Disclosure of Invention
The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a method and system for processing implanted data of a positioning column based on electromagnetic navigation, which overcomes or at least partially solves the above-mentioned problems.
According to one aspect of the invention, there is provided a positioning column implantation data processing method based on electromagnetic navigation, comprising the steps of:
determining the abdominal surface corresponding to the patient as an imaging acquisition surface, and carrying out three-dimensional imaging acquisition on the abdominal internal tissues of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the patient;
Identifying tumor tissue in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy;
Determining each tissue frame surface forming the rectangular tissue frame, and acquiring each surface shape distance between each tissue frame surface and the imaging acquisition surface;
Determining a tissue frame surface with the smallest corresponding surface shape distance as a target frame surface, determining a direction vertical to the target frame surface as a first mapping direction, and mapping the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface with a mapping relation with the target frame surface;
when the mapping frame surface is positioned outside the imaging acquisition surface, adjusting the first mapping direction and mapping the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction to obtain each mapping vertex corresponding to each frame vertex of each tissue frame surface;
And acquiring each mapping distance corresponding to each mapping vertex, indicating the medical care end to respectively perform two-dimensional ultrasonic acquisition corresponding to each mapping distance on each mapping vertex based on a second mapping direction, and determining guide data corresponding to the positioning column based on an ultrasonic acquisition result.
Optionally, in the method according to the present invention, identifying tumor tissue located in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation policy, includes:
Inputting the three-dimensional imaging image into a trained image recognition model, determining tumor tissue in the three-dimensional imaging image, and acquiring each contour pixel point of a tissue contour forming the tumor tissue;
Determining a central pixel point corresponding to the tumor tissue, carrying out symmetrical grouping on each contour pixel point based on the central pixel point to obtain each contour symmetrical group, and respectively determining pixel distances between two contour pixel points in the same contour symmetrical group to obtain each pixel distance respectively corresponding to each contour symmetrical group;
Performing point location connection on two contour pixel points in a contour symmetry group with the largest corresponding pixel distance, and determining an obtained contour connecting line as a horizontal datum line;
a rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on the horizontal reference line.
Optionally, in the method according to the present invention, generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on the horizontal reference line includes:
carrying out coordinate processing on the three-dimensional imaging image to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, wherein any coordinate axis of the three-dimensional coordinate system is parallel to the horizontal datum line;
Acquiring each profile coordinate point forming the tissue profile based on the three-dimensional coordinate system, and respectively determining each coordinate point corresponding to an X-axis coordinate extremum, a Y-axis coordinate extremum and a Z-axis coordinate extremum in each profile coordinate point as an X-axis extremum coordinate point, a Y-axis extremum coordinate point and a Z-axis extremum coordinate point;
Generating an initial rectangular frame surrounding the tumor tissue based on the X-axis extreme coordinate point, the Y-axis extreme coordinate point and the Z-axis extreme coordinate point, wherein any initial frame line segment of the initial rectangular frame is parallel or perpendicular to the horizontal datum line;
Obtaining a frame size corresponding to the initial rectangular frame, and calling a preset size comparison table, wherein the preset size comparison table comprises different size intervals and expansion coefficients corresponding to the different size intervals respectively;
Traversing the preset size comparison table, and determining an expansion coefficient corresponding to a size interval comprising the frame size;
And acquiring a frame center point corresponding to the initial rectangular frame, and performing frame expansion corresponding to the expansion coefficient on the initial rectangular frame based on the frame center point to obtain the rectangular tissue frame.
Optionally, in the method according to the present invention, acquiring each surface shape distance between each tissue frame surface and the imaging acquisition surface, respectively, includes:
determining an acquisition platform for bearing a patient, and determining a body bearing surface corresponding to the acquisition platform as a grid reference surface;
Performing grating treatment on the grating reference surface, and mapping each obtained grating reference point to the imaging acquisition surface along the direction perpendicular to the grating reference surface to obtain each imaging acquisition point positioned on the imaging acquisition surface;
respectively carrying out elevation measurement on each imaging acquisition point to obtain each imaging elevation value corresponding to each imaging acquisition point;
Carrying out average value calculation on each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation average value;
And obtaining the surface shape distances between each tissue frame surface and the imaging acquisition surface respectively.
Optionally, in the method according to the present invention, the step of calculating an average value of each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation average value, further includes:
Comparing each imaging elevation value with a preset depression threshold value respectively, and determining each imaging acquisition point which is smaller than or equal to the preset depression threshold value as a depression screening group;
Respectively connecting the adjacent point positions of the imaging acquisition points in the concave screening group to form concave areas, and determining the concave outlines corresponding to the concave areas respectively;
Forming each external circle which respectively circumscribes each concave outline, and respectively determining the circular area of each external circle;
And comparing each circular area with a preset area respectively, and removing all imaging acquisition points included in the concave area with the corresponding circular area being larger than or equal to the preset area.
Optionally, in the method according to the present invention, when the mapping frame surface is located outside the imaging acquisition surface, adjusting the first mapping direction and mapping the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction, obtaining mapping vertices corresponding to the frame vertices of the tissue frame surfaces, respectively, including:
When the mapping frame surface is positioned outside the imaging acquisition surface, acquiring a relative frame surface with a position relative relation with the target frame surface in the rectangular tissue frame, acquiring each target frame line segment forming the target frame surface and each relative frame line segment forming the relative frame surface, and dividing the target frame line segment with the position relative relation and the relative frame line segment into the same relative line segment group to obtain each relative line segment group;
Forming frame connecting surfaces for connecting the target frame surface and the opposite frame surfaces in the rectangular tissue frame based on the opposite frame line segments and the target frame line segments which are positioned in the same opposite line segment group, so as to obtain each frame connecting surface;
Determining the directions parallel to the frame connecting surfaces as the directions to be determined, mapping the rectangular tissue frames to the trunk surface based on the directions to be determined, and determining the directions to be determined, which are respectively corresponding to the frame vertexes of the tissue frame surfaces and are respectively obtained, in the imaging acquisition surface as a secondary screening group;
And comparing each direction to be determined in the secondary screening group with the first mapping direction respectively, and determining the direction to be determined with the minimum corresponding adjustment angle as the second mapping direction.
Optionally, in the method according to the present invention, when mapping vertices corresponding to frame vertices of each tissue frame plane obtained corresponding to all directions to be determined are located outside the imaging acquisition plane, segment division is performed on each target frame segment forming the target frame plane to obtain a first segment group and a second segment group, where all target frame segments in the first segment group and all target frame segments in the second segment group have a mutually perpendicular relationship;
determining the target frame line segment in the first line segment group as a first adjustment shaft, determining the target frame line segment in the second line segment group as a second adjustment shaft, and controlling the first mapping direction to respectively carry out direction adjustment towards the first adjustment shaft and the second adjustment shaft;
And when the first mapping direction is adjusted to the condition that each mapping vertex corresponding to each frame vertex of each tissue frame surface is positioned in the imaging acquisition surface, and the adjacent distance of each mapping vertex between adjacent mapping vertices is more than or equal to a preset distance threshold value, updating the first mapping direction to obtain the second mapping direction.
Optionally, in the method according to the invention, the method further comprises:
determining each vascular tissue which has a communication relation with each tissue frame surface forming the rectangular tissue frame based on the three-dimensional imaging image, and determining each communication point between each vascular tissue and each tissue frame surface;
Acquiring the thickness of each blood vessel corresponding to each blood vessel tissue, and respectively carrying out normalization treatment on the thickness of each blood vessel to obtain normalized values of each thickness;
And carrying out product calculation on each thickness normalization value and the extracted preset thickness coefficient to obtain each cutting distance, and determining a cutting point position with the cutting distance from the corresponding communication point position along the extending direction of each vascular tissue away from the rectangular tissue frame to obtain the cutting point positions corresponding to each vascular tissue.
Optionally, in the method according to the invention, the method further comprises:
Acquiring actual cutting data of the medical care end based on any vascular tissue, and comparing the cutting distance corresponding to the vascular tissue with the actual cutting data:
If the actual distance of the actual cutting data is larger than the cutting distance, performing increasing training on the preset thickness coefficient;
if the actual distance of the actual cutting data is smaller than the cutting distance, performing reduction training on the preset thickness coefficient;
The trained preset thickness coefficient is obtained by the following formula:
,
Wherein,Is a preset thickness coefficientThe number of times of training is increased,Is a preset thickness coefficientIs used for the training of the constant value of (a),Is a preset thickness coefficientThe number of times of training is reduced and,Is a preset thickness coefficient after training.
According to yet another aspect of the present invention, there is provided an electromagnetic navigation-based positioning column implantation data processing system, comprising:
A three-dimensional acquisition module configured to determine an abdominal surface corresponding to the patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on intra-abdominal tissue of the patient based on the imaging acquisition surface, to obtain a three-dimensional imaging image corresponding to the patient;
A frame generation module configured to identify tumor tissue located in the three-dimensional imaging image and generate a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation policy;
A distance determining module configured to determine each tissue frame surface constituting the rectangular tissue frame and obtain each surface shape distance between each tissue frame surface and the imaging acquisition surface, respectively;
The first mapping module is configured to determine a tissue frame surface with the smallest corresponding surface shape distance as a target frame surface, determine a direction vertical to the target frame surface as a first mapping direction, and map the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface with a mapping relation with the target frame surface;
The second mapping module is configured to adjust the first mapping direction and map the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction when the mapping frame surface is positioned outside the imaging acquisition surface, so as to obtain each mapping vertex corresponding to each frame vertex of each tissue frame surface;
The position guiding module is configured to acquire mapping distances corresponding to each mapping vertex respectively, instruct the medical care end to perform two-dimensional ultrasonic acquisition on each mapping vertex corresponding to each mapping distance based on the second mapping direction, and determine guiding data corresponding to the positioning column based on an ultrasonic acquisition result.
According to the scheme of the invention, in order to perform corresponding implantation on the positioning column, three-dimensional imaging acquisition can be performed on the abdominal surface of a patient, the tumor tissue in the three-dimensional imaging image can be determined by identifying the obtained three-dimensional imaging image, then, in order to integrate the tumor tissue with an irregular shape into a regular shape, a rectangular tissue frame surrounding the tumor tissue can be generated, thereby reducing the subsequent data processing capacity and improving the corresponding processing efficiency, then, each tissue frame surface forming the rectangular tissue frame can be obtained, the corresponding surface-shaped distance can be further obtained, the tissue frame surface with the smallest corresponding surface-shaped distance is determined as a target frame surface, the mapping on the target frame surface can be completed based on the first mapping direction, finally, whether the mapping frame surface obtained by mapping is positioned in the imaging acquisition surface or not can be judged, the implantation of the positioning column can be indicated on the basis of the judgment result, when the mapping frame surface is positioned in the imaging acquisition surface, the vertex of the corresponding frame surface can be obtained, the mapping can be respectively mapped and the mapping can be respectively carried out on the basis of the first mapping surface and the second mapping surface is respectively, the mapping is completed based on the first mapping surface and the second mapping surface is acquired by adjusting the mapping surface and the corresponding distance to obtain the two-dimensional imaging frame surface, the embodiment can realize the corresponding mapping of the tumor tissue in the three-dimensional imaging image to the two-dimensional ultrasonic image, so that the implantation of the positioning column can be carried out on the tumor tissue based on the ultrasonic principle according to the guiding data corresponding to the positioning column, the physical positioning of the tumor tissue is realized, the operation after the medical care end executes is convenient, and the corresponding medical diagnosis assistance is improved.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Identification of tumor tissue based on three-dimensional imaging techniques is an important area in modern medical imaging. This technique utilizes three-dimensional image data to improve the accuracy of detection, localization and analysis of tumors. The following are some of the main three-dimensional imaging techniques and their applications:
1. CT scanning (computed tomography) CT scanning can generate detailed three-dimensional images, by imaging body slices, help doctors locate tumors accurately, and observe the size, shape and relationship of the tumor to surrounding tissue. In cancer diagnosis and treatment planning, CT scanning can provide important information such as stage and metastasis of tumors;
2. MRI (magnetic resonance imaging) provides high-resolution three-dimensional images, is beneficial to the detailed observation of soft tissues, including the tissue characteristics and structures of tumors, and is particularly suitable for the detection and evaluation of brain tumors, spinal tumors and certain types of soft tissue tumors;
3. PET-CT (positron emission computed tomography) the combination of functional imaging (PET) and anatomical imaging (CT) can provide both metabolic activity and detailed structural information of the tumor. This technique helps to assess the activity and therapeutic effect of the tumor;
The inventor finds that in surgical practice, the existing medical means need to define the boundary of the tumor in the process of surgical operation of tumor tissue, including excision or radio frequency ablation, so as to achieve better radical cure. However, at present, determination of tumor boundaries mainly depends on visual observation or developer tracing and positioning, and the determination mode is subjective on one hand, and on the other hand, the boundary confirmation is difficult due to developer dispersion, so that corresponding inaccuracy can exist to influence surgical operation.
The present inventors have proposed the present invention in order to solve the problems in the prior art described above. One embodiment of the present invention provides a method for processing implanted data of a positioning column based on electromagnetic navigation, which can be executed in a computing device, wherein the computing device can be understood as a terminal with a data processing function, such as a mobile phone or a computer.
Fig. 1 shows a flowchart of a positioning column implantation data processing method based on electromagnetic navigation according to an embodiment of the present invention, as shown in fig. 1, the present embodiment starts with step S102, and in step S102, the following are included:
determining the abdominal surface corresponding to the patient as an imaging acquisition surface, and carrying out three-dimensional imaging acquisition on the abdominal internal tissues of the patient based on the imaging acquisition surface to obtain a three-dimensional imaging image corresponding to the diseased part.
For example, in this embodiment, in order to be able to identify a tumor located in the abdomen of a patient correspondingly, three-dimensional imaging acquisition such as CT may be used to perform corresponding three-dimensional imaging acquisition on the abdomen of the patient, and when corresponding three-dimensional imaging acquisition is performed, a corresponding imaging acquisition surface needs to be determined, and since the tumor is located in the abdomen of the patient, the abdomen surface of the corresponding patient may be determined as the imaging acquisition surface;
After the corresponding imaging acquisition surface is acquired, three-dimensional imaging acquisition can be performed on the abdominal tissues of the patient based on the corresponding three-dimensional imaging technology, so that a three-dimensional imaging image corresponding to the patient is obtained, and the medical care end can acquire tumors existing in the abdominal tissues of the patient and correspondingly determine the positions of the tumors by checking the three-dimensional imaging image;
It should be noted that, in this embodiment, the medical care end may be understood as a terminal device used by a medical care person, such as a mobile phone or a computer.
In step S104, the following are included:
identifying tumor tissue located in the three-dimensional imaging image, and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation strategy.
For example, in this embodiment, after a three-dimensional imaging image corresponding to a patient is acquired based on a three-dimensional imaging technique, a corresponding image may be identified, so that tumor tissue located in the three-dimensional imaging image is identified based on a machine angle, and after the corresponding identification process is completed, since the tumor tissue generally has a corresponding irregular shape, for example, a substantially circular shape or an elliptical shape, in order to reduce the subsequent data processing amount and more clearly and substantially show the tissue contour of the tumor tissue, a rectangular tissue frame capable of surrounding the tumor tissue may be generated in the three-dimensional imaging image based on a preset minimum frame generation strategy.
Here, the rectangular tissue frame may be a corresponding cube or may be a corresponding rectangle, and the specific shape thereof needs to be determined accordingly via the tissue contour of the corresponding tumor tissue.
Further, in this embodiment, "identifying a tumor tissue located in the three-dimensional imaging image and generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation policy" may further include the following steps:
Inputting the three-dimensional imaging image into a trained image recognition model, determining tumor tissue in the three-dimensional imaging image, and acquiring each contour pixel point of a tissue contour forming the tumor tissue;
Determining a central pixel point corresponding to the tumor tissue, symmetrically grouping contour pixel points based on the tissue central point to obtain contour symmetry groups, and respectively determining pixel distances between two contour pixel points in the same contour symmetry group to obtain pixel distances respectively corresponding to the contour symmetry groups;
Performing point location connection on two contour pixel points in a contour symmetry group with the largest corresponding pixel distance, and determining an obtained contour connecting line as a horizontal datum line;
a rectangular tissue frame surrounding the tumor tissue is generated in the three-dimensional imaging image based on the horizontal reference line.
For example, in this embodiment, in order to obtain a rectangular tissue frame surrounding tumor tissue, the tissue contour of the tumor tissue is first required to be obtained, and therefore, the obtained three-dimensional imaging image is required to be input into a corresponding trained image recognition model, so as to determine the tumor tissue located in the three-dimensional imaging image, where the image recognition model may be obtained based on a machine learning model or a neural network learning model, that is, an initial blank model may be first constructed, and sample images including different tumor tissues are obtained, and the trained image recognition model is obtained by performing model training on the initial blank model based on each sample image;
after a corresponding determination of the tumor tissue, a rectangular tissue frame corresponding to the tumor tissue can then be generated on the basis of the following method steps:
firstly, after the determination of the tumor tissue is completed, each contour pixel point of the tissue contour forming the tumor tissue can be obtained, wherein the tissue contour is generally in an irregular shape;
then, the symmetrical groups of the contours can be obtained by obtaining the central pixel point corresponding to the tumor tissue and further grouping the contour pixel points based on the central pixel point in pairs, namely, the two contour pixel points in the same contour symmetrical group respectively show point symmetrical relation based on the central pixel point;
then, obtaining pixel distances between two contour pixel points respectively positioned in the same contour symmetry group, thereby obtaining each pixel distance respectively corresponding to each contour symmetry group;
then, two contour pixel points in the contour symmetry group with the largest corresponding pixel distance can be subjected to point location connection, so that a corresponding contour connecting line is obtained, and the contour connecting line is determined to be a horizontal datum line;
Finally, after the determination of the horizontal reference line is completed, a rectangular tissue frame surrounding the tumor tissue may be generated in the three-dimensional imaging image based on the horizontal reference line.
In this embodiment, the two contour pixel points with the largest corresponding pixel distances are connected in a point-to-point manner to determine the tissue length of the tumor tissue based on the obtained contour connecting lines, so that the contour connecting lines can be further determined as horizontal reference lines, and the corresponding rectangular tissue frames can be generated based on the horizontal reference lines.
Further, in this embodiment, the above-mentioned "generating a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on the horizontal reference line" may further include the steps of:
carrying out coordinate processing on the three-dimensional imaging image to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, wherein any coordinate axis of the three-dimensional coordinate system is parallel to the horizontal datum line;
Acquiring each profile coordinate point forming the tissue profile based on the three-dimensional coordinate system, and respectively determining each coordinate point corresponding to an X-axis coordinate extremum, a Y-axis coordinate extremum and a Z-axis coordinate extremum in each profile coordinate point as an X-axis extremum coordinate point, a Y-axis extremum coordinate point and a Z-axis extremum coordinate point;
Generating an initial rectangular frame surrounding the tumor tissue based on the X-axis extreme coordinate point, the Y-axis extreme coordinate point and the Z-axis extreme coordinate point, wherein any initial frame line segment of the initial rectangular frame is parallel or perpendicular to the horizontal datum line;
Obtaining a frame size corresponding to the initial rectangular frame, and calling a preset size comparison table, wherein the preset size comparison table comprises different size intervals and expansion coefficients corresponding to the different size intervals respectively;
Traversing the preset size comparison table, and determining an expansion coefficient corresponding to a size area comprising the frame size;
And acquiring a frame center point corresponding to the initial rectangular frame, and performing frame expansion corresponding to the expansion coefficient on the initial rectangular frame based on the frame center point to obtain the rectangular tissue frame.
For example, in this embodiment, after the corresponding horizontal reference line is obtained, the three-dimensional imaging image may be subjected to corresponding coordinate processing, so as to obtain a three-dimensional coordinate system corresponding to the three-dimensional imaging image, where, in order to facilitate the search for the subsequent coordinate point, any coordinate axis of the three-dimensional coordinate system may be set to be parallel to the horizontal reference line;
In the above process, each contour pixel point forming the tissue contour has been obtained based on the three-dimensional imaging image, therefore, each contour coordinate point corresponding to each contour pixel point can be obtained based on the three-dimensional coordinate system synchronously, each coordinate point corresponding to the X-axis coordinate extremum, the Y-axis coordinate extremum and the Z-axis coordinate extremum is respectively determined as the X-axis extremum coordinate point, the Y-axis extremum coordinate point and the Z-axis extremum coordinate point in each contour coordinate point, and here, it is required to explain that the extremum includes the maximum value and the minimum value, and therefore, the extremum coordinate points corresponding to different coordinate axes include the maximum value coordinate point and the minimum value coordinate point;
After the extremum coordinate points of different coordinate axes are obtained, an initial rectangular frame surrounding tumor tissues can be generated based on the X-axis extremum coordinate point corresponding to the X-axis, the Y-axis extremum coordinate point corresponding to the Y-axis and the Z-axis extremum coordinate point corresponding to the Z-axis, and in order to be capable of corresponding to the minimum profile, any initial frame line segment of the initial rectangular frame needs to be ensured to be parallel or perpendicular to the corresponding horizontal datum line;
After the corresponding initial rectangular frame is completed, the minimum outline is obtained, but in this embodiment, since the obtained initial rectangular frame needs to be implanted with a corresponding positioning column for the obtained tumor tissue in the subsequent process, so as to conveniently instruct a medical staff to perform an operation on the tumor tissue based on the positioning column, such as the above-mentioned operations of cutting or radio frequency ablation, etc., in order to ensure that the implantation position of the positioning column does not overlap with the tumor tissue in the subsequent implantation process, resulting in the situation that the tumor tissue is damaged, etc., corresponding expansion needs to be performed for the obtained initial rectangular frame, and the corresponding expansion process can be implemented by the following method steps:
Firstly, frame sizes corresponding to an initial rectangular frame can be obtained, and a preset size comparison table can be prepared and stored in advance, wherein the storage position can be a server and the like so as to be convenient for corresponding preparation, the preset size comparison table comprises different size intervals and expansion coefficients corresponding to the size intervals respectively, for example, the size intervals can comprise 1 mm-2 mm, 3mm-4mm and the like, the corresponding expansion coefficients can be 1.2, 1.5 and the like, the expansion coefficient corresponding to the size intervals is 1.2, the expansion coefficient corresponding to the size intervals is 3mm-4mm is 1.5, namely, the larger the size range corresponding to the size intervals is, the larger the expansion coefficient is;
Then, after completing the adjustment of the preset size comparison table, the preset size comparison table may be traversed, so as to determine the expansion coefficient corresponding to the size interval of the frame size, for example, when the frame size is 1.5mm, the corresponding expansion coefficient is 1.5;
Finally, after the expansion coefficient is determined, a frame center point corresponding to the initial rectangular frame can be obtained, and the frame expansion corresponding to the expansion coefficient is performed on the initial rectangular frame based on the frame center point, so that the rectangular tissue frame is obtained, for example, when the frame size of the initial rectangular frame is 1.5mm and the corresponding expansion coefficient is 1.5, the frame size of the obtained rectangular tissue frame is 2.25.
In this embodiment, by presetting the preset size comparison table, different expansion coefficients can be set based on corresponding different size intervals, so that quick determination of expansion coefficients can be performed for each tumor tissue corresponding to different sizes, and since the larger the initial rectangular frame is, the larger the corresponding tumor tissue is likely to be, in this case, the larger the change rule of the expansion coefficients needs to be determined as the larger the size range of the size interval is, so that a buffer area (i.e., an area other than the tumor tissue) with a certain range exists in the obtained rectangular tissue frame, the convenience of operation in the subsequent implantation of the positioning column is improved, and the situations of no overlapping of the implantation position of the positioning column and the tumor tissue, damage of the tumor tissue and the like in the subsequent implantation process are ensured.
In step S106, the following are included:
And determining each tissue frame surface forming the rectangular tissue frame, and acquiring each surface shape distance between each tissue frame surface and the imaging acquisition surface.
For example, in this embodiment, since the implantation operation for the positioning column to be performed later needs to be based on a two-dimensional ultrasound technology, that is, the implantation of the positioning column needs to be performed by extending the corresponding electromagnetic navigation needle into the patient and moving the corresponding electromagnetic navigation needle to the position corresponding to the tumor tissue, that is, the acquisition of the moving track of the electromagnetic navigation needle needs to be achieved, and the corresponding two-dimensional imaging can be performed on the tissue in the abdomen of the patient by the two-dimensional ultrasound technology, and the imaging process is real-time, whether the corresponding electromagnetic navigation needle is moved to the preset implantation position can be observed, so that the implantation of the subsequent positioning column is performed, and the corresponding implantation accuracy is improved.
In the conventional two-dimensional ultrasound technology, the reflection of the ultrasound wave is observed by a human body, the reflected wave of the tissue is imaged by irradiating the body with weak ultrasound waves, and the sound image can indirectly reflect the structure of each layer of tissue at a certain part of the human body. The abdomen ultrasonic examination is suitable for diagnosing pains of various organs such as liver, gall bladder, bile duct, spleen, pancreas, kidney, adrenal gland, bladder, prostate and the like, so that when medical staff performs corresponding two-dimensional ultrasonic acquisition on the abdomen internal tissues of a patient, the medical staff can place the corresponding two-dimensional acquisition probe on the abdomen surface of the patient to move, thus acquiring the ultrasonic condition in the abdomen internal tissues, and based on the characteristics, tumor tissues in the abdomen internal tissues can be mapped to the abdomen surface, thereby being convenient for the medical staff to perform two-dimensional ultrasonic acquisition on the corresponding positions.
Here, after the acquisition of the rectangular tissue frame is completed, the corresponding rectangular tissue frame can be mapped onto the abdominal surface, and when the corresponding mapping operation is performed, since the respective surface shape distances between the respective tissue frame surfaces located on the rectangular tissue frame and the corresponding imaging acquisition surfaces are different, the respective surface shape distances need to be acquired accordingly, so that the positioning of the respective tissue frame surfaces from the imaging acquisition surfaces based on the respective surface shape distances is facilitated in the subsequent two-dimensional ultrasound acquisition process.
Further, in this embodiment, the step of acquiring the surface shape distances between each tissue frame surface and the imaging acquisition surface may further include the following steps:
determining an acquisition platform for bearing a patient, and determining a body bearing surface corresponding to the acquisition platform as a grid reference surface;
Performing grating treatment on the grating reference surface, and mapping each obtained grating reference point to the imaging acquisition surface along the direction perpendicular to the grating reference surface to obtain each imaging acquisition point positioned on the imaging acquisition surface;
respectively carrying out elevation measurement on each imaging acquisition point to obtain each imaging elevation value corresponding to each imaging acquisition point;
Carrying out average value calculation on each imaging elevation value, and generating an imaging reference plane parallel to the grid reference plane based on the obtained elevation average value;
And obtaining the surface shape distances between each tissue frame surface and the imaging acquisition surface respectively.
In addition, since the imaging acquisition surface is acquired based on the abdominal surface, in actual cases, the abdominal surface of the patient often presents a non-parallel surface, and therefore, in order to acquire the respective surface shape distances between each tissue frame surface and the imaging acquisition surface, parallel processing is required for the imaging acquisition surface, so that the corresponding respective surface shape distances are acquired based on the imaging acquisition surface after parallel processing.
For example, in this embodiment, the method steps for obtaining the surface shape distances may specifically include the following:
Firstly, in order to perform parallel processing on an imaging acquisition surface, an acquisition platform for bearing the body of a patient can be determined, wherein the acquisition platform can be understood as a three-dimensional acquisition bed or a two-dimensional acquisition bed positioned on a medical field, the patient can lie on the body bearing surface of the acquisition platform to perform corresponding three-dimensional imaging acquisition or two-dimensional ultrasonic acquisition, and the body bearing surface of the acquisition platform is horizontally arranged, so that the body bearing surface of the corresponding acquisition platform can be determined as a grid reference surface;
then, grating processing can be carried out on the grating datum plane, and each obtained grating datum point is mapped to an imaging acquisition plane along the direction perpendicular to the grating datum plane, so that each imaging acquisition point positioned on the imaging acquisition plane is obtained;
then, respectively carrying out corresponding elevation measurement on each imaging acquisition point to obtain each imaging elevation value corresponding to each imaging acquisition point, wherein the imaging elevation values obtained by the corresponding imaging acquisition points are possibly different as the imaging acquisition surfaces are not horizontally arranged;
Then, after obtaining the corresponding imaging elevation values, carrying out average value calculation on the imaging elevation values so as to obtain corresponding elevation average values, and generating an imaging reference plane parallel to the grid reference plane based on the elevation average values;
Finally, the surface shape distance between each tissue frame surface and the imaging acquisition surface can be obtained according to a corresponding surface shape distance calculation formula.
Further, in the present embodiment, as can be seen from the foregoing, the imaging reference plane is generated based on the imaging elevation values of the imaging acquisition points located on the imaging acquisition plane, and since the imaging acquisition plane corresponds to the abdominal surface, and the abdominal surface has a navel area with a corresponding concave characteristic compared to other parts of the abdominal surface, in order to improve the accuracy of acquiring the surface shape distances between the imaging acquisition plane and the tissue frame planes, the foregoing "performing the mean value calculation on the imaging elevation values and generating the imaging reference plane parallel to the grid reference plane based on the obtained elevation mean value" needs to perform the corresponding removal of the navel area, the corresponding removal process may include:
Comparing each imaging elevation value with a preset depression threshold value respectively, and determining each imaging acquisition point which is smaller than or equal to the preset depression threshold value as a depression screening group;
Respectively connecting the adjacent point positions of the imaging acquisition points in the concave screening group to form concave areas, and determining the concave outlines corresponding to the concave areas respectively;
Forming each external circle which respectively circumscribes each concave outline, and respectively determining the circular area of each external circle;
And comparing each circular area with a preset area respectively, and removing all imaging acquisition points included in the concave area with the corresponding circular area being larger than or equal to the preset area.
For example, in this embodiment, in order to remove the corresponding navel area and improve the accuracy of acquiring the elevation mean value, it is necessary to determine the navel area first, based on the depression characteristics of the navel area, to compare each imaging elevation value with the preset depression threshold value, to determine each imaging acquisition point corresponding to or smaller than the preset depression threshold value as a depression screening group, then to connect the adjacent points of each imaging acquisition point in the depression screening group, to obtain each depression area, to correspondingly determine each depression contour corresponding to each depression area, and then to form each circumscribed circle for each depression contour, to determine each circumscribed circle for each circle area, and to determine each circle area for each circumscribed circle area, and finally to determine each circle area as a navel area when any circle area is equal to or larger than the preset area, to obtain each depression area, to correspondingly determine each depression contour for each depression contour corresponding to each depression contour, and to improve the accuracy of acquiring the navel area.
In step S108, the following are included:
And determining a tissue frame surface with the smallest corresponding surface shape distance as a target frame surface, determining a direction vertical to the target frame surface as a first mapping direction, and mapping the target frame surface to the trunk surface of the corresponding patient based on the first mapping direction to obtain a mapping frame surface with a mapping relation with the target frame surface.
For example, in this embodiment, after obtaining the surface shape distances between each tissue frame surface and the imaging acquisition surface, the tissue frame surface with the smallest corresponding surface shape distance may be determined as the target frame surface, and the target frame surface may be mapped to the torso surface of the corresponding patient based on the first mapping direction, so as to obtain a mapped frame surface having a mapping relationship with the target frame surface, that is, in a subsequent method step, the medical staff may perform corresponding two-dimensional ultrasound acquisition based on the mapped frame surface mapped to the torso surface to determine the location of the corresponding tumor tissue.
Here, since the torso surface may include not only the corresponding abdominal surface but also the neck surface or other surface of the patient, in the above, although the corresponding rectangular tissue frame is located in the intra-abdominal tissue of the abdominal surface, because the mapping is performed based on the first mapping direction, if the included angle between the first mapping direction and the imaging acquisition surface is too large, the mapping frame surface corresponding to the body surface may be located outside the abdominal surface (for example, located on the neck surface), in which case the two-dimensional ultrasound acquisition may be performed on the subsequent medical staff, and therefore, it is necessary to ensure that the mapping frame surface mapped to the body surface is located in the abdominal surface.
Based on the above, in step S110, the following may be included:
When the mapping frame surface is positioned outside the imaging acquisition surface, the first mapping direction is adjusted, the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction, and each mapping vertex corresponding to each frame vertex of each tissue frame surface is obtained.
For example, in this embodiment, because the medical staff needs to map the corresponding rectangular tissue frame onto the imaging acquisition surface in order to facilitate the corresponding positioning of the tumor tissue during the subsequent two-dimensional ultrasound acquisition, based on the characteristics of the rectangular tissue frame, as shown in fig. 2 (a is the rectangular tissue frame and B is the torso of the corresponding patient in fig. 2), when the rectangular tissue frame is mapped onto any surface along the direction perpendicular to any tissue frame surface, the rectangular tissue frame is mapped into a planar rectangular shape by a stereoscopic rectangular shape, and the planar rectangular shape is the same as the surface shape of the tissue frame surface, so that in order to further facilitate the corresponding positioning of the tumor tissue during the subsequent two-dimensional ultrasound acquisition, the target frame surface can be mapped in a manner perpendicular to the first mapping direction preferentially, and when the obtained mapping frame surface is located on the imaging acquisition surface, the rectangular tissue frame can be further mapped completely, by the mapping manner, only one frame surface corresponding to the target frame surface can be reserved in the imaging acquisition surface, that is also obtained by the mapping method, and the mapping method only comprises four vertexes, thereby improving the convenience for the medical staff;
When the mapping frame surface corresponding to the target frame surface is located outside the imaging acquisition surface, corresponding direction adjustment is required to be performed on the first mapping direction, so that a second mapping direction is obtained, and when mapping is performed based on the second mapping direction, the corresponding rectangular tissue frame can be ensured to be completely mapped into the imaging acquisition surface, and further each mapping vertex corresponding to each frame vertex of each tissue frame surface is further ensured.
For example, in this embodiment, "when the mapping frame surface is located outside the imaging acquisition surface, the first mapping direction is adjusted, and the rectangular tissue frame is mapped to the imaging acquisition surface based on the obtained second mapping direction, so as to obtain each mapping vertex corresponding to each frame vertex of each tissue frame surface, the method further includes the following steps:
When the mapping frame surface is positioned outside the imaging acquisition surface, acquiring a relative frame surface with a position relative relation with the target frame surface in the rectangular tissue frame, acquiring each target frame line segment forming the target frame surface and each relative frame line segment forming the relative frame surface, and dividing the target frame line segment with the position relative relation and the relative frame line segment into the same relative line segment group to obtain each relative line segment group;
Forming frame connecting surfaces for connecting the target frame surface and the opposite frame surfaces in the rectangular tissue frame based on the opposite frame line segments and the target frame line segments which are positioned in the same opposite line segment group, so as to obtain each frame connecting surface;
Determining the directions parallel to the frame connecting surfaces as the directions to be determined, mapping the rectangular tissue frames to the trunk surface based on the directions to be determined, and determining the directions to be determined, which are respectively corresponding to the frame vertexes of the tissue frame surfaces and are respectively obtained, in the imaging acquisition surface as a secondary screening group;
And comparing each direction to be determined in the secondary screening group with the first mapping direction respectively, and determining the direction to be determined with the minimum corresponding adjustment angle as the second mapping direction.
For example, in this embodiment, when the mapping frame surface is located outside the imaging acquisition surface, the first mapping direction needs to be adjusted, and a specific adjustment process may be as follows:
Firstly, acquiring a relative frame surface with a position opposite relation to a target frame surface in a rectangular tissue frame, wherein the target frame surface and the relative frame surface are in a state of being parallel to each other;
Then, each target frame line segment and each opposite frame surface which respectively form the target frame surface and the opposite frame surface can be obtained, and the target frame line segment and the opposite frame line segment with the position opposite relation are divided into the same opposite line segment group, so that each opposite line segment group is obtained;
Then, forming a frame connecting surface for connecting the target frame surface and the opposite frame surface in the rectangular tissue frame by the opposite frame line segments and the target frame line segments in the same opposite line segment group, so as to obtain corresponding frame connecting surfaces;
Then, after obtaining each frame connection surface, determining the direction parallel to each frame connection surface as each direction to be determined, mapping the rectangular tissue frame to the trunk surface based on each obtained direction to be determined, and determining each obtained direction to be determined, in which each mapping vertex corresponding to each frame vertex of each tissue frame surface is located in the imaging acquisition surface, as a secondary screening group;
Finally, each direction to be determined in the secondary screening group can be respectively compared with the first mapping direction, so that the direction to be determined with the minimum corresponding adjustment angle is determined as the second mapping direction.
It should be noted that, in this embodiment, as shown in fig. 3 (a is a rectangular tissue frame and B is a torso of a corresponding patient in fig. 3), when the rectangular tissue frame is mapped onto the torso surface according to each direction to be determined obtained as described above, only two mapping vertices are added compared with four mapping vertices obtained based on the first mapping direction, so that not only the rectangular tissue frame after mapping is located in the imaging acquisition plane, but also the convenience of operation for medical staff is improved to a certain extent, and the corresponding data modification amount and the corresponding image processing amount can be reduced by determining the direction to be determined with the smallest corresponding adjustment angle in the secondary screening group as the second mapping direction.
Still further, in this embodiment, the method further includes:
When mapping vertexes corresponding to frame vertexes of each tissue frame surface and obtained in all directions to be determined are located outside the imaging acquisition surface, dividing line segments of each target frame line segment forming the target frame surface to obtain a first line segment group and a second line segment group, wherein all target frame line segments located in the first line segment group and all target frame line segments located in the second line segment group have a mutually perpendicular relationship;
determining the target frame line segment in the first line segment group as a first adjustment shaft, determining the target frame line segment in the second line segment group as a second adjustment shaft, and controlling the first mapping direction to respectively carry out direction adjustment towards the first adjustment shaft and the second adjustment shaft;
And when the first mapping direction is adjusted to the condition that each mapping vertex corresponding to each frame vertex of each tissue frame surface is positioned in the imaging acquisition surface, and the adjacent distance of each mapping vertex between adjacent mapping vertices is more than or equal to a preset distance threshold value, updating the first mapping direction to obtain the second mapping direction.
For example, in this embodiment, when each mapping vertex corresponding to each frame vertex of each tissue frame surface obtained based on all the obtained directions to be determined is located outside the imaging acquisition, the first mapping direction needs to be adjusted based on the following method steps:
Firstly, dividing line segments of each target frame which form a target frame surface to obtain a first line segment group and a second line segment group;
Then, all the target frame line segments in the first line segment group are determined to be a first adjusting shaft, the target frame line segments in the second line segment group are determined to be a second adjusting shaft, and the first mapping direction is controlled to be respectively adjusted towards the first adjusting shaft and the second adjusting shaft, so that the first mapping direction can be correspondingly adjusted towards four different directions;
finally, when the first mapping is adjusted to the condition that each mapping vertex corresponding to each frame vertex of each tissue frame surface is positioned in the imaging acquisition surface and the adjacent distance between each adjacent mapping vertex is larger than or equal to a preset distance threshold value, the first mapping direction can be updated to obtain a corresponding second mapping direction, and by the method, the rectangular tissue frame can be mapped into the imaging acquisition surface and the obtained adjacent distance between each adjacent mapping vertex is larger than or equal to the preset distance threshold value, so that the two-dimensional ultrasonic acquisition of each mapping vertex by a subsequent medical staff is facilitated, and the corresponding operation convenience is improved.
In step S112, the following are included:
And acquiring each mapping distance corresponding to each mapping vertex, indicating the medical care end to respectively perform two-dimensional ultrasonic acquisition corresponding to each mapping distance on each mapping vertex based on a second mapping direction, and determining guide data corresponding to the positioning column based on an ultrasonic acquisition result.
For example, in this embodiment, after mapping the rectangular tissue frame is completed, a corresponding two-dimensional ultrasound acquisition may be performed according to each mapping vertex located on the imaging acquisition surface, so that the positioning column may be implanted at each surface-shaped vertex, while before two-dimensional ultrasound acquisition is performed, a mapping distance of each mapping vertex needs to be acquired, where the mapping distance is acquired based on a first mapping direction or a second mapping direction, and due to different mapping directions, a phenomenon that part of mapping vertices have overlapping may be caused, for example, the aforementioned case including four mapping vertices and the case including six mapping vertices, so that, based on the overlapping mapping vertices, a mapping direction and the mapping distance need to be determined as guiding data corresponding to the positioning column, so as to instruct a medical staff to perform two-dimensional ultrasound acquisition corresponding to each mapping distance according to the corresponding first mapping direction or the second mapping direction in a subsequent implantation process of the positioning column, thereby further implementing a medical procedure indicating a medical procedure for each mapping vertex to perform a corresponding tumor implantation end, and performing a corresponding physical surgery on the tumor-shaped tissue is performed after the medical procedure is further performed.
In addition, as can be seen from the above description, after the implantation of the positioning column for the rectangular tissue frame is completed, a corresponding operation may be performed on the tumor tissue, for example, the above-mentioned excision or radiofrequency ablation is adopted, that is, the venous drainage area around the tumor tissue is cut or ablated, so that the vascular tissue corresponding to the venous drainage area loses the blood circulation effect, thereby causing necrosis of the tumor tissue, so as to further implement the subsequent excision of the tumor tissue, where in this embodiment, when adopting the excision mode, in order to be able to indicate the corresponding cutting position for the medical care end, the method may further include the following steps:
determining each vascular tissue which has a communication relation with each tissue frame surface forming the rectangular tissue frame based on the three-dimensional imaging image, and determining each communication point between each vascular tissue and each tissue frame surface;
Acquiring the thickness of each blood vessel corresponding to each blood vessel tissue, and respectively carrying out normalization treatment on the thickness of each blood vessel to obtain normalized values of each thickness;
And carrying out product calculation on each thickness normalization value and the extracted preset thickness coefficient to obtain each cutting distance, and determining a cutting point position with the cutting distance from the corresponding communication point position along the extending direction of each vascular tissue away from the rectangular tissue frame to obtain the cutting point positions corresponding to each vascular tissue.
For example, in this embodiment, since the respective blood vessel thicknesses of the respective blood vessel tissues may be different, and the respective thicker blood vessel tissues may have a greater difficulty in cutting, the cutting point farther from the tumor tissue should be selected for cutting, and the cutting point closer to the tumor tissue should be selected for cutting, so that the corresponding cutting point can be determined based on the blood vessel thicknesses of the blood vessel tissues located in the venous drainage area near the tumor tissue, according to the following method steps:
Firstly, each vascular tissue which has a communication relation with each tissue frame surface forming a rectangular tissue frame is required to be determined based on the obtained three-dimensional imaging image, and each communication point between each vascular tissue and each tissue frame surface is further determined, wherein, it is known that each communication point should be located on the corresponding tissue frame surface;
Then, the blood vessel thickness of each blood vessel tissue can be obtained, and the obtained blood vessel thickness is further normalized to obtain normalized values of the thickness;
And finally, carrying out corresponding product calculation on the obtained thickness normalized values and the extracted preset thickness coefficients, further obtaining corresponding cutting distances, and further determining cutting points with cutting distances from corresponding communication points along the extending direction of each vascular tissue away from the rectangular tissue frame, so that when the operation is carried out subsequently, the medical end can be instructed to cut each vascular tissue positioned in the drainage basin around the tumor tissue based on the cutting points.
Furthermore, in this embodiment, since the determination of the cutting point location is determined based on the blood vessel thickness and the preset thickness coefficient, the cutting point location determined by the numerical value may have a certain deviation from the actual situation, and in order to improve the corresponding determination accuracy, the corresponding preset thickness coefficient may be updated and trained in real time, so as to implement the process of updating and iterating the preset thickness coefficient, and further, the corresponding determination accuracy may be continuously improved.
Here, the update iteration for the preset thickness coefficient can be achieved by the following scheme steps:
Acquiring actual cutting data of the medical care end based on any vascular tissue, and comparing the cutting distance corresponding to the vascular tissue with the actual cutting data:
If the actual distance of the actual cutting data is larger than the cutting distance, performing increasing training on the preset thickness coefficient;
if the actual distance of the actual cutting data is smaller than the cutting distance, performing reduction training on the preset thickness coefficient;
The trained preset thickness coefficient is obtained by the following formula:
,
Wherein,Is a preset thickness coefficientThe number of times of training is increased,Is a preset thickness coefficientIs used for the training of the constant value of (a),Is a preset thickness coefficientThe number of times of training is reduced and,Is a preset thickness coefficient after training.
In summary, in this embodiment, in order to perform corresponding implantation on the positioning column, three-dimensional imaging acquisition can be performed on the abdominal surface of a patient, and the tumor tissue located in the three-dimensional imaging image can be determined based on the obtained three-dimensional imaging image, then, in order to integrate the tumor tissue with an irregular shape into a regular shape, a rectangular tissue frame surrounding the tumor tissue can be generated, thereby reducing the subsequent data processing amount and improving the corresponding processing efficiency, then, each tissue frame surface forming the rectangular tissue frame can be obtained, and the corresponding surface shape distance can be further obtained, the tissue frame surface with the smallest corresponding surface shape distance can be determined as the target frame surface, so that the mapping on the target frame surface can be completed based on the first mapping direction along the direction perpendicular to the target frame surface, finally, whether the mapped mapping frame surface is located in the imaging acquisition surface or not can be judged, and the implantation of the positioning column can be performed based on the judgment result, wherein when the mapping frame surface is located in the imaging acquisition surface, the corresponding frame surface can be obtained, each tissue frame surface forming the rectangular tissue frame surface can be obtained, each surface can be further obtained, each surface shape distance can be determined as the target frame surface, each mapping frame surface can be mapped on the basis of the first mapping direction, each vertex can be obtained, and the mapping can be completed based on the first mapping direction, and each vertex can be respectively, and the mapping can be completed based on the first mapping direction and the two-dimensional mapping direction can be completed, and each mapping direction is obtained based on the mapping direction, the embodiment can realize the corresponding mapping of the tumor tissue in the three-dimensional imaging image to the two-dimensional ultrasonic image, so that the implantation of the positioning column can be carried out on the tumor tissue based on the ultrasonic principle according to the guiding data corresponding to the positioning column, the physical positioning of the tumor tissue is realized, the operation after the medical care end executes is convenient, and the corresponding medical diagnosis assistance is improved.
Another embodiment of the present invention provides a positioning column implantation data processing system based on electromagnetic navigation, and fig. 2 is a corresponding structural block diagram thereof, the system includes:
A three-dimensional acquisition module configured to determine an abdominal surface corresponding to the patient as an imaging acquisition surface, and perform three-dimensional imaging acquisition on intra-abdominal tissue of the patient based on the imaging acquisition surface, to obtain a three-dimensional imaging image corresponding to the patient;
A frame generation module configured to identify tumor tissue located in the three-dimensional imaging image and generate a rectangular tissue frame surrounding the tumor tissue in the three-dimensional imaging image based on a preset minimum frame generation policy;
A distance determining module configured to determine each tissue frame surface constituting the rectangular tissue frame and obtain each surface shape distance between each tissue frame surface and the imaging acquisition surface, respectively;
The first mapping module is configured to determine a tissue frame surface with the smallest corresponding surface shape distance as a target frame surface, determine a direction vertical to the target frame surface as a first mapping direction, and map the target frame surface to a trunk surface corresponding to the patient based on the first mapping direction to obtain a mapping frame surface with a mapping relation with the target frame surface;
The second mapping module is configured to adjust the first mapping direction and map the rectangular tissue frame to the imaging acquisition surface based on the obtained second mapping direction when the mapping frame surface is positioned outside the imaging acquisition surface, so as to obtain each mapping vertex corresponding to each frame vertex of each tissue frame surface;
The position guiding module is configured to acquire mapping distances corresponding to each mapping vertex respectively, instruct the medical care end to perform two-dimensional ultrasonic acquisition on each mapping vertex corresponding to each mapping distance based on the second mapping direction, and determine guiding data corresponding to the positioning column based on an ultrasonic acquisition result.
In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with examples of the invention. The required structure for a construction of such a system is apparent from the description above. In addition, the present invention is not directed to any particular programming language. It should be appreciated that the teachings of the present invention as described herein may be implemented in a variety of programming languages and that the foregoing description of specific languages is provided for disclosure of preferred embodiments of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into a plurality of sub-modules.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Furthermore, some of the embodiments are described herein as methods or combinations of method elements that may be implemented by a processor of a computer system or by other means of performing the functions. Thus, a processor with the necessary instructions for implementing the described method or method element forms a means for implementing the method or method element. Furthermore, the elements of the apparatus embodiments described herein are examples of apparatus for performing the functions performed by the elements for the purpose of practicing the invention.
As used herein, unless otherwise specified the use of the ordinal terms "first," "second," "third," etc., to describe a general object merely denote different instances of like objects, and are not intended to imply that the objects so described must have a given order, either temporally, spatially, in ranking, or in any other manner.
While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the above description, will appreciate that other embodiments are contemplated within the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter.