化的方式量化轮廓特征之间的相似度，从而找到最匹配的解剖结构或标记点。步骤S1223根据匹配的结果，确定哪些轮廓与预定义的解剖结构最匹配或哪些特征与定义的标记点特征最相似，识别出关键的解剖结构和标记点；根据相似度匹配结果来识别和定位图像中的关键解剖结构和标记点，为进一步的医学分析和诊断提供重要参考。Preferably, step S1221 of this embodiment uses shape descriptors to extract features from the extracted image contours to describe the shape and structural features of the contours; through a series of determined descriptors, anatomical structures or markers can be uniquely identified; the contour features in the image are converted into quantifiable descriptors, thereby realizing the characteristic representation of the anatomical structures and markers. Step S1222 compares the extracted contour feature descriptors with the predefined anatomical structure and marker features through the Euclidean distance similarity measurement method to find the most similar contours or features; the extracted features are expressed in vector form and the Euclidean distance between them is calculated; the technical effect is to quantify the similarity between contour features in a numerical way, thereby finding the most matching anatomical structure or marker. Step S1223 determines which contours best match the predefined anatomical structures or which features are most similar to the defined marker features based on the matching results, and identifies the key anatomical structures and markers; identifies and locates the key anatomical structures and markers in the image based on the similarity matching results, providing an important reference for further medical analysis and diagnosis.
综上所述，本实施例利用计算机视觉和图像处理技术，结合医学知识和经验，实现对医学图像中解剖结构和标记点的自动化识别和匹配；有助于提高医学图像分析的效率和准确性，为医生提供更可靠的辅助诊断信息，促进医疗技术的发展和进步。In summary, this embodiment utilizes computer vision and image processing technology, combined with medical knowledge and experience, to achieve automatic recognition and matching of anatomical structures and landmarks in medical images; it helps to improve the efficiency and accuracy of medical image analysis, provide doctors with more reliable auxiliary diagnostic information, and promote the development and progress of medical technology.
进一步地，如图4所示，步骤S2中生成颌面部结构图像的过程具体包括以下步骤：Further, as shown in FIG4 , the process of generating the maxillofacial structure image in step S2 specifically includes the following steps:
步骤S21：对采集到的X射线图像进行预处理，包括去噪、增强和滤波等操作；将图像划分为三维体素网格，通过分析体素内的特征和像素之间的关系，进行体素的分类和重建，从而生成三维结构模型；Step S21: preprocessing the acquired X-ray image, including denoising, enhancement and filtering operations; dividing the image into a three-dimensional voxel grid, classifying and reconstructing the voxels by analyzing the features within the voxels and the relationship between the pixels, thereby generating a three-dimensional structure model;
步骤S22：通过从图像中提取的特征点，将其转化为三维空间中的点云数据；利用点云数据进行重建，填充缺失的区域并生成三维模型；通过图像中的轮廓和边缘信息，通过曲面拟合将其转化为三维表面模型；Step S22: extracting feature points from the image and converting it into point cloud data in a three-dimensional space; reconstructing using the point cloud data, filling in missing areas and generating a three-dimensional model; converting the image into a three-dimensional surface model through surface fitting using contour and edge information in the image;
步骤S23：根据三维重建算法，利用特征点、体素网格或点云数据，进行重建计算和处理，生成颌面部的三维结构模型；对生成的三维模型进行优化和后处理操作，使用显示屏将生成的三维结构模型通过可视化技术展示。Step S23: According to the three-dimensional reconstruction algorithm, reconstruction calculation and processing are performed using feature points, voxel grids or point cloud data to generate a three-dimensional structure model of the maxillofacial region; the generated three-dimensional model is optimized and post-processed, and the generated three-dimensional structure model is displayed using a display screen through visualization technology.
优选地，本实施例的步骤S21通过预处理操作和体素重建技术，清除图像中的噪声和提高图像质量，将X射线图像转换为三维体素网格表示；为进一步的三维重建提供了清晰、准确的图像基础，为生成具有立体感的颌面部结构模型奠定了基础。步骤S22通过点云重建和表面重建技术，将特征点转化为三维点云数据，并进一步生成三维模型，填补缺失区域，转化为三维表面模型；实现了对颌面部结构的更加精细化、立体化的重建，提供了更丰富的结构信息，有助于医疗人员准确定位和分析颌面部解剖结构。步骤S23根据不同的重建算法，生成颌面部的三维结构模型，并进行优化和后处理，提高模型的质量和准确性；通过可视化技术展示三维模型，使医疗人员可以直观地观察和分析颌面部结构；提供了更详细、准确的颌面部结构信息，为医疗诊断、手术规划和操作提供了更可靠的参考，有助于提高手术的精准性和安全性。Preferably, step S21 of this embodiment removes noise in the image and improves image quality through preprocessing operations and voxel reconstruction technology, and converts the X-ray image into a three-dimensional voxel grid representation; it provides a clear and accurate image basis for further three-dimensional reconstruction, and lays the foundation for generating a three-dimensional maxillofacial structure model. Step S22 converts feature points into three-dimensional point cloud data through point cloud reconstruction and surface reconstruction technology, and further generates a three-dimensional model, fills in missing areas, and converts it into a three-dimensional surface model; it realizes a more refined and three-dimensional reconstruction of the maxillofacial structure, provides richer structural information, and helps medical personnel accurately locate and analyze the maxillofacial anatomical structure. Step S23 generates a three-dimensional structure model of the maxillofacial region according to different reconstruction algorithms, and optimizes and post-processes it to improve the quality and accuracy of the model; displays the three-dimensional model through visualization technology, so that medical personnel can intuitively observe and analyze the maxillofacial structure; it provides more detailed and accurate maxillofacial structure information, provides a more reliable reference for medical diagnosis, surgical planning and operation, and helps improve the accuracy and safety of surgery.
进一步地，步骤S21中生成三维结构模型的过程具体包括以下步骤：Furthermore, the process of generating the three-dimensional structure model in step S21 specifically includes the following steps:
步骤S211：去除图像中的干扰信号和噪声，增强图像的对比度和细节，应用滤波器对图像进行平滑处理；Step S211: removing interference signals and noise in the image, enhancing the contrast and details of the image, and applying a filter to smooth the image;
步骤S212：将预处理后的图像划分为三维体素网格，即将图像空间离散化为一组小体积单元；通过分析体素内部的像素值和关联性，提取特征信息，如边缘、纹理等；根据体素内的特征和像素之间的关系，对每个体素进行分类和重建；Step S212: Divide the preprocessed image into a three-dimensional voxel grid, that is, discretize the image space into a group of small volume units; extract feature information such as edges and textures by analyzing the pixel values and correlations inside the voxels; classify and reconstruct each voxel according to the features within the voxel and the relationship between the pixels;
步骤S213：将体素网格转换为三维表面模型，通过对每个体素进行插值，生成平滑的三维结构，从而形成立体结构模型；对体素网格内部进行填充和插值，填补空白区域，体素之间的匹配和对齐，保证重建后的三维模型准确反映原始图像中的结构。Step S213: Convert the voxel grid into a three-dimensional surface model, generate a smooth three-dimensional structure by interpolating each voxel, and thus form a three-dimensional structure model; fill and interpolate the inside of the voxel grid, fill the blank area, match and align the voxels, and ensure that the reconstructed three-dimensional model accurately reflects the structure in the original image.
优选地，本实施例的步骤S211去除图像中的干扰信号和噪声、增强对比度和细节、应用滤波器进行平滑处理，提高图像质量和清晰度；通过预处理，可以使图像更具辨识度和清晰度，为后续的分析和重建提供更好的基础，有助于准确提取特征和结构信息。步骤S212体素网格划分和特征提取，将图像划分为三维体素网格，离散化图像空间为体素单元；提取体素内部的特征信息，如边缘、纹理等；对每个体素进行分类和重建；通过体素网格的划分和特征提取，可以将图像信息转化为离散化的体素表示，更好地捕捉图像的结构和特征，为后续的重建和分析提供基础。步骤S213体素重建和优化，将体素网格转换为三维表面模型，通过插值生成平滑的三维结构；对体素网格内部进行填充和插值，填补空白区域；确保体素之间的匹配和对齐，保证重建的三维模型准确反映原始图像中的结构；通过体素重建和优化，可以生成具有立体感和细节的三维结构模型，填补空缺、保持连续性；确保模型的准确性和完整性，为医疗诊断、手术规划和操作提供可靠的信息基础。Preferably, step S211 of this embodiment removes interference signals and noise in the image, enhances contrast and details, applies filters for smoothing, and improves image quality and clarity; through preprocessing, the image can be made more recognizable and clear, providing a better basis for subsequent analysis and reconstruction, and facilitating accurate extraction of features and structural information. Step S212 voxel grid division and feature extraction divides the image into a three-dimensional voxel grid, discretizes the image space into voxel units; extracts feature information inside the voxel, such as edges, textures, etc.; classifies and reconstructs each voxel; through voxel grid division and feature extraction, the image information can be converted into a discrete voxel representation, better capturing the structure and features of the image, and providing a basis for subsequent reconstruction and analysis. Step S213 voxel reconstruction and optimization converts the voxel grid into a three-dimensional surface model, and generates a smooth three-dimensional structure through interpolation; fills and interpolates the inside of the voxel grid to fill the blank area; ensures the matching and alignment between voxels to ensure that the reconstructed three-dimensional model accurately reflects the structure in the original image; through voxel reconstruction and optimization, a three-dimensional structure model with stereoscopic sense and details can be generated to fill the gaps and maintain continuity; ensure the accuracy and completeness of the model, and provide a reliable information basis for medical diagnosis, surgical planning and operation.
综上所述，本实施例通过一系列的预处理、体素网格划分、特征提取和重建优化，可以实现从二维图像到三维结构模型的转换过程，为医疗领域提供了更全面、准确的结构信息，有助于指导医疗诊断和手术操作。In summary, this embodiment can realize the conversion process from two-dimensional images to three-dimensional structural models through a series of preprocessing, voxel grid division, feature extraction and reconstruction optimization, providing more comprehensive and accurate structural information for the medical field, which helps to guide medical diagnosis and surgical operations.
进一步地，步骤S22中通过曲面拟合将其转化为三维表面模型具体包括以下步骤：Furthermore, in step S22, converting it into a three-dimensional surface model by surface fitting specifically includes the following steps:
步骤S221：从X射线图像中提取出特征点，将提取出的特征点转化为三维空间中的点云数据；通过将每个特征点的位置和属性信息转化为三维坐标，形成点云数据集；Step S221: extracting feature points from the X-ray image, and converting the extracted feature points into point cloud data in three-dimensional space; forming a point cloud data set by converting the position and attribute information of each feature point into three-dimensional coordinates;
步骤S222：使用最小二乘法曲面拟合将点云数据转化为平滑的三维表面模型，根据点云数据的分布情况，拟合出最符合特征点的曲面；Step S222: using the least squares surface fitting method to convert the point cloud data into a smooth three-dimensional surface model, and fitting the surface that best fits the feature points according to the distribution of the point cloud data;
通过最小化特征点与拟合曲面之间的距离，找到最优的曲面拟合结果；By minimizing the distance between the feature points and the fitting surface, the optimal surface fitting result is found;
步骤S223：根据曲面拟合的结果，生成三维表面模型，根据曲面的参数化方程，计算出在三维空间中形成的曲面模型的各个点的坐标，从而构建出完整的颌面部三维表面模型。Step S223: Generate a three-dimensional surface model based on the result of the surface fitting, and calculate the coordinates of each point of the surface model formed in the three-dimensional space according to the parameterized equation of the surface, so as to construct a complete three-dimensional surface model of the maxillofacial region.
优选地，本实施例的步骤S221特征点转化为点云数据，将从X射线图像中提取的特征点转化为三维空间中的点云数据，即将每个特征点的位置和属性信息转化为三维坐标，形成点云数据集；将特征点转化为点云数据后，可以更好地表示颌面部结构的几何形状和空间分布，为曲面拟合提供了数据基础。步骤S222最小二乘法曲面拟合，使用最小二乘法曲面拟合算法，通过最小化特征点与拟合曲面之间的距离，找到最优的曲面拟合结果，将点云数据转化为平滑的三维表面模型；最小二乘法曲面拟合可以根据点云数据的分布情况，拟合出最符合特征点的曲面，使得生成的三维表面模型更加真实和准确。步骤S223三维表面模型生成，根据曲面拟合的结果，根据曲面的参数化方程，计算出在三维空间中形成的曲面模型的各个点的坐标，从而构建出完整的颌面部三维表面模型；通过三维表面模型的生成，颌面部结构可以在三维空间中更加真实地呈现出来，为医疗人员提供更精确的观察、分析和诊断依据。Preferably, in step S221 of this embodiment, the feature points are converted into point cloud data, and the feature points extracted from the X-ray image are converted into point cloud data in three-dimensional space, that is, the position and attribute information of each feature point are converted into three-dimensional coordinates to form a point cloud data set; after the feature points are converted into point cloud data, the geometric shape and spatial distribution of the maxillofacial structure can be better represented, providing a data basis for surface fitting. Step S222 least squares surface fitting, using the least squares surface fitting algorithm, by minimizing the distance between the feature points and the fitting surface, find the optimal surface fitting result, and convert the point cloud data into a smooth three-dimensional surface model; the least squares surface fitting can fit the surface that best fits the feature points according to the distribution of the point cloud data, so that the generated three-dimensional surface model is more realistic and accurate. Step S223 generates a three-dimensional surface model. According to the result of surface fitting and the parameterized equation of the surface, the coordinates of each point of the surface model formed in the three-dimensional space are calculated, thereby constructing a complete three-dimensional surface model of the maxillofacial region. Through the generation of the three-dimensional surface model, the maxillofacial structure can be presented more realistically in the three-dimensional space, providing medical personnel with more accurate observation, analysis and diagnosis basis.
综上所述，本实施例通过将特征点转化为点云数据，然后使用最小二乘法曲面拟合将点云数据转化为平滑的曲面模型，最终生成完整的三维表面模型。这可以提供更准确、真实的颌面部结构信息，有助于医疗诊断、手术规划和操作的指导。In summary, this embodiment converts feature points into point cloud data, and then uses the least squares surface fitting method to convert the point cloud data into a smooth surface model, and finally generates a complete three-dimensional surface model. This can provide more accurate and realistic maxillofacial structure information, which is helpful for medical diagnosis, surgical planning and operation guidance.
进一步地，步骤S23中生成颌面部的三维结构模型具体包括以下步骤：Furthermore, generating the three-dimensional structure model of the maxillofacial region in step S23 specifically includes the following steps:
步骤S231：根据采集到的特征点、体素网格或点云数据，利用三维重建算法进行计算和处理；将特征点或点云数据转化为具体的三维结构模型，包括颌面部的各种组织、器官和骨骼结构；Step S231: Calculate and process the acquired feature points, voxel grids or point cloud data using a three-dimensional reconstruction algorithm; convert the feature points or point cloud data into a specific three-dimensional structure model, including various tissues, organs and bone structures of the maxillofacial region;
步骤S232：对生成的三维模型进行优化处理，包括去除存在的噪声、平滑表面、填补缺失部分等；Step S232: Optimizing the generated three-dimensional model, including removing existing noise, smoothing the surface, filling in missing parts, etc.;
步骤S233：使用三维可视化软件，将生成的三维结构模型呈现在显示屏或其他设备上；通过旋转、放大及缩小等操作，展示三维模型的不同角度和细节；添加标记、颜色及透明度等效果。Step S233: Use 3D visualization software to present the generated 3D structural model on a display screen or other device; display different angles and details of the 3D model through operations such as rotation, zooming in and out; add effects such as marking, color and transparency.
优选地，本实施例的步骤S231三维重建，根据采集到的特征点、体素网格或点云数据，利用三维重建算法进行计算和处理，将特征点或点云数据转化为具体的三维结构模型，包括颌面部的各种组织、器官和骨骼结构；通过三维重建，可以将采集到的数据转化为准确、完整的三维结构模型，为医疗人员提供了真实、可视化的颌面部结构信息，有助于进行更准确的观察、分析和诊断。步骤S232优化和后处理，对生成的三维模型进行优化处理，包括去除存在的噪声、平滑表面、填补缺失部分等；通过优化和后处理，可以提高三维模型的准确性和完整性，去除可能存在的噪声和不规则性，使得生成的三维结构模型更加真实、平滑，更符合实际颌面部的形态和结构。步骤S233可视化展示，使用三维可视化软件，将生成的三维结构模型呈现在显示屏或其他设备上；通过旋转、放大和缩小等操作，展示三维模型的不同角度和细节；可以添加标记、颜色和透明度等效果；通过可视化展示，医疗人员可以直观、清晰地观察和分析颌面部的三维结构模型。通过旋转、放大和缩小等操作，可以获得不同角度和细节的视图，帮助医疗人员全面理解颌面部结构，进行更准确的诊断和治疗规划。Preferably, in step S231 of this embodiment, three-dimensional reconstruction is performed based on the collected feature points, voxel grids or point cloud data, and the feature points or point cloud data are converted into a specific three-dimensional structure model using a three-dimensional reconstruction algorithm, including various tissues, organs and bone structures of the maxillofacial region; through three-dimensional reconstruction, the collected data can be converted into an accurate and complete three-dimensional structure model, providing medical personnel with real and visual maxillofacial structure information, which is helpful for more accurate observation, analysis and diagnosis. Step S232 optimization and post-processing is performed to optimize the generated three-dimensional model, including removing existing noise, smoothing the surface, filling in missing parts, etc.; through optimization and post-processing, the accuracy and completeness of the three-dimensional model can be improved, and possible noise and irregularities can be removed, so that the generated three-dimensional structure model is more realistic, smooth, and more in line with the actual maxillofacial morphology and structure. Step S233 Visualization display: Use 3D visualization software to present the generated 3D structure model on a display screen or other device; display different angles and details of the 3D model through operations such as rotation, zooming in and out; add effects such as marking, color and transparency; through visualization display, medical personnel can observe and analyze the 3D structure model of the maxillofacial region intuitively and clearly. Through operations such as rotation, zooming in and out, views of different angles and details can be obtained, helping medical personnel to fully understand the maxillofacial structure and make more accurate diagnosis and treatment planning.
综上所述，本实施例通过三维重建、优化和后处理以及可视化展示，生成的颌面部三维结构模型具有准确性、完整性和可视化效果，为医疗人员提供了重要的参考信息，有助于更好地了解颌面部结构，做出科学决策。In summary, the three-dimensional structure model of the maxillofacial region generated by this embodiment through three-dimensional reconstruction, optimization, post-processing and visualization is accurate, complete and has visualization effects, which provides important reference information for medical personnel, helps to better understand the maxillofacial structure and make scientific decisions.
如图5所示，本实施例提供了电子设备的一个实施例，在本实施例中，该电子设备6包括处理器61及和处理器61耦接的存储器62。As shown in FIG. 5 , this embodiment provides an embodiment of an electronic device. In this embodiment, the electronic device 6 includes a processor 61 and a memory 62 coupled to the processor 61 .
存储器62存储有用于实现上述任一实施例的应用于颌面手术下的便携式装置的操作方法的程序指令。The memory 62 stores program instructions for implementing the operating method of the portable device for maxillofacial surgery according to any of the above embodiments.
处理器61用于执行存储器62存储的程序指令以进行应用于颌面手术下的便携式装置的操作。The processor 61 is used to execute program instructions stored in the memory 62 to perform operations of the portable device applied to maxillofacial surgery.
其中，处理器61还可以称为CPU(Central Processing Unit，中央处理单元)。处理器61可能是一种集成电路芯片，具有信号的处理能力。处理器61还可以是通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The processor 61 may also be referred to as a CPU (Central Processing Unit). The processor 61 may be an integrated circuit chip having the ability to process signals. The processor 61 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
进一步地，图6为本申请一实施例的存储介质的结构示意图，本申请实施例的存储介质7存储有能够实现上述所有方法的程序指令71，其中，该程序指令71可以以软件产品的形式存储在上述存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施方式所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-OnlyMemory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质，或者是计算机、服务器、手机、平板等终端设备。Further, FIG. 6 is a schematic diagram of the structure of a storage medium of an embodiment of the present application, wherein the storage medium 7 of the embodiment of the present application stores program instructions 71 capable of implementing all the above methods, wherein the program instructions 71 can be stored in the above storage medium in the form of a software product, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or terminal devices such as a computer, a server, a mobile phone, and a tablet.
在本发明所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其他的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其他的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。以上仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所做的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units. The above is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present invention.
以上对发明的具体实施方式进行了详细说明，但其只作为范例，本发明并不限制于以上描述的具体实施方式。对于本领域的技术人员而言，任何对该发明进行的等同修改或替代也都在本发明的范畴之中，因此，在不脱离本发明的精神和原则范围下所作的均等变换和修改、改进等，都应涵盖在本发明的范围内。The specific implementation methods of the invention are described in detail above, but they are only examples, and the invention is not limited to the specific implementation methods described above. For those skilled in the art, any equivalent modification or substitution of the invention is also within the scope of the invention, therefore, the equalization, modification, improvement, etc. made without departing from the spirit and principle of the invention should be included in the scope of the invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410990446.7ACN118873253A (en) | 2024-07-23 | 2024-07-23 | A portable device for maxillofacial surgery and its operation method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410990446.7ACN118873253A (en) | 2024-07-23 | 2024-07-23 | A portable device for maxillofacial surgery and its operation method |
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| CN118873253Atrue CN118873253A (en) | 2024-11-01 |
| Application Number | Title | Priority Date | Filing Date |
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| CN202410990446.7APendingCN118873253A (en) | 2024-07-23 | 2024-07-23 | A portable device for maxillofacial surgery and its operation method |
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