Disclosure of Invention
Based on the foregoing, it is necessary to provide a computer device, a system and a medium for implementing needle deployment planning, which can improve the ablation effectiveness and efficiency.
In a first aspect, the present application provides a computer device for implementing needle deployment planning, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:
Determining a comprehensive safety area of a focus area aiming at a target object, wherein the comprehensive safety area is a two-dimensional area;
According to the size information of the comprehensive safety area, performing blocking treatment on the comprehensive safety area to obtain a plurality of subareas, and obtaining the ablation distance of the interventional ablation device;
And in the outline of each subarea, taking any outline point of the subarea as a first needle distribution point, and determining the next needle distribution point according to the ablation distance and the position of the first needle distribution point until the needle distribution points uniformly spread over the subarea.
In one embodiment, in the profile of each sub-region, each of the contour points of the sub-region is taken as a first needle distribution point, and the determining the next needle distribution point according to the ablation distance and the position of the first needle distribution point includes:
In each sub-region, taking any contour point of the sub-region as a first needle distribution point;
Determining candidate needle distribution points in the subarea based on the position of the first needle distribution points and the ablation distance, wherein the distance between the candidate needle distribution points and the first needle distribution points is smaller than or equal to the ablation distance;
And under the condition that the candidate needle distribution points are coincident with the avoidance position of the target object, adjusting the candidate needle distribution points until the adjusted candidate needle distribution points are not coincident with the avoidance position, and determining the adjusted candidate needle distribution points as the next needle distribution points.
In one embodiment, the determining the integrated safe area for the focal area of the target object includes:
The three-dimensional safe treatment area is an area wrapping the focus area of the target object;
Slicing the three-dimensional safe treatment area to obtain a plurality of two-dimensional safe treatment areas;
And projecting the two-dimensional safe treatment areas into the same two-dimensional plane to obtain the comprehensive safe area of the target object.
In one embodiment, the focal region is a two-dimensional focal region, and the acquiring the three-dimensional safe treatment region includes:
determining a two-dimensional image with a two-dimensional focus area in a multi-frame two-dimensional image where a target object is located, and acquiring a preset first distance;
generating an initial safety area wrapping the two-dimensional focus area based on the first distance in the two-dimensional image with the two-dimensional focus area;
When the outline of the initial safety area exceeds the outline of the target object, replacing the outline of the exceeding part in the initial safety area with the outline of the target object to obtain a plurality of two-dimensional safety treatment areas;
A three-dimensional safe treatment area is generated based on a plurality of the two-dimensional safe treatment areas.
In one embodiment, the generating a three-dimensional safe treatment area based on a plurality of the two-dimensional safe treatment areas includes:
Determining a first frame image and a last frame image in the two-dimensional image with the two-dimensional focus area;
generating an area corresponding to a safe treatment area of the first frame image in the first n frames of two-dimensional images adjacent to the first frame image, and taking the generated area as the safe treatment area in the first n frames of two-dimensional images;
generating an area corresponding to a safe treatment area of the tail frame image in a later n-frame two-dimensional image adjacent to the tail frame image, and taking the generated area as the safe treatment area in the later n-frame two-dimensional image;
and generating a three-dimensional safe treatment area based on the two-dimensional safe treatment areas, the safe treatment area in the last n frames of two-dimensional images and the safe treatment area in the first n frames of two-dimensional images.
In one embodiment, the focal region is a three-dimensional focal region, and the determining the comprehensive safety region of the focal region for the target object includes:
Acquiring a unit normal vector of each contour point on the surface of the three-dimensional focus area and a second distance of each contour point moving along the unit normal vector;
moving each contour point along the unit normal vector by the second distance to obtain a target point after each contour point moves;
Based on each target point, a safe treatment area wrapping the three-dimensional focus area of the target object is obtained;
mapping the safe treatment area to a two-dimensional plane to obtain a comprehensive safe area.
In one embodiment, obtaining the second distance that each contour point moves along the unit normal vector includes:
presetting an initial moving distance of each contour point along the unit normal vector;
Based on the initial moving distance, the three-dimensional coordinates of each contour point and the unit normal vector of each contour point, respectively determining the three-dimensional coordinates of the temporary point after each contour point moves along the corresponding unit normal vector;
Determining a target ray composed of the three-dimensional coordinates of the temporary point and a unit normal vector of the contour point;
And when the number of the intersection points of the target ray and the contour of the target object is even, adjusting the initial moving distance until the number of the intersection points of the target ray and the contour of the target object is odd, and obtaining a second distance corresponding to each contour point.
In one embodiment, when the processor executes the computer program, the following steps are also implemented:
acquiring size information of each subarea;
determining the target needle distribution number of each subarea based on the size information of each subarea;
and when the number of the needle distribution points planned in the subarea reaches the target needle distribution point number, determining that the needle distribution points are uniformly distributed in the subarea.
In a second aspect, the application provides a system for realizing needle deployment planning, which comprises the computer equipment, the interventional ablation equipment and the image scanning equipment, wherein the interventional ablation equipment and the image scanning equipment are electrically connected with the computer equipment.
In a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps performed by the processor of the computer device described above.
The computer equipment, the system and the medium for realizing the needle distribution planning are characterized in that the comprehensive safety area of the focus area of the target object is determined, the comprehensive safety area is a two-dimensional area, the comprehensive safety area is subjected to block processing according to the size information of the comprehensive safety area to obtain a plurality of subareas, and the ablation distance of the interventional ablation equipment is acquired, so that the needle distribution planning of each subarea is performed simultaneously, the needle distribution planning efficiency is improved, the focus area of the target object can be rapidly subjected to ablation treatment, and the ablation treatment efficiency is improved. By taking any contour point of each subarea as a first needle distribution point in the contour of each subarea, determining the next needle distribution point according to the ablation distance and the position of the first needle distribution point until the needle distribution points uniformly spread over the subareas, the ablation treatment efficiency can be further improved, meanwhile, the focus area of the target object can be thoroughly ablated, the ablation effectiveness is improved, and the condition that focus ablation is needed to be performed again is avoided.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The computer device for realizing needle distribution planning provided by the embodiment of the application can be applied to an application environment shown in figure 1. The computer device 102 is connected with the interventional ablation device 104, and the computer device 102 can implement needle placement planning based on the integrated safety zone. The method comprises the steps that a computer device 102 determines a comprehensive safety area of a focus area of a target object, the comprehensive safety area is a two-dimensional area, the computer device 102 performs block processing on the comprehensive safety area according to size information of the comprehensive safety area to obtain a plurality of subareas and obtain ablation distances of interventional ablation devices, and the computer device 102 respectively takes any contour point of each subarea as a first needle distribution point in the contour of each subarea and determines the next needle distribution point according to the ablation distances and the positions of the first needle distribution points until the needle distribution points uniformly spread over the subareas.
In one embodiment, as shown in fig. 2, there is provided a computer device for implementing needle deployment planning, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:
s202, determining a comprehensive safety area of the focus area of the target object. The comprehensive safety area is a two-dimensional area.
Where a target object refers to an object that may develop a lesion, the target object includes, but is not limited to, an organ, a tissue, a structure. The comprehensive safety area is a safety area for needle deployment planning.
S204, according to the size information of the comprehensive safety area, performing block processing on the comprehensive safety area to obtain a plurality of sub-areas, and obtaining the ablation distance of the interventional ablation device.
Wherein the size information includes, but is not limited to, the area, perimeter, diameter of the integrated safety zone. Further, the partitioning of the integrated safety area according to the size information may be performed by partitioning the integrated safety area according to an area of the integrated safety area, may be performed by partitioning the integrated safety area according to a contour perimeter of the integrated safety area, or may be performed by partitioning the integrated safety area according to a diameter of the integrated safety area. For example, if the total area of the integrated security area is S and the division into a plurality of sub-areas with area S is preset, the computer device divides the integrated security area into a plurality of sub-areas with area S according to the area S of the integrated security area when performing the block division.
Interventional ablation devices are devices that deliver energy to a lesion of a target object through a catheter or other small instrument to destroy the lesion. The interventional ablation device may also be referred to as a focal ablation treatment instrument. Interventional ablation devices include, but are not limited to, radio frequency ablation devices, microwave ablation devices, cryoablation devices, chemical ablation devices, ablation needles.
The ablation distance of the interventional ablation device refers to the maximum distance from the ablation probe or electrode tip of the interventional ablation device to the lesion that can effectively produce an ablation effect to ablate the lesion. The ablation distance of the interventional ablation device can be pre-stored in the computer device, so that the computer device can timely read the ablation distance of the interventional ablation device.
In some embodiments, the acquiring of the ablation distance of the interventional ablation device may be performed simultaneously with the partitioning of the integrated safety zone, may be performed after the partitioning into a plurality of sub-zones, and may also be performed when determining the integrated safety zone for the lesion area of the target object.
Optionally, the computer device performs a blocking process on the integrated security area according to the area, or the outline perimeter, or the diameter of the integrated security area, so as to obtain a plurality of sub-areas. Meanwhile, the computer equipment also acquires the ablation distance of the interventional ablation equipment.
S206, in the outline of each subarea, taking any outline point of the subarea as a first needle distribution point, and determining the next needle distribution point according to the ablation distance and the position of the first needle distribution point until the needle distribution points uniformly spread over the subarea.
The comprehensive safety area and the subarea are displayed in the image, and the contour points refer to all pixel points of the boundary of the subarea in the image. And the first needle distribution points determined in the subareas are not overlapped with the avoidance positions of the target object. The avoidance location of the target object includes, but is not limited to, various important parts, organizations of the target object. Such as bone, vascular location. The evasion location may be entered into the computer device in advance to be acquired when compared to the needle placement point. The evasion location can be identified by a static medical image taken prior to surgery. The static medical images include, but are not limited to, MRI images (Magnetic Resonance Imaging ). By comparing the position of the first needle placement point with each avoidance position, it can be determined whether the first needle placement point coincides with the avoidance position. Therefore, the needle arrangement planning at the evading position can be avoided, and the damage to important parts and tissues of the target object is avoided.
The distance between the next needle distribution point and the first needle distribution point is smaller than or equal to the ablation distance of the interventional ablation device. Therefore, when the interventional ablation device is used for performing needle deployment according to the needle deployment points, the ablation effect generated by the ablation probe or the electrode tip of the interventional ablation device can be distributed throughout the whole sub-area, namely the whole comprehensive safety treatment area, so that the effectiveness of ablation can be improved.
In some embodiments, the position of the next stitch point may be located on the contour of the sub-area or may be located inside the sub-area.
In some embodiments, the needle distribution planning of each sub-region can be performed simultaneously, so that the time required for the needle distribution planning of the comprehensive safety region can be reduced, the efficiency of the needle distribution planning is improved, the comprehensive safety region of the target object can be rapidly subjected to ablation treatment, and the efficiency of the ablation treatment is improved.
Optionally, the computer device determines, as the first needle distribution point, any contour point that does not coincide with the avoidance position of the target object in the contour of each sub-region. And the computer equipment determines the point, which is smaller than or equal to the ablation distance, in the subarea and is located at the first needle distribution point as the next needle distribution point according to the position of the first needle distribution point and the ablation distance of the ablation equipment.
In the embodiment, the comprehensive safety area of the focus area of the target object is determined, the comprehensive safety area is a two-dimensional area, the comprehensive safety area is subjected to block processing according to the size information of the comprehensive safety area to obtain a plurality of subareas, and the ablation distance of the interventional ablation device is acquired, so that the needle arrangement planning of each subarea is performed simultaneously, the needle arrangement planning efficiency is improved, the focus area of the target object can be rapidly subjected to ablation treatment, and the ablation treatment efficiency is improved. By taking any contour point of each subarea as a first needle distribution point in the contour of each subarea, determining the next needle distribution point according to the ablation distance and the position of the first needle distribution point until the needle distribution points uniformly spread over the subareas, the ablation treatment efficiency can be further improved, meanwhile, the focus area of the target object can be thoroughly ablated, the ablation effectiveness is improved, and the condition that focus ablation is needed to be performed again is avoided.
In one embodiment, in the outline of each sub-region, each contour point of the sub-region is taken as a first needle distribution point, and the next needle distribution point is determined according to the ablation distance and the position of the first needle distribution point, including:
In each sub-region, any contour point of the sub-region is taken as a first needle distribution point.
Candidate needle placement points are determined in the sub-region based on the location of the first needle placement point and the ablation distance. The distance between the candidate needle distribution point and the first needle distribution point is smaller than or equal to the ablation distance.
And under the condition that the candidate needle distribution points are coincident with the avoidance position of the target object, the candidate needle distribution points are adjusted until the adjusted candidate needle distribution points are not coincident with the avoidance position, and the adjusted candidate needle distribution points are determined to be the next needle distribution points.
The first needle distribution points determined in each sub-area are not overlapped with the avoidance positions of the target object. The candidate stitch points can be determined from the outline of the subarea or from the inside of the subarea. For example, by drawing a circle with the first needle placement point as a center and the ablation distance of the interventional ablation device as a radius, candidate needle placement points may be determined in a region where the circle overlaps with the sub-region. The overlap area for determining candidate stitch points is shown in fig. 3.
The evasion position refers to a position in the target object where needle arrangement is impossible. Avoidance locations include, but are not limited to, various important parts, tissues. By comparing the positions of the candidate needle points with each of the avoidance positions, it can be determined whether the candidate needle points coincide with the avoidance positions.
The adjusted needle distribution points are not coincident with the evading positions, and the distance between the adjusted needle distribution points and the first needle distribution points is smaller than or equal to the ablation distance of the interventional ablation device. For example, when the determined candidate stitch point coincides with the avoidance position, a position that is closer to the first stitch point and does not coincide with the avoidance position is determined as the position of the candidate stitch point.
Under the condition that the candidate needle distribution points are not coincident with the avoidance position, the candidate needle distribution points can be directly determined to be the next needle distribution points. Further, by means of the next needle placement and the ablation distance of the interventional ablation device, one needle placement can be determined again until the needle placement is evenly spread over the whole sub-area and there is no overlapping needle placement. For example, firstly, a circle A is drawn by taking the selected first needle distribution point as the center of a circle, the ablation distance of the interventional ablation device as the radius, the intersection point a of the circle A and the subarea is taken as a candidate needle distribution point, then a circle B is drawn by taking the obtained intersection point a as the center of a circle, the intersection point B of the circle B and the subarea is searched again, and under the condition that the next intersection point B is not coincident with the evading position, the next intersection point B is the needle distribution point which is determined again until the needle distribution point uniformly extends over the whole subarea and is not coincident with the subarea.
Optionally, in each sub-region, the computer device respectively uses any contour point in the boundary of the sub-region as a first needle distribution point, and determines candidate needle distribution points with the distance between the candidate needle distribution points and the first needle distribution point being less than or equal to the ablation distance in the sub-region. The computer equipment compares the candidate needle distribution point with each pre-stored avoidance position, the computer adjusts the candidate needle distribution point under the condition that the candidate needle distribution point coincides with one of the avoidance positions, and determines the adjusted candidate needle distribution point as the next needle distribution point under the condition that the adjusted candidate needle distribution point does not coincide with each avoidance position, wherein the distance between the adjusted candidate needle distribution point and the first needle distribution point is smaller than or equal to an ablation distance, and the replaced candidate needle distribution point is also located in the subarea. And the computer equipment directly determines the candidate needle distribution point as the next needle distribution point under the condition that the candidate needle distribution point is not coincident with the evasion position of the target object.
In some embodiments, a computer device obtains tissue dielectric characteristic parameters of electrodes of an interventional ablation device in multiple types of target objects, the tissue dielectric characteristic parameters being parameters affecting the effect of electrode ablation, the tissue dielectric characteristic parameters including, but not limited to, tissue conductivity, permittivity. The computer equipment uses finite element analysis simulation software to calculate electric field distribution under the current needle distribution scheme so as to analyze the response of each target object to the electric field and obtain a simulation result, wherein the current needle distribution scheme comprises positions of each needle distribution point determined based on the ablation distance, the first needle distribution point and the avoidance position. And the computer equipment adjusts the needle distribution points according to the simulation result to optimize the electric field distribution, so as to obtain a new needle distribution scheme, wherein the new needle distribution scheme comprises the positions of the adjusted needle distribution points. The computer equipment adjusts the needle distribution points to optimize the electric field distribution according to the simulation result, and the method can be realized by one or more of reassigning the needle distribution points, and increasing or decreasing the needle distribution points. This ensures that lesions in the target subject are subjected to sufficient electric field strength while reducing damage to normal tissue.
In this embodiment, the next needle deployment point is determined according to the ablation distance of the interventional ablation device and the evasion position of the target object in each sub-region, so that the needle deployment point can be ensured to be uniformly distributed over the whole sub-region, and thus, when the interventional ablation device is deployed according to the needle deployment point, the ablation effect generated by the ablation probe or the electrode tip of the interventional ablation device can be ensured to be distributed over the whole sub-region, namely over the whole comprehensive safety treatment region, so that the effectiveness of ablation can be improved. Meanwhile, damage to key tissues of the target object can be avoided during needle arrangement.
In one embodiment, determining an integrated safe area for a focal region of a target object includes:
A three-dimensional safe treatment area is acquired. The three-dimensional safe treatment area is an area surrounding the focal area of the target object.
Slicing the three-dimensional safe treatment area to obtain a plurality of two-dimensional safe treatment areas.
And projecting the two-dimensional safe treatment areas into the same two-dimensional plane to obtain the comprehensive safe area of the target object.
Wherein, the three-dimensional safe treatment area refers to an area wrapping the three-dimensional focus area. The three-dimensional safe treatment area may be derived from a plurality of two-dimensional safe treatment areas. The manner of obtaining the three-dimensional safe-treatment area based on the plurality of two-dimensional safe-treatment areas includes, but is not limited to, interpolation techniques, surface reconstruction techniques. The three-dimensional safe treatment area can also be directly generated according to the target point after each contour point on the surface of the three-dimensional focus area moves.
When a three-dimensional safe treatment area is sliced, the slice is taken according to the slice interval. Slice spacing refers to the distance between adjacent two-dimensional safe treatment areas. The slice interval can be set in the computer equipment in advance, or the computer equipment can take a random value as the slice interval when slicing.
In some embodiments, the plurality of two-dimensional safe treatment areas are displayed in a two-dimensional image including a two-dimensional lesion area and a two-dimensional target object, and when projection is performed, the plurality of two-dimensional safe treatment areas need to be extracted from the two-dimensional image and then projected into a two-dimensional plane. The two-dimensional safe treatment area extraction method includes, but is not limited to, U-shaped network extraction. The two-dimensional image of the safe treatment area extracted through the U-shaped network can be a binarized image, so that the safe treatment area and the unsafe treatment area on the two-dimensional image can be more intuitively distinguished.
Since the integrated safe area is an area obtained by projecting a plurality of two-dimensional safe treatment areas onto the same two-dimensional plane, the integrated safe area can be understood as an area obtained by merging the plurality of two-dimensional safe treatment areas.
Optionally, the computer device obtains a three-dimensional safe treatment area surrounding the three-dimensional lesion area. And the computer equipment performs slicing treatment on the three-dimensional safe treatment area according to the preset slicing interval to obtain a plurality of two-dimensional safe treatment areas. Wherein the plurality of two-dimensional safe treatment areas are displayed in a two-dimensional image comprising a two-dimensional lesion area, a two-dimensional target object. The computer equipment extracts the safe treatment areas in each frame of two-dimensional image by using a U-shaped network, and projects the extracted multiple two-dimensional safe treatment areas onto the same two-dimensional plane to obtain the comprehensive safe area.
In this embodiment, the plurality of extracted safe treatment areas are projected into the same two-dimensional plane to obtain the comprehensive safe area of the target object, so that the planned needle distribution points can be ensured to cover the whole three-dimensional safe treatment area.
In one embodiment, the focal region is a two-dimensional focal region, and the acquiring a three-dimensional safe treatment region includes:
And determining a two-dimensional image with a two-dimensional focus area in a multi-frame two-dimensional image where the target object is located, and acquiring a preset first distance.
In a two-dimensional image in which a two-dimensional lesion area exists, an initial safe area is generated that wraps the two-dimensional lesion area based on the first distance.
And when the outline of the initial safety area exceeds the outline of the target object, replacing the outline of the exceeding part in the initial safety area with the outline of the target object to obtain a plurality of two-dimensional safety treatment areas.
A three-dimensional safe treatment area is generated based on the plurality of two-dimensional safe treatment areas.
The multi-frame two-dimensional image of the target object refers to image data obtained by scanning the target object from the sagittal plane, the coronal plane and the transversal plane of the target object.
The two-dimensional image of the region where the lesion exists may be obtained by a segmentation model or by manual identification. For example, a multi-frame two-dimensional image of the target object is input into a segmentation model to perform focus region identification segmentation, and a two-dimensional image of a focus region is output. For another example, each two-dimensional image is viewed one by one, and a two-dimensional image of a lesion area is determined.
The first distance refers to a first distance in the two-dimensional lesion area at which each contour point is to be moved. The first distance may be preset according to a standard distance between the two-dimensional safe treatment area and the two-dimensional lesion area. For example, if the standard distance between the two-dimensional safe treatment area and the two-dimensional lesion area is set to 0mm to 10mm, any value from 0mm to 10mm may be used as the first distance. The first distances corresponding to the contour points may be the same or different. The first distance may be determined according to the number of intersections between the ray formed by the unit normal vector and the candidate points after each contour point moves in the two-dimensional focus area and the contour of the target object. The method comprises the steps of presetting an initial first distance for each contour point to move along a unit normal vector, determining two-dimensional coordinates of candidate points after the contour points move along the unit normal vector based on the initial first distance, the two-dimensional coordinates of the contour points and the unit normal vector of the contour points, acquiring rays formed by the two-dimensional coordinates of the candidate points and the unit normal vector of the contour points, adjusting the initial first distance until the number of intersection points of the rays and the contour of a target object is an odd number when the number of intersection points of the rays and the contour of the target object is an even number, and determining the adjusted initial first distance as the first distance.
The initial safe area is generated by moving each contour point of the two-dimensional focus area along a corresponding unit normal vector to the opposite direction of the two-dimensional focus area according to a first distance corresponding to each contour point of the two-dimensional focus area to obtain a two-dimensional target point after each contour point is moved, and obtaining the initial safe area based on the two-dimensional target point. Among the techniques for deriving the initial safe region based on the two-dimensional target point include, but are not limited to, convex hull algorithm, alpha (Alpha) shape, delaunay triangulation. For example, a convex hull algorithm is used, and the generated minimum convex polygon is smoothed by utilizing the minimum convex polygon generated by the two-dimensional target point, so that an initial safety area wrapping the two-dimensional focus area is obtained.
The contours of the target object may be determined by a segmentation model or manually identified. For example, a plurality of frames of two-dimensional images where the target object is located are input into the segmentation model for segmentation, so that the outline of the target object in each frame of two-dimensional images can be identified.
The contour of the initial safe area exceeds the contour of the target object, i.e. the contour of the target object is between the contour of the initial safe area and the contour of the lesion area. Because the needle distribution planning is performed based on the comprehensive safety area, if the initial safety area exceeds the outline of the target object, needle distribution is performed outside the outline of the target object, so that normal tissues outside the target object are damaged, and the outline exceeding part of the initial safety area is replaced by the outline of the target object, so that the planned needle distribution points can be ensured to be in the comprehensive safety area, namely, the planned needle distribution points can be ensured to be inside the outline of the target object and not exceed the outline of the target object. The schematic diagram before the replacement of the initial safety area is shown in fig. 4, the part a is the part of the outline of the initial safety area exceeding the outline of the target object, the part B is the part of the outline of the initial safety area not exceeding the outline of the target object, and the schematic diagram after the replacement of the initial safety area is shown in fig. 5.
The manner of obtaining the three-dimensional safe-treatment area based on the plurality of two-dimensional safe-treatment areas includes, but is not limited to, interpolation techniques, surface reconstruction techniques. For example, two-dimensional images of two-dimensional lesion areas are aligned in space, two-dimensional contour points of a two-dimensional safe treatment area in each two-dimensional image are converted into three-dimensional point clouds, depth information is given, deluxe triangulation is performed on the three-dimensional point clouds, triangulated grids are generated, and a three-dimensional safe treatment area is obtained based on the triangulated grids.
Optionally, the computer device inputs the multi-frame two-dimensional image of the target object into the segmentation model to identify and segment the focus area, determines the two-dimensional image of the focus area, and acquires a preset first distance. And the computer equipment moves each contour point of the two-dimensional focus area along the corresponding unit normal vector to the opposite direction of the two-dimensional focus area according to the first distance corresponding to each contour point of the two-dimensional focus area, so as to obtain a two-dimensional target point after each contour point is moved. The computer equipment uses a convex hull algorithm to generate a minimum convex polygon corresponding to a two-dimensional image with a two-dimensional focus area by utilizing a two-dimensional target point, and performs smoothing treatment on the generated minimum convex polygon to obtain an initial safety area wrapping the two-dimensional focus area. When the contour of the initial safety area exceeds the contour of the target object, the computer equipment replaces the contour of the exceeding part of the initial safety area with the contour of the target object, and a plurality of two-dimensional safety treatment areas are obtained. The computer device generates a three-dimensional safe treatment area based on the plurality of two-dimensional safe treatment areas.
In this embodiment, by replacing the outline of the excess portion in the initial safety area with the outline of the target object, it is ensured that the planned needle distribution points are all in the comprehensive safety area, that is, it is ensured that the planned needle distribution points are all inside the outline of the target object and do not exceed the outline of the target object.
In one embodiment, generating a three-dimensional safe-treatment area based on a plurality of two-dimensional safe-treatment areas includes:
a first frame image and a last frame image in a two-dimensional image in which a two-dimensional lesion area exists are determined.
In the first n-frame two-dimensional image adjacent to the first frame image, an area corresponding to the safety treatment area of the first frame image is generated, and the generated area is taken as the safety treatment area in the first n-frame two-dimensional image.
In the latter n-frame two-dimensional image adjacent to the end frame image, an area corresponding to the safety treatment area of the end frame image is generated, and the generated area is taken as the safety treatment area in the latter n-frame two-dimensional image.
The three-dimensional safe treatment region is generated based on the plurality of two-dimensional safe treatment regions, the safe treatment region in the last n-frame two-dimensional image, and the safe treatment region in the first n-frame two-dimensional image.
In the target object, a single focus is presented in a three-dimensional form, and a two-dimensional image with a two-dimensional focus area is obtained by continuously scanning the focus, so that a first frame of two-dimensional image in the two-dimensional image with the two-dimensional focus area is a first frame of image, and a last frame of image is a last frame of image. Because the safe treatment area is an area surrounding the lesion area but not exceeding the outline of the target object, and the last two-dimensional image in which the lesion appears is not the last two-dimensional image in which the safe treatment area appears, the safe treatment area is also generated in the first n two-dimensional images of the first frame image and the last n two-dimensional images of the last frame image.
The calculation mode of n in the first n frames of two-dimensional images and the last n frames of two-dimensional images is as follows:
Where the ceil () function represents a round-up, SLICESPACEING represents the image spacing, i.e., the distance between two frames of images. SAFETYDISTANCE denotes the safe zone contour mean spacing, i.e., the mean distance between the contour of the focal zone and the contour of the safe treatment zone. In general, the safety zone profiles have an average spacing of between 5mm and 10 mm.
The safe treatment area in the first n frames of two-dimensional images can be automatically generated according to the shape and the area of the safe treatment area in the first frame of images. For example, according to the safe treatment area in the first frame image, an area which has the same shape as the safe treatment area of the first frame image but is smaller than the safe treatment area of the first frame image is generated in the first n frame two-dimensional image, and the generated area is the safe treatment area of the first n frame two-dimensional image. The area of the safe treatment area in the first n frames of two-dimensional images is gradually decreased, and the safe treatment area can be complemented with the two-dimensional image with the disappeared focus by generating the safe treatment area in the first n frames of two-dimensional images, so that the three-dimensional reconstruction of the safe treatment area is facilitated.
The safe treatment area in the last n frames of two-dimensional images can be automatically generated according to the shape and the area of the safe treatment area in the tail frame of images. For example, according to the safe treatment area in the tail frame image, an area which has the same shape as the safe treatment area of the tail frame image but is smaller than the safe treatment area of the tail frame image is generated in the latter n-frame two-dimensional image, and the generated area is the safe treatment area of the latter n-frame two-dimensional image. The area of the safe treatment area in the last n frames of two-dimensional images is gradually decreased, and the safe treatment area can be complemented with the two-dimensional image with the disappeared focus by generating the safe treatment area in the last n frames of two-dimensional images, so that the three-dimensional reconstruction of the safe treatment area is facilitated.
The three-dimensional safe treatment area is generated by interpolation and surface reconstruction techniques. For example, the two-dimensional image, the first n two-dimensional images, and the last n two-dimensional images of each existing two-dimensional lesion area are spatially aligned, two-dimensional contour points of the safety treatment area in each two-dimensional image are converted into three-dimensional point clouds, depth information is given, deluxe triangulation is performed on the three-dimensional point clouds, a triangulated mesh is generated, and a three-dimensional safety treatment area is obtained based on the triangulated mesh. As a result of a large number of clinical studies, positive sites/lesions remain around 5-10mm outside the lesion area seen on nuclear magnetism. In order to have a better treatment effect on a focus area and not cause excessive damage to normal organ tissues, a safe treatment area is planned, and the effectiveness of ablation can be improved. Although the final layout is performed on the two-dimensional comprehensive safety area, the layout based on the three-dimensional safety treatment area is helpful to determine the optimal layout points, thereby avoiding sensitive structures such as blood vessels, nerves and the like and reducing the risk of complications.
Optionally, the computer device determines a first frame image of the two-dimensional images in which the lesion area exists as a first frame image and a last frame image of the two-dimensional images in which the lesion area exists as a last frame image. The computer device generates the safe treatment areas in the first n two-dimensional images according to the shape and the area of the safe treatment areas in the first n two-dimensional images adjacent to the first frame image. The computer device generates the safe treatment areas in the latter n two-dimensional images according to the shape and the area of the safe treatment areas in the tail frame image in the latter n two-dimensional images adjacent to the tail frame image. The computer equipment aligns a two-dimensional image with a two-dimensional focus area, a first n-frame two-dimensional image and a last n-frame two-dimensional image in space, converts two-dimensional contour points of a safety treatment area in each frame of two-dimensional image into three-dimensional point clouds, endows depth information, performs Delaue triangulation on the three-dimensional point clouds, generates a triangulated grid, and obtains the three-dimensional safety treatment area based on the triangulated grid.
In this embodiment, the safety treatment area is generated in the first n two-dimensional images adjacent to the first frame image, and the safety treatment area is generated in the second n two-dimensional images adjacent to the last frame image, so that the two-dimensional images with the focus disappeared can be complemented by the safety treatment area, and the three-dimensional reconstruction of the safety treatment area is facilitated.
In one embodiment, the focal region is a three-dimensional focal region, and determining the integrated safe region for the focal region of the target object includes:
and acquiring a unit normal vector of each contour point on the surface of the three-dimensional focus area and a second distance for each contour point to move along the unit normal vector.
And moving each contour point along the unit normal vector for a second distance to obtain a target point after each contour point moves.
Based on each target point, a safe treatment area wrapping the three-dimensional focus area of the target object is obtained.
Mapping the safe treatment area to a two-dimensional plane to obtain a comprehensive safe area.
Wherein, the three-dimensional focus area can be obtained by three-dimensional reconstruction. For example, a two-dimensional lesion area is identified from a plurality of frames of image data scanned from a target object, and then three-dimensional reconstruction is performed on the lesion area identified in each frame of image data, thereby obtaining a three-dimensional lesion area. The second distance is a distance that the contour point of the three-dimensional lesion area surface is to be moved from the current location. The coordinates of the target point after the contour point moves along the unit normal vector according to the second distance can be passedThe coordinates of the target point after the movement of the contour point are (x ', y', z '), the three-dimensional coordinates before the movement of the contour point are (x, y, z), the unit normal vector of the contour point is (a', b ', c'), and the second distance is t. After any contour point in the focus area moves, the contour of the focus area is not changed. The three-dimensional coordinates of the contour points before moving can be obtained by converting the two-dimensional coordinates of the contour points by using a space conversion matrix. The moving direction of each contour point on the surface of the three-dimensional focus area is opposite to the moving direction of the three-dimensional focus area.
The unit normal vector of the contour point is the normalized normal vector. The determination mode of the unit normal vector of each contour point comprises, but is not limited to, a surface gradient calculation mode and a least square method calculation mode. For example, a computer device determines contour pointsWhereinThe computer device searches p planes from the front and the back of the m-th layer plane, searches 2q+1 adjacent points in the searched 2p+1 planes by taking the current point as the center, and searches the 2q+1 adjacent points forward and backward, wherein the current point on each plane is determined based on the searching starting point on the adjacent planes so as to ensure the rationality of each current point selection and avoid sudden jump or discontinuity, and the (2p+1) (2q+1) points are searched at the same timeComputer equipment solves curved surface using least square methodUnknown coefficients of (a)Wherein x represents the x-th plane, y represents the y-th contour point on the x-th plane, and the control console obtains the normal vector of the contour point according to the solving result of each unknown coefficient as followsThe computer equipment performs normalization processing on the normal vector of the contour point to obtain the unit normal vector of the contour point。
The three-dimensional safe treatment area can be generated by generating a triangulated mesh by Delaunay triangulation according to the position coordinates of each target point and constructing the three-dimensional safe treatment area based on the triangulated mesh.
Optionally, the computer device obtains a second distance that each contour point of the three-dimensional lesion area surface is to be moved from the current position, and a unit normal vector of each contour point of the three-dimensional lesion area surface. And the computer equipment respectively moves each contour point along the unit normal vector by a corresponding second distance to obtain the target point after each contour point moves. The computer equipment generates a triangulated mesh by Delaunay triangulation according to the position coordinates of each target point, and constructs a three-dimensional safe treatment area based on the triangulated mesh. The computer equipment directly projects the three-dimensional safe treatment area into a two-dimensional plane to obtain a comprehensive safe area.
In this embodiment, the contour point is moved along the unit normal vector according to the second distance, so that the original focus area can be effectively enlarged, a larger safe treatment area with a shape corresponding to the focus area is formed, so that when positive parts still exist outside the focus area, the positive parts outside the focus area can be ensured to be needle-distributed, the positive parts outside the focus area can be subjected to ablation treatment, and the effectiveness of ablation is improved.
In some embodiments, obtaining a second distance that each contour point moves along the unit normal vector comprises:
the initial moving distance of each contour point along the unit normal vector is preset.
Based on the initial moving distance, the three-dimensional coordinates of each contour point and the unit normal vector of each contour point, the three-dimensional coordinates of the temporary point after each contour point moves along the corresponding unit normal vector are respectively determined.
A target ray composed of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point is determined.
And when the number of the intersection points of the target ray and the contour of the target object is even, adjusting the initial moving distance until the number of the intersection points of the target ray and the contour of the target object is odd, and obtaining a second distance corresponding to each contour point.
The initial moving distance can be preset according to the average distance between the contours of the safety zone. For example, when the average distance between the contours of the safety area is in the range of 5mm to 10mm, the initial movement distance may be preset to 10mm, or may be preset to any one of 5mm to 10 mm. In a general scenario, the maximum value of the initial movement distance coincides with the maximum value of the average distance of the safety zone contours. Each contour point corresponds to an initial moving distance, and the initial moving distance corresponding to each contour point can be the same or different.
The three-dimensional coordinates of each contour point can be obtained through the two-dimensional coordinates of the contour point in the two-dimensional image and the space transformation matrix. The three-dimensional coordinates of the temporary point after the contour point moves along the unit normal vector can be obtained byObtained by the method, whereinIs the three-dimensional coordinates of the temporary point after the contour point is moved,Is the three-dimensional coordinates before the contour point moves,Is the unit normal vector of the contour point,Is the initial movement distance.
The target ray composed of the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point can be expressed as,Representing contour pointsThe corresponding target ray; Representing contour pointsThree-dimensional coordinates of the temporary point after the movement; Representing contour pointsIs a unit normal vector of (2); An n-th contour point on a focus area representing an m-th layer plane in a three-dimensional focus area, i is a non-negative real number parameter for representing a distance of moving from a temporary point along a unit normal vector of the contour point, the point is exactly at the temporary point when i=0, and the point is located somewhere between the temporary point and the unit normal vector when i > 0.
The contour of the target object refers to a three-dimensional contour. The unit normal vector of the outline point is always on the target object, if the temporary point is outside the outline of the target object, the target ray formed by the temporary point and the unit normal vector of the outline point is always an even number of intersection points of the target ray and the outline of the target object if the temporary point is outside the outline of the target object, if the temporary point is inside the outline of the target object, the target ray formed by the temporary point and the unit normal vector is directly outside the outline of the target object, the number of intersection points of the target ray and the outline of the target object is an odd number, and when the interventional ablation device is used for ablation, the end points of the electrode of the interventional ablation device are required to be positioned in a safe treatment area or the outline of the target object, so that damage is not caused to other objects when the lesion is performed, and therefore when the number of intersection points of the target ray and the outline of the target object is even number, the initial distance is required to be adjusted until the number of intersection points of the target ray and the outline of the target object is an odd number.
The adjustment of the initial movement distance may be achieved by changing a fixed value or by changing an arbitrary value. For example, when the temporary point is outside the outline of the target object, which is determined by the number of intersections, a fixed value is increased/decreased or an arbitrary value is increased/decreased on the basis of the initial movement distance, so that the adjustment of the initial movement distance can be realized. The fixed value and the size of any value can be set by themselves. For example, if the average distance between the contours of the safety area is within 5-10mm, the initial moving distance is adjusted by taking 0.1 as a step length from 10mm, that is, when the temporary point is determined to be outside the contour of the target object, the initial moving distance is reduced by 0.1 on the basis of the current initial moving distance until the number of intersection points of the target ray and the contour of the target object is an odd number, and the adjusted initial moving distance is the second distance.
Optionally, the computer device presets an initial movement distance of the contour point along the unit normal vector movement according to the average distance of the contour of the safety zone. The computer device calculates three-dimensional coordinates of the temporary point after the contour point moves along the unit normal vector based on the initial movement distance, the three-dimensional coordinates of the contour point, and the unit normal vector of the contour point. The computer device composes the target ray based on the three-dimensional coordinates of the temporary point and the unit normal vector of the contour point, and determines the number of intersections of the target ray with the contour of the target object. When the number of the intersection points is even, the computer equipment adjusts the initial moving distance of the contour point according to a preset fixed value or any value until the number of the intersection points of the target ray and the contour of the target object is odd, and determines the adjusted initial moving distance as a second distance.
In this embodiment, when the number of intersection points of the target ray and the outline of the target object is even, the initial movement distance is adjusted until the number of intersection points of the target ray and the outline of the target object is odd, so that it can be ensured that the target point after the movement of the outline point is still in the outline of the target object, so that the safety treatment area generated based on the target point does not exceed the outline of the target object, and therefore, the planned needle distribution point does not exceed the outline of the target object, and other normal tissues are not damaged during needle distribution.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
And acquiring the size information of each subarea.
And determining the target needle distribution number of each subarea based on the size information of each subarea.
And when the number of the needle distribution points planned in the subarea reaches the target needle distribution point number, determining that the needle distribution points uniformly spread over the subarea.
Wherein the size information of each sub-region includes, but is not limited to, the area, contour perimeter, diameter of the sub-region.
In some embodiments, the target number of stitches is also associated with size information corresponding to each stitch point. For example, the area corresponding to each needle arrangement point is preset, and the target needle arrangement number of each sub-region is determined based on the quotient between the area of each sub-region and the area corresponding to each needle arrangement point.
In some embodiments, the target number of stitches is also related to the interval in which the size information is located. For example, when the area of the sub-region is preset to be in the interval S1 to S2, the target number of stitches in the sub-region is M, and when the area of the sub-region is any one of the values S1 to S2, the target number of stitches in the sub-region is M.
The number of needle placement points planned in the sub-area may be determined by a timer. For example, after a needle point is planned in a sub-area, the timer is correspondingly incremented by 1. When the number of the needle distribution points planned in the subareas is determined by the timers, each subarea corresponds to one timer respectively, so that the error of the number of the needle distribution points planned in the subareas can be avoided.
In some embodiments, the target number of stitches in each sub-area may be determined simultaneously or sequentially.
Optionally, the computer device obtains size information for each sub-region. The computer equipment determines the interval in which the size information of each subarea is respectively located, and determines the target needle distribution number of each subarea according to the located interval. And when the number of the needle distribution points planned in the subarea reaches the target needle distribution point number, the computer equipment determines that the needle distribution points are uniformly distributed over the subarea.
In this embodiment, the target needle distribution number of each sub-region is determined based on the size information of each sub-region, and when the number of the needle distribution points planned in the sub-region reaches the target needle distribution number, the needle distribution points are determined to be uniformly distributed over the sub-region, so that the number of the needle distribution points in each sub-region can be reasonably planned, thereby ensuring that the focus region in each sub-region is within the ablation range of the interventional ablation device, reducing the missing region, and improving the thoroughness of the treatment.
The application also provides an application scene, which applies the computer equipment for realizing the needle distribution planning. Specifically, the application of the computer device for implementing needle distribution planning in the application scene is as follows:
When the focus area is two-dimensional, the computer equipment inputs a multi-frame two-dimensional image of the target object into the segmentation model to identify and segment the focus area, determines the two-dimensional image with the focus area, and acquires a preset first distance. And the computer equipment moves each contour point of the two-dimensional focus area along the corresponding unit normal vector to the opposite direction of the two-dimensional focus area according to the first distance corresponding to each contour point of the two-dimensional focus area, so as to obtain a two-dimensional target point after each contour point is moved. The computer equipment uses a convex hull algorithm to generate a minimum convex polygon corresponding to a two-dimensional image with a two-dimensional focus area by utilizing a two-dimensional target point, and performs smoothing treatment on the generated minimum convex polygon to obtain an initial safety area wrapping the two-dimensional focus area. When the contour of the initial safety area exceeds the contour of the target object, the computer equipment replaces the contour of the exceeding part of the initial safety area with the contour of the target object, and a plurality of two-dimensional safety treatment areas are obtained. The computer device determines a first frame of the two-dimensional image in which the lesion area exists as a first frame of the two-dimensional image, and determines a last frame of the two-dimensional image in which the lesion area exists as a last frame of the two-dimensional image. The computer device generates the safe treatment areas in the first n two-dimensional images according to the shape and the area of the safe treatment areas in the first n two-dimensional images adjacent to the first frame image. The computer device generates the safe treatment areas in the latter n two-dimensional images according to the shape and the area of the safe treatment areas in the tail frame image in the latter n two-dimensional images adjacent to the tail frame image. The computer equipment aligns a two-dimensional image with a two-dimensional focus area, a first n-frame two-dimensional image and a last n-frame two-dimensional image in space, converts two-dimensional contour points of a safety treatment area in each frame of two-dimensional image into three-dimensional point clouds, endows depth information, performs Delaue triangulation on the three-dimensional point clouds, generates a triangulated grid, and obtains the three-dimensional safety treatment area based on the triangulated grid. And the computer equipment performs slicing treatment on the three-dimensional safe treatment area according to the preset slicing interval to obtain a plurality of two-dimensional safe treatment areas. Wherein the plurality of two-dimensional safe treatment areas are displayed in a two-dimensional image comprising a two-dimensional lesion area, a two-dimensional target object. The computer equipment extracts the safe treatment areas in each frame of two-dimensional image by using a U-shaped network, and projects the extracted multiple two-dimensional safe treatment areas onto the same two-dimensional plane to obtain the comprehensive safe area.
When the focus area is three-dimensional, the computer equipment obtains a second distance to be moved from the current position of each contour point on the surface of the three-dimensional focus area and a unit normal vector of each contour point on the surface of the three-dimensional focus area. And the computer equipment respectively moves each contour point along the unit normal vector by a corresponding second distance to obtain the target point after each contour point moves. The computer equipment generates a triangulated mesh by Delaunay triangulation according to the position coordinates of each target point, and constructs a three-dimensional safe treatment area based on the triangulated mesh. The computer equipment directly projects the three-dimensional safe treatment area into a two-dimensional plane to obtain a comprehensive safe area.
The computer equipment performs blocking processing on the comprehensive safety area according to the area, the outline perimeter or the diameter of the comprehensive safety area to obtain a plurality of subareas. Meanwhile, the computer equipment also acquires the ablation distance of the interventional ablation equipment.
In each subarea, the computer equipment respectively takes any contour point in the borders of the subareas as a first needle distribution point, and determines candidate needle distribution points with the distance between the computer equipment and the first needle distribution point being smaller than or equal to the ablation distance in the subareas. The computer equipment compares the candidate needle distribution point with each pre-stored avoidance position, the computer adjusts the candidate needle distribution point under the condition that the candidate needle distribution point coincides with one of the avoidance positions, and determines the adjusted candidate needle distribution point as the next needle distribution point under the condition that the adjusted candidate needle distribution point does not coincide with each avoidance position, wherein the distance between the adjusted candidate needle distribution point and the first needle distribution point is smaller than or equal to an ablation distance, and the replaced candidate needle distribution point is also located in the subarea. Under the condition that the candidate needle distribution points are not coincident with the evading positions of the target object, the computer equipment directly determines the candidate needle distribution points as the next needle distribution points until the needle distribution points uniformly spread over the subareas.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing the comprehensive safety area, the size information of the comprehensive safety area, the subarea, the ablation distance of the interventional ablation device, the first needle distribution point and the next needle distribution point. The network interface of the computer device is used for communicating with an external terminal through a network connection. Which when executed by a processor, performs the steps performed by the processor of the computer device of the above embodiments.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a system for realizing needle deployment planning is provided, and the system is characterized by comprising the computer device, the interventional ablation device and the image scanning device in the above embodiments, wherein the interventional ablation device and the image scanning device are electrically connected with the computer device.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon which, when executed by a processor, implements the steps performed by the processor of any of the computer devices described above.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, implements the steps performed by the processor of any of the computer devices described above.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.